Continuous damping control shock absorber temperature compensation method, system, equipment and medium

Abstract

The invention discloses a temperature compensation method, system and device for a continuous damping control shock absorber and a medium, and the method comprises the steps: obtaining a first PWM duty ratio of a target shock absorber at the current moment and the actual current of an electromagnetic valve, and determining an oil temperature estimation value of the target shock absorber according to the first PWM duty ratio and the actual current of the electromagnetic valve; a corresponding shock absorber force value MAP is obtained according to the oil temperature estimation value, and the target current of the electromagnetic valve at the next moment is determined according to the target damping force at the next moment and the shock absorber force value MAP; and determining a second PWM duty ratio at the next moment according to the target current of the electromagnetic valve, and performing driving control on the target shock absorber according to the second PWM duty ratio. The control precision of the continuous damping control shock absorber and the driving experience of drivers and passengers are improved, the production cost, the fault risk and the later maintenance cost of the continuous damping control shock absorber are reduced, and the method can be applied to the technical field of vehicle testing.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a temperature compensation method, system, equipment and medium for a continuous damping control shock absorber. Background Art

[0002] The damping force of the shock absorber will be affected by temperature. On the one hand, it is affected by the ambient temperature. In the north, the winter temperature can reach below -25℃, and in the south, the summer temperature can reach above 35℃. On the other hand, it will be affected by the movement of the shock absorber. During the driving process of the vehicle, the shock absorber will have continuous pulling and pressing movements. The friction caused by the oil flowing through the valve gap inside the shock absorber will cause the shock absorber temperature to rise. When the temperature is low, the viscosity of the shock absorber oil will increase, and the same movement speed will produce a greater damping force. When the temperature rises, the viscosity of the oil will decrease, resulting in a decrease in the damping force. Therefore, in the control of the shock absorber, the measurement of the shock absorber oil temperature is particularly important.

[0003] Most of the existing continuous damping control shock absorbers do not consider the impact of temperature on damping force, that is, the shock absorber is controlled using uniform control parameters under different temperature conditions, resulting in a large difference in the damping effect under different ambient temperatures and usage scenarios, affecting the control accuracy of the continuous damping control shock absorber and the driving experience of the driver and passengers. In addition, some continuous damping control shock absorbers with temperature measurement modules are equipped with temperature sensors inside the shock absorber, which increases the production cost, and when the temperature sensor is damaged, the entire shock absorber needs to be replaced, increasing the failure risk of the shock absorber and the subsequent maintenance cost. Summary of the invention

[0004] The purpose of the present invention is to solve one of the technical problems existing in the prior art to at least a certain extent.

[0005] To this end, an object of an embodiment of the present invention is to provide a temperature compensation method for a continuous damping controlled shock absorber, which improves the control accuracy of the continuous damping controlled shock absorber and the driving experience of the driver and passengers, and reduces the production cost, failure risk and subsequent maintenance cost of the continuous damping controlled shock absorber.

[0006] Another object of an embodiment of the present invention is to provide a temperature compensation system for a continuous damping control shock absorber.

[0007] In order to achieve the above technical objectives, the technical solutions adopted by the embodiments of the present invention include:

[0008] In one aspect, an embodiment of the present invention provides a temperature compensation method for a continuous damping control shock absorber, comprising the following steps:

[0009] Acquire a first PWM duty cycle and an actual solenoid valve current of a target shock absorber at a current moment, and determine an estimated value of an oil temperature of the target shock absorber according to the first PWM duty cycle and the actual solenoid valve current;

[0010] Acquire a corresponding shock absorber force value MAP according to the oil temperature estimation value, and determine a target current of the solenoid valve at the next moment according to a target damping force at the next moment and the shock absorber force value MAP;

[0011] A second PWM duty ratio at a next moment is determined according to the target current of the solenoid valve, and the target damper is driven and controlled according to the second PWM duty ratio.

[0012] Further, in one embodiment of the present invention, determining the estimated value of the oil temperature of the target shock absorber according to the first PWM duty cycle and the actual current of the solenoid valve specifically includes:

[0013] Get the preset PWM duty cycle MAP;

[0014] The oil temperature estimation value is obtained by querying the PWM duty cycle MAP according to the first PWM duty cycle and the actual current of the solenoid valve.

[0015] Furthermore, in one embodiment of the present invention, the continuous damping control shock absorber temperature compensation method further includes a step of pre-constructing the PWM duty cycle MAP, which specifically includes:

[0016] driving the solenoid valve of the target shock absorber to reach a first preset current at a preset temperature, and recording a current PWM duty cycle of the target shock absorber;

[0017] A three-dimensional array is generated according to the preset temperature, the first preset current, and the current PWM duty cycle, and the PWM duty cycle MAP is constructed according to the three-dimensional array.

[0018] Furthermore, in one embodiment of the present invention, the continuous damping control shock absorber temperature compensation method further includes the step of pre-constructing the shock absorber force value MAP under different temperature ranges, which specifically includes:

[0019] Determining a plurality of preset temperature intervals, and determining a typical temperature of each of the preset temperature intervals;

[0020] driving a solenoid valve of the target shock absorber to a second preset current at the typical temperature, and determining a current damping force of the target shock absorber;

[0021] A first mapping relationship is generated according to the second preset current and the current damping force, and the shock absorber force value MAP in the preset temperature range is constructed according to the first mapping relationship.

[0022] Further, in one embodiment of the present invention, the step of obtaining a corresponding shock absorber force value MAP according to the oil temperature estimation value, and determining a target current of the solenoid valve at the next moment according to the target damping force at the next moment and the shock absorber force value MAP, specifically includes:

[0023] Determine a target temperature range in which the oil temperature estimation value is located, and obtain the corresponding shock absorber force value MAP according to the target temperature range;

[0024] Determine the target damping force at the next moment through a CDC control algorithm according to the sensor signal and the CAN network signal;

[0025] The shock absorber force value MAP is queried according to the target damping force to obtain the target current of the solenoid valve at the next moment.

[0026] Further, in one embodiment of the present invention, determining a second PWM duty cycle at the next moment according to the target current of the solenoid valve, and driving and controlling the target shock absorber according to the second PWM duty cycle specifically includes:

[0027] Determine the second PWM duty cycle at the next moment through a PID control algorithm according to the target current of the solenoid valve;

[0028] The opening degree of the solenoid valve of the target damper is controlled according to the second PWM duty ratio so that the target damper outputs the target damping force.

[0029] On the other hand, an embodiment of the present invention provides a temperature compensation system for a continuous damping control shock absorber, comprising:

[0030] a temperature estimation module, used for obtaining a first PWM duty cycle and an actual solenoid valve current of a target shock absorber at a current moment, and determining an estimated value of an oil temperature of the target shock absorber according to the first PWM duty cycle and the actual solenoid valve current;

[0031] a target current determination module, configured to obtain a corresponding shock absorber force value MAP according to the oil temperature estimation value, and determine a target current of the solenoid valve at a next moment according to a target damping force at a next moment and the shock absorber force value MAP;

[0032] A drive control module is used to determine a second PWM duty ratio at a next moment according to the target current of the solenoid valve, and to drive and control the target shock absorber according to the second PWM duty ratio.

[0033] On the other hand, an embodiment of the present invention provides an electronic device, which includes a memory, a processor, a program stored in the memory and executable on the processor, and a data bus for realizing connection and communication between the processor and the memory, wherein when the program is executed by the processor, the continuous damping control shock absorber temperature compensation method as described above is realized.

[0034] On the other hand, an embodiment of the present invention further provides a storage medium, which is a computer-readable storage medium used for computer-readable storage, and the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the continuous damping control shock absorber temperature compensation method as described above.

[0035] On the other hand, an embodiment of the present invention further provides a vehicle, the vehicle comprising the continuous damping control shock absorber temperature compensation system or electronic device as described above.

[0036] The advantages and beneficial effects of the present invention will be partly given in the following description, partly become apparent from the following description, or be understood through the practice of the present invention:

[0037] The embodiment of the present invention obtains a first PWM duty cycle and an actual solenoid valve current of a target shock absorber at the current moment, determines an estimated oil temperature of the target shock absorber according to the first PWM duty cycle and the actual solenoid valve current, obtains a corresponding shock absorber force value MAP according to the estimated oil temperature, determines a target solenoid valve current at the next moment according to a target damping force at the next moment and the shock absorber force value MAP, determines a second PWM duty cycle at the next moment according to the solenoid valve target current, and drives and controls the target shock absorber according to the second PWM duty cycle. The embodiment of the present invention estimates the oil temperature of the target shock absorber according to the first PWM duty cycle of the target shock absorber and the actual current of the solenoid valve at the current moment, obtains the corresponding shock absorber force value MAP according to the estimated oil temperature value, and determines the target current of the solenoid valve at the next moment in combination with the target damping force at the next moment, so that the second PWM duty cycle at the next moment can be determined by the PID algorithm and the target shock absorber can be driven and controlled, thereby ensuring the control effect of the continuous damping control shock absorber at different working temperatures, improving the control accuracy of the continuous damping control shock absorber and the driving experience of the driver and passengers; in addition, compared with the prior art, the embodiment of the present invention does not need to install a temperature sensor element inside the shock absorber, thereby reducing the production cost, failure risk and later maintenance cost of the continuous damping control shock absorber. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solution in the embodiments of the present invention, the following introduction is made to the drawings required for use in the embodiments of the present invention. It should be understood that the drawings introduced below are only for the convenience of clearly describing some embodiments of the technical solution of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 A flow chart of the steps of a temperature compensation method for a continuous damping control shock absorber provided by an embodiment of the present invention;

[0040] Figure 2 A schematic diagram of the overall flow of a temperature compensation method for a continuous damping control shock absorber provided by an embodiment of the present invention;

[0041] Figure 3 A step flow chart of step S101 provided in an embodiment of the present invention;

[0042] Figure 4 A flowchart of a step of pre-building a PWM duty cycle MAP provided by an embodiment of the present invention;

[0043] Figure 5 A schematic diagram of a PWM duty cycle MAP provided by an embodiment of the present invention;

[0044] Figure 6 A schematic diagram of the relationship between temperature and PWM duty cycle under a fixed current provided by an embodiment of the present invention;

[0045] Figure 7 A flowchart of steps for pre-building a shock absorber force value MAP under different temperature ranges provided in an embodiment of the present invention;

[0046] Figure 8 A step flow chart of step S102 provided in an embodiment of the present invention;

[0047] Fig. 9 A logic block diagram of a temperature compensation method for a continuous damping control shock absorber provided by an embodiment of the present invention;

[0048] Fig.10 A step flow chart of step S103 provided in an embodiment of the present invention;

[0049] Fig.11 A schematic diagram of the structure of a temperature compensation system for a continuous damping control shock absorber provided by an embodiment of the present invention;

[0050] Fig.12 A schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present invention;

[0051] Fig.13A schematic diagram of the structure of a storage medium provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0052] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limitations on the present application. It should be noted that, although the functional module division is performed in the system schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in a different order from the module division in the system schematic diagram or the flow chart. For the step numbers in the following embodiments, they are only set for the convenience of explanation, and the order between the steps is not limited in any way. The execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

[0053] In the description of the present invention, the meaning of "a plurality" is two or more. If there is a description of the first or the second, it is only for the purpose of distinguishing the technical features, and it cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features. In addition, unless otherwise defined, all technical and scientific terms used in this document have the same meaning as those commonly understood by technicians in the technical field of this application. The terms used in this document are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0054] The temperature compensation method for a continuous damping control shock absorber provided in the embodiment of the present application can be applied to a terminal, can be applied to a server side, and can also be software running in a terminal or a server side. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, a set-top box, etc.; the server side can be configured as an independent physical server, or a server cluster or a distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application that implements the temperature compensation method for a continuous damping control shock absorber, etc., but is not limited to the above forms.

[0055] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0056] It should be noted that in each specific implementation of the present application, when it comes to the need to perform relevant processing based on data related to user identity or characteristics such as user information, user behavior data, user historical data, and user location information, the user's permission or consent will be obtained first, and the collection, use, and processing of these data will comply with the relevant laws, regulations, and standards of the relevant countries and regions. In addition, when the embodiment of the present application needs to obtain the user's sensitive personal information, the user's separate permission or consent will be obtained through a pop-up window or by jumping to a confirmation page. After clearly obtaining the user's separate permission or consent, the necessary user-related data for the normal operation of the embodiment of the present application will be obtained.

[0057] like Figure 1 FIG. 1 is a flow chart showing a method for temperature compensation of a continuous damping control shock absorber according to an embodiment of the present invention. Figure 1 The embodiment of the present invention provides a temperature compensation method for a continuous damping control shock absorber, which specifically includes the following steps:

[0058] S101, obtaining a first PWM duty cycle and an actual solenoid valve current of a target shock absorber at a current moment, and determining an estimated value of an oil temperature of the target shock absorber according to the first PWM duty cycle and the actual solenoid valve current;

[0059] S102, obtaining a corresponding shock absorber force value MAP according to the estimated value of the oil temperature, and determining a target current of the solenoid valve at the next moment according to the target damping force at the next moment and the shock absorber force value MAP;

[0060] S103 , determining a second PWM duty ratio at a next moment according to the target current of the solenoid valve, and driving and controlling the target shock absorber according to the second PWM duty ratio.

[0061] Specifically, Figure 2 FIG. 1 is a schematic diagram of the overall flow of a temperature compensation method for a continuous damping control shock absorber provided by an embodiment of the present invention. In the continuous damping control shock absorber, the controller calculates the target current of the solenoid valve under different motion states according to a preset program, and changes the damping force by changing the flow cross-sectional area of ​​the solenoid valve oil, thereby realizing vibration control of the vehicle. In an embodiment of the present invention, the PWM duty cycle signal used by the bottom layer software to drive the solenoid valve is transmitted to the application layer software for shock absorber oil temperature estimation. The oil temperature of the target shock absorber is estimated according to the first PWM duty cycle of the target shock absorber at the current moment and the actual current of the solenoid valve. The corresponding shock absorber force value MAP is obtained by using the estimated value, and the target current of the solenoid valve at the next moment is determined in combination with the target damping force at the next moment, so that the second PWM duty cycle at the next moment can be determined by the PID algorithm and the target shock absorber can be driven and controlled, thereby ensuring the control effect of the continuous damping control shock absorber at different working temperatures, improving the control accuracy of the continuous damping control shock absorber and the driving experience of the driver and passengers; in addition, compared with the prior art, the embodiment of the present invention does not need to install a temperature sensor element inside the shock absorber, thereby reducing the production cost, failure risk and later maintenance cost of the continuous damping control shock absorber.

[0062] like Figure 3 FIG. 1 is a flowchart of step S101 provided in an embodiment of the present invention, referring to FIG. Figure 3 As an optional implementation, determining the oil temperature estimation value of the target shock absorber according to the first PWM duty cycle and the actual current of the solenoid valve specifically includes:

[0063] S1011, obtaining a preset PWM duty cycle MAP;

[0064] S1012. Query the PWM duty cycle MAP according to the first PWM duty cycle and the actual current of the solenoid valve to obtain an estimated value of the oil temperature.

[0065] Specifically, since the solenoid valve coil impedance changes with temperature, and different solenoid valve coil impedances can be reflected by the actual solenoid valve current and the PWM duty cycle, the embodiment of the present invention pre-establishes a PWM duty cycle MAP based on temperature (solenoid valve temperature or oil temperature flowing through the solenoid valve), current and PWM duty cycle. After obtaining the first PWM duty cycle and the actual solenoid valve current, the oil temperature estimate of the target shock absorber can be determined by querying the PWM duty cycle MAP.

[0066] like Figure 4 FIG. 1 is a flowchart of a step of pre-building a PWM duty cycle MAP according to an embodiment of the present invention. Figure 4As an optional implementation, the continuous damping control shock absorber temperature compensation method further includes a step of pre-building a PWM duty cycle MAP, which specifically includes:

[0067] S201, driving the solenoid valve of the target shock absorber to reach a first preset current at a preset temperature, and recording a current PWM duty cycle of the target shock absorber;

[0068] S202 , generating a three-dimensional array according to a preset temperature, a first preset current, and a current PWM duty cycle, and constructing a PWM duty cycle MAP according to the three-dimensional array.

[0069] Specifically, to measure the map of the solenoid valve current, PWM duty cycle, and solenoid valve temperature, a high and low temperature box, a controller to drive the solenoid valve, and a data calibration device are required. The solenoid valve is placed in the high and low temperature box and connected to the controller and calibration device outside the box through a wiring harness.

[0070] Set the temperature T of the high and low temperature box to -20℃, 0℃, 20℃, 40℃, 60℃, 80℃, and 100℃ respectively. When the temperature of the high and low temperature box reaches the target temperature, let it stand for 30 minutes to make the temperature of the solenoid valve coil consistent with the ambient temperature. Use the calibration equipment to drive the solenoid valve through the controller to reach the preset current I (the preset current is from 0A to the maximum current designed for the solenoid valve, each 0.1A level), and each current level only stays for 1 second (to prevent the temperature of the solenoid valve coil from rising), replay the data and record the duty cycle value P corresponding to each level of the solenoid valve current at each ambient temperature.

[0071] A three-dimensional array is generated according to the preset temperature, the first preset current and the current PWM duty cycle, and a PWM duty cycle MAP is constructed according to the three-dimensional array. The PWM duty cycle MAP finally formed is as follows: Figure 5 shown.

[0072] exist Figure 5 Based on the PWM duty cycle MAP shown in the figure, the two-dimensional curve relationship between temperature and PWM duty cycle is obtained according to the actual temperature of the solenoid valve, which is used to estimate the current shock absorber oil temperature and subsequent temperature compensation. For example, if the current solenoid valve current is 1A, the two-dimensional curve relationship between temperature and PWM duty cycle can be queried in the PWM duty cycle MAP as follows: Figure 6 As shown, combined with the first PWM duty cycle at the current moment, the corresponding temperature, that is, the current estimated shock absorber oil temperature, can be calculated.

[0073] like Figure 7 FIG. 1 is a flowchart of a step of pre-constructing a shock absorber force value MAP under different temperature ranges provided by an embodiment of the present invention, referring to FIG. Figure 7As an optional implementation, the continuous damping control shock absorber temperature compensation method further includes the step of pre-building a shock absorber force value MAP under different temperature ranges, which specifically includes:

[0074] S301, determining a plurality of preset temperature intervals, and determining a typical temperature of each preset temperature interval;

[0075] S302, driving the solenoid valve of the target shock absorber to reach a second preset current at a typical temperature, and determining a current damping force of the target shock absorber;

[0076] S303 , generating a first mapping relationship according to the second preset current and the current damping force, and constructing a shock absorber force value MAP in a preset temperature range according to the first mapping relationship.

[0077] Specifically, the estimated temperature is divided into three temperature ranges: low (T≤10℃), medium (10℃<T≤70℃), and high (70℃<T). The shock absorber force map is measured at the typical temperature (0℃, 40℃, 90℃) of each temperature range to obtain the MAP of the solenoid valve current and the current damping force at three typical temperatures, i.e., the shock absorber force MAP. When the estimated temperature is within a certain temperature range, the required solenoid valve target current is calculated using the corresponding shock absorber force MAP. In this way, the temperature variable is introduced into the shock absorber force MAP, making the algorithm more accurate in controlling the shock absorber damping force, and avoiding the phenomenon of using the same current when the shock absorber oil temperature is very low and very high, resulting in large force differences and inconsistent comfort performance.

[0078] like Figure 8 FIG. 1 is a flow chart of step S102 provided in an embodiment of the present invention, referring to FIG. Figure 8 As an optional implementation, the corresponding shock absorber force value MAP is obtained according to the oil temperature estimation value, and the target current of the solenoid valve at the next moment is determined according to the target damping force at the next moment and the shock absorber force value MAP, which specifically includes:

[0079] S1021, determining a target temperature range in which the oil temperature estimation value is located, and acquiring a corresponding shock absorber force value MAP according to the target temperature range;

[0080] S1022, determining the target damping force at the next moment through a CDC control algorithm according to the sensor signal and the CAN network signal;

[0081] S1023. Query the shock absorber force value MAP according to the target damping force to obtain the target current of the solenoid valve at the next moment.

[0082] Specifically, Fig. 9A logic block diagram of a temperature compensation method for a continuous damping control shock absorber provided in an embodiment of the present invention is provided. A corresponding shock absorber force value MAP is selected according to a temperature range in which an estimated oil temperature value is located. The driving state of the vehicle is determined according to sensor signals such as a body acceleration sensor, a wheel acceleration sensor, and a lateral acceleration sensor on the vehicle, as well as a driving mode signal and a vehicle speed signal in a CAN network signal. The controller determines a target damping force at the next moment through a CDC control algorithm, queries the shock absorber force value MAP according to the target damping force, obtains a solenoid valve target current at the next moment, and then controls the opening of the shock absorber valve through the solenoid valve target current to provide a damping force adapted to the current state.

[0083] like Fig.10 FIG. 1 is a flow chart of step S103 provided in an embodiment of the present invention, referring to FIG. Fig.10 As an optional implementation, a second PWM duty ratio at the next moment is determined according to the target current of the solenoid valve, and the target shock absorber is driven and controlled according to the second PWM duty ratio, which specifically includes:

[0084] S1033, determining a second PWM duty cycle at the next moment through a PID control algorithm according to the target current of the solenoid valve;

[0085] S1034. Control the opening degree of the solenoid valve of the target shock absorber according to the second PWM duty ratio, so that the target shock absorber outputs the target damping force.

[0086] Specifically, the second PWM duty cycle at the next moment can be calculated according to the target current of the solenoid valve through the PID control algorithm, such as Figure 2 As shown, the actual current of the solenoid valve at that moment can be used as a feedback value and input into the controller together with the target current of the solenoid valve at the next moment for PID control calculation. The specific calculation process is not the focus of the present invention and will not be described here. After determining the second PWM duty cycle, the solenoid valve of the target shock absorber is driven by the second PWM duty cycle to change the opening of the solenoid valve (solenoid valve oil flow cross-sectional area), so that the target shock absorber outputs the target damping force, thereby realizing the vibration reduction control of the vehicle.

[0087] The method steps of the embodiment of the present invention are described above. It can be understood that the embodiment of the present invention estimates the oil temperature of the target shock absorber according to the first PWM duty cycle of the target shock absorber at the current moment and the actual current of the solenoid valve, obtains the corresponding shock absorber force value MAP according to the oil temperature estimation value, and determines the target current of the solenoid valve at the next moment in combination with the target damping force at the next moment, so that the second PWM duty cycle at the next moment can be determined by the PID algorithm and the target shock absorber can be driven and controlled, ensuring the control effect of the continuous damping control shock absorber at different working temperatures, improving the control accuracy of the continuous damping control shock absorber and the driving experience of the driver and passengers; in addition, compared with the prior art, the embodiment of the present invention does not need to install a temperature sensor element inside the shock absorber, reducing the production cost, failure risk and later maintenance cost of the continuous damping control shock absorber.

[0088] like Fig.11 FIG. 1 is a schematic diagram of a temperature compensation system for a continuous damping control shock absorber according to an embodiment of the present invention. Fig.11 , an embodiment of the present invention provides a temperature compensation system for a continuous damping control shock absorber, comprising:

[0089] A temperature estimation module, used for obtaining a first PWM duty cycle of a target shock absorber and an actual solenoid valve current at a current moment, and determining an estimated value of an oil temperature of the target shock absorber according to the first PWM duty cycle and the actual solenoid valve current;

[0090] A target current determination module, used for obtaining a corresponding shock absorber force value MAP according to an estimated value of oil temperature, and determining a target current of the solenoid valve at a next moment according to a target damping force at a next moment and the shock absorber force value MAP;

[0091] The drive control module is used to determine a second PWM duty ratio at a next moment according to a target current of the solenoid valve, and to drive and control a target shock absorber according to the second PWM duty ratio.

[0092] The contents of the above method embodiments are all applicable to the present system embodiments. The functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0093] The embodiment of the present invention further provides an electronic device, the electronic device comprising: a memory, a processor, a program stored in the memory and executable on the processor, and a data bus for realizing connection and communication between the processor and the memory, and the program is executed by the processor to realize the above-mentioned continuous damping control shock absorber temperature compensation method. The electronic device can be any intelligent terminal including a tablet computer, a vehicle-mounted computer, etc.

[0094] like Fig.12FIG. 1 is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention, referring to FIG. Fig.12 , an embodiment of the present invention provides an electronic device, including:

[0095] The processor 1201 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present invention;

[0096] The memory 1202 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1202 can store an operating system and other application programs. When the technical solution provided in the embodiments of this specification is implemented by software or firmware, the relevant program code is stored in the memory 1202, and the processor 1201 calls and executes the temperature compensation method for the continuous damping control shock absorber of the embodiment of the present invention;

[0097] Input / output interface 1203, used to implement information input and output;

[0098] The communication interface 1204 is used to realize the communication interaction between the device and other devices. The communication can be realized through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.);

[0099] A bus 1205 that transmits information between various components of the device (e.g., the processor 1201, the memory 1202, the input / output interface 1203, and the communication interface 1204);

[0100] The processor 1201 , the memory 1202 , the input / output interface 1203 and the communication interface 1204 are connected to each other in communication within the device via the bus 1205 .

[0101] like Fig.13 FIG. 1 is a schematic diagram of a storage medium according to an embodiment of the present invention. Fig.13 The embodiment of the present invention further provides a storage medium, which is a computer-readable storage medium used for computer-readable storage. The storage medium stores one or more programs 1301, and the one or more programs 1301 can be executed by one or more processors to implement the above-mentioned continuous damping control shock absorber temperature compensation method.

[0102] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0103] An embodiment of the present invention further provides a vehicle, the vehicle comprising the above-mentioned continuous damping control shock absorber temperature compensation system or an electric drive assembly of an electronic device.

[0104] Specifically, the vehicle may be a private car, such as a sedan, SUV, MPV or pickup truck. The vehicle may also be an operating vehicle, such as a van, bus, small truck or large trailer. The vehicle may be a gasoline vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it may be a hybrid vehicle or a pure electric vehicle.

[0105] The embodiment of the present invention further provides a computer program product or a computer program, wherein the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes Figure 1 The method shown.

[0106] In some optional embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the above-mentioned boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the present invention is provided by way of example, for the purpose of providing a more comprehensive understanding of technology. The disclosed method is not limited to the operation and logic flow presented herein. The optional embodiment is expected, wherein the order of various operations is changed and the sub-operation described as a part of a larger operation is performed independently.

[0107] In addition, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise specified to the contrary, one or more of the above-mentioned functions and / or features can be integrated into a single physical device and / or software module, or one or more functions and / or features can be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the present invention. More specifically, in view of the properties, functions and internal relationships of the various functional modules in the device disclosed herein, the actual implementation of the module will be understood within the conventional skills of the engineer. Therefore, those skilled in the art can implement the present invention set forth in the claims without excessive experimentation using ordinary techniques. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0108] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the above methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0109] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0110] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and editable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the above-mentioned program is printed, since the above-mentioned program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or processing in other suitable ways as necessary, and then stored in a computer memory.

[0111] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0112] In the above description of this specification, the description with reference to the terms "one embodiment / example", "another embodiment / example" or "certain embodiments / examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0113] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

[0114] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A temperature compensation method for a continuous damping control shock absorber, characterized in that: The following steps are involved: Acquire a first PWM duty cycle and an actual solenoid valve current of a target shock absorber at a current moment, and determine an estimated value of an oil temperature of the target shock absorber according to the first PWM duty cycle and the actual solenoid valve current; Acquire a corresponding shock absorber force value MAP according to the oil temperature estimation value, and determine a target current of the solenoid valve at the next moment according to a target damping force at the next moment and the shock absorber force value MAP; A second PWM duty ratio at a next moment is determined according to the target current of the solenoid valve, and the target damper is driven and controlled according to the second PWM duty ratio.

2. A temperature compensation method for a continuous damping control shock absorber according to claim 1, characterized in that: The step of determining the estimated value of the oil temperature of the target shock absorber according to the first PWM duty cycle and the actual current of the solenoid valve specifically includes: Get the preset PWM duty cycle MAP; The oil temperature estimation value is obtained by querying the PWM duty cycle MAP according to the first PWM duty cycle and the actual current of the solenoid valve.

3. A temperature compensation method for a continuous damping control shock absorber according to claim 2, characterized in that: The continuous damping control shock absorber temperature compensation method further includes a step of pre-building the PWM duty cycle MAP, which specifically includes: driving the solenoid valve of the target shock absorber to reach a first preset current at a preset temperature, and recording a current PWM duty cycle of the target shock absorber; A three-dimensional array is generated according to the preset temperature, the first preset current, and the current PWM duty cycle, and the PWM duty cycle MAP is constructed according to the three-dimensional array.

4. A temperature compensation method for a continuous damping control shock absorber according to claim 1, characterized in that: The continuous damping control shock absorber temperature compensation method further includes the step of pre-building the shock absorber force value MAP under different temperature ranges, which specifically includes: Determining a plurality of preset temperature intervals, and determining a typical temperature of each of the preset temperature intervals; driving a solenoid valve of the target shock absorber to a second preset current at the typical temperature, and determining a current damping force of the target shock absorber; A first mapping relationship is generated according to the second preset current and the current damping force, and the shock absorber force value MAP in the preset temperature range is constructed according to the first mapping relationship.

5. The temperature compensation method for a continuous damping control shock absorber according to claim 1, characterized in that: The step of obtaining a corresponding shock absorber force value MAP according to the oil temperature estimation value, and determining a target current of the solenoid valve at the next moment according to the target damping force at the next moment and the shock absorber force value MAP, specifically includes: Determine a target temperature range in which the oil temperature estimation value is located, and obtain the corresponding shock absorber force value MAP according to the target temperature range; Determine the target damping force at the next moment through a CDC control algorithm according to the sensor signal and the CAN network signal; The shock absorber force value MAP is queried according to the target damping force to obtain the target current of the solenoid valve at the next moment.

6. A temperature compensation method for a continuous damping control shock absorber according to claims 1 to 5, characterized in that: The determining of a second PWM duty ratio at a next moment according to the target current of the solenoid valve, and driving and controlling the target shock absorber according to the second PWM duty ratio specifically includes: Determine the second PWM duty cycle at the next moment through a PID control algorithm according to the target current of the solenoid valve; The opening degree of the solenoid valve of the target damper is controlled according to the second PWM duty ratio so that the target damper outputs the target damping force.

7. A continuous damping control shock absorber temperature compensation system, characterized in that: include: a temperature estimation module, used for obtaining a first PWM duty cycle and an actual solenoid valve current of a target shock absorber at a current moment, and determining an estimated value of an oil temperature of the target shock absorber according to the first PWM duty cycle and the actual solenoid valve current; a target current determination module, configured to obtain a corresponding shock absorber force value MAP according to the oil temperature estimation value, and determine a target current of the solenoid valve at the next moment according to the target damping force at the next moment and the shock absorber force value MAP; A drive control module is used to determine a second PWM duty ratio at a next moment according to the target current of the solenoid valve, and to drive and control the target shock absorber according to the second PWM duty ratio.

8. An electronic device, characterized in that: The electronic device includes a memory, a processor, a program stored in the memory and executable on the processor, and a data bus for realizing connection and communication between the processor and the memory. When the program is executed by the processor, the steps of the continuous damping control shock absorber temperature compensation method as described in any one of claims 1 to 6 are realized.

9. A storage medium, the storage medium being a computer-readable storage medium, used for computer-readable storage, characterized in that: The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the continuous damping control shock absorber temperature compensation method according to any one of claims 1 to 6.

10. A vehicle, characterized in that: The vehicle comprises the continuous damping control shock absorber temperature compensation system according to claim 7 or the electronic device according to claim 8.

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