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

Abstract

The application discloses a continuous damping control shock absorber temperature compensation method, system, device and medium, comprising: acquiring a first PWM duty ratio and an electromagnetic valve actual current of a target shock absorber at a current moment, and determining an oil temperature estimation value of the target shock absorber according to the first PWM duty ratio and the electromagnetic valve actual current; acquiring a corresponding shock absorber force value MAP according to the oil temperature estimation value, and determining an electromagnetic valve target current at a next moment according to a target damping force at the next moment and the shock absorber force value MAP; determining a second PWM duty ratio at the next moment according to the electromagnetic valve target current, and driving and controlling the target shock absorber according to the second PWM duty ratio. The application improves the control precision of the continuous damping control shock absorber and the driving experience of drivers and passengers, reduces the production cost, fault risk and later maintenance cost of the continuous damping control shock absorber, and can be applied to the technical field of vehicle testing.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and in particular to a continuous damping control shock absorber temperature compensation method, system, device and medium. BACKGROUND

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

[0003] Most of the existing continuous damping control shock absorbers do not consider the influence of temperature on the damping force, that is, a unified control parameter is used for shock absorber control under different temperature conditions, which leads to a large difference in damping effect under different environmental temperatures and use scenarios, affecting the control accuracy of the continuous damping control shock absorber and the driving experience of the driver and passenger. In addition, part of the continuous damping control shock absorbers with temperature measurement module are provided with a temperature sensor inside the shock absorber, which increases the production cost, and when the temperature sensor is damaged, the entire shock absorber needs to be replaced, which increases the failure risk and the later maintenance cost of the shock absorber. SUMMARY

[0004] The present application aims to at least partly solve one of the problems in the prior art.

[0005] To this end, one object of the present application is to provide a continuous damping control shock absorber temperature compensation method, which improves the control accuracy of the continuous damping control shock absorber and the driving experience of the driver and passenger, and reduces the production cost, failure risk and later maintenance cost of the continuous damping control shock absorber.

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

[0007] In order to achieve the above technical purpose, the technical solution adopted by the present application comprises:

[0008] On the one hand, the present application provides a continuous damping control shock absorber temperature compensation method, comprising the following steps:

[0009] acquire a first PWM duty ratio of a target shock absorber at a current time and an actual current of a solenoid valve of the target shock absorber, determine an oil temperature estimation value of the target shock absorber according to the first PWM duty ratio and the actual current of the solenoid valve;

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

[0011] determine a second PWM duty ratio at the next time according to the solenoid valve target current, and drive control the target shock absorber according to the second PWM duty ratio.

[0012] Further, in an embodiment of the present application, the determination of the oil temperature estimation value of the target shock absorber according to the first PWM duty ratio and the actual current of the solenoid valve specifically comprises:

[0013] acquiring a preset PWM duty ratio MAP;

[0014] inquiring in the PWM duty ratio MAP according to the first PWM duty ratio and the actual current of the solenoid valve to obtain the oil temperature estimation value.

[0015] Further, in an embodiment of the present application, the continuous damping control shock absorber temperature compensation method further comprises a step of pre-constructing the PWM duty ratio MAP, which specifically comprises:

[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 ratio of the target shock absorber;

[0017] generating a three-dimensional array according to the preset temperature, the first preset current and the current PWM duty ratio, and constructing the PWM duty ratio MAP according to the three-dimensional array.

[0018] Further, in an embodiment of the present application, the continuous damping control shock absorber temperature compensation method further comprises a step of pre-constructing the shock absorber force value MAP at different temperature intervals, which specifically comprises:

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

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

[0021] generate a first mapping relationship according to the second preset current and the current damping force, and construct the damper force value MAP under the preset temperature interval according to the first mapping relationship.

[0022] Further, in an embodiment of the present application, the damper force value MAP corresponding to the oil temperature estimation value is obtained, and the electromagnetic valve target current at the next moment is determined according to the target damping force at the next moment and the damper force value MAP, which specifically includes:

[0023] determining the target temperature interval in which the oil temperature estimation value is located, and obtaining the corresponding damper force value MAP according to the target temperature interval;

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

[0025] querying the damper force value MAP according to the target damping force to obtain the electromagnetic valve target current at the next moment.

[0026] Further, in an embodiment of the present application, the second PWM duty cycle at the next moment is determined according to the electromagnetic valve target current, and the target damper is driven and controlled according to the second PWM duty cycle, which specifically includes:

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

[0028] controlling the opening degree of the electromagnetic valve of the target damper according to the second PWM duty cycle, so that the target damper outputs the target damping force.

[0029] On the other hand, an embodiment of the present application provides a continuous damping control damper temperature compensation system, which comprises:

[0030] a temperature estimation module, configured to obtain a first PWM duty cycle of a target damper at a current moment and an actual current of an electromagnetic valve, and determine an oil temperature estimation value of the target damper according to the first PWM duty cycle and the actual current of the electromagnetic valve;

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

[0032] a driving control module, configured to determine a second PWM duty cycle at the next moment according to the electromagnetic valve target current, and drive and control the target damper according to the second PWM duty cycle.

[0033] In another aspect, an electronic device is provided, which includes a memory, a processor, a program stored in the memory and executable on the processor, and a data bus for realizing connection communication between the processor and the memory, and the program, when executed by the processor, realizes the continuous damping control shock absorber temperature compensation method as described above.

[0034] In another aspect, a storage medium is provided, which is a computer readable storage medium for computer readable storage, and stores one or more programs executable by one or more processors to realize the continuous damping control shock absorber temperature compensation method as described above.

[0035] In another aspect, a vehicle is provided, which includes the continuous damping control shock absorber temperature compensation system or the electronic device as described above.

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

[0037] The first PWM duty ratio and the actual solenoid current of the target shock absorber at the current time are obtained, the oil temperature estimation value of the target shock absorber is determined according to the first PWM duty ratio and the actual solenoid current, the corresponding shock absorber force value MAP is obtained according to the oil temperature estimation value, the solenoid target current at the next time is determined according to the target damping force at the next time and the shock absorber force value MAP, the second PWM duty ratio at the next time is determined according to the solenoid target current, and the target shock absorber is driven and controlled according to the second PWM duty ratio. The first PWM duty ratio and the actual solenoid current of the target shock absorber at the current time are used to estimate the oil temperature of the target shock absorber, the corresponding shock absorber force value MAP is obtained according to the oil temperature estimation value, the solenoid target current at the next time is determined in combination with the target damping force at the next time, so that the second PWM duty ratio at the next time can be determined through the PID algorithm and the target shock absorber is driven and controlled, the control effect of the continuous damping control shock absorber at different working temperatures is ensured, the control precision of the continuous damping control shock absorber and the driving experience of the driver and the passenger are improved, and in addition, compared with the prior art, the present application does not need to install a temperature sensing element in the shock absorber, and the production cost, fault risk and later maintenance cost of the continuous damping control shock absorber are reduced. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following introduces the drawings needed to be used in the embodiments of the present application as follows. It should be understood that the drawings introduced in the following merely for the convenience of clearly describing part of the embodiments in the technical solutions of the present application, and for the person skilled in the art, other drawings can also be obtained without paying creative labor on the premise of the drawings.

[0039] Figure 1 A step flow chart of the continuous damping control shock absorber temperature compensation method provided by the embodiments of the present application is provided.

[0040] Figure 2 A whole flow chart of the continuous damping control shock absorber temperature compensation method provided by the embodiments of the present application is provided.

[0041] Figure 3 A step flow chart of step S101 provided by the embodiments of the present application is provided.

[0042] Figure 4 A step flow chart of the pre-constructed PWM duty cycle MAP provided by the embodiments of the present application is provided.

[0043] Figure 5 A schematic diagram of the PWM duty cycle MAP provided by the embodiments of the present application is provided.

[0044] Figure 6 A schematic diagram of the relationship between the temperature and the PWM duty cycle under the fixed current provided by the embodiments of the present application is provided.

[0045] Figure 7 A step flow chart of the pre-constructed shock absorber force value MAP under different temperature intervals provided by the embodiments of the present application is provided.

[0046] Figure 8 A step flow chart of step S102 provided by the embodiments of the present application is provided.

[0047] Figure 9 A logic block diagram of the continuous damping control shock absorber temperature compensation method provided by the embodiments of the present application is provided.

[0048] Figure 10 A step flow chart of step S103 provided by the embodiments of the present application is provided.

[0049] Figure 11 A structure schematic diagram of the continuous damping control shock absorber temperature compensation system provided by the embodiments of the present application is provided.

[0050] Figure 12 A hardware structure schematic diagram of the electronic device provided by the embodiments of the present application is provided.

[0051] Figure 13A structural schematic diagram of the storage medium provided by the embodiment of the present application is shown. DETAILED DESCRIPTION

[0052] Embodiments of the present application are described in detail below with reference to the accompanying drawings, in which the same or similar notations used throughout the drawings and the specific embodiments described herein 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 a limitation of the present application. It should be noted that although the functional modules are divided in the system schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described can be performed in a manner different from the module division in the system schematic diagram or the order in the flowchart. For the step numbers in the following embodiments, they are only set for the convenience of explanation and description, and the order between the steps is not limited in any way, and the execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0053] In the description of the present application, the meaning of multiple is two or more, and if the first, the second is described, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the sequence of indicated technical features. In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as understood by those skilled in the art to which the present application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0054] The continuous damping control shock absorber temperature compensation method provided by the embodiments of the present application can be applied to a terminal, can also 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 notebook computer, a desktop computer, a set-top box, etc.; the server side can be configured as a separate physical server, can also be configured as a server cluster or a distributed system composed of multiple physical servers, can also be configured as a cloud server providing basic cloud computing services such as cloud service, cloud database, cloud computing, cloud function, cloud storage, network service, cloud communication, middleware service, domain name service, security service, CDN, and big data and artificial intelligence platform; and the software can be an application that implements the continuous damping control shock absorber temperature compensation method, but is not limited to the above forms.

[0055] The application is operable in a multitude of generic or specific computer system environments or configurations. Examples of well known computing systems, environments, and / or configurations that can be suitable for use with the application include personal computers, server computers, handheld or laptop devices, tablet devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like. The application can be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, and the like, that perform particular tasks or implement particular abstract data types. The application can also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules can be located in local and remote computer storage media including memory storage devices.

[0056] It should be noted that in various specific embodiments of the present application, when it is necessary to perform relevant processing according to user information, user behavior data, user historical data, and user location information, and other data related to the identity or characteristics of the user, the user's permission or consent will be obtained first, and the collection, use, and processing of these data will comply with relevant laws, regulations, and standards of the country and region. In addition, when the embodiments of the present application need to obtain sensitive personal information of the user, the separate permission or separate consent of the user will be obtained through a pop-up window or by jumping to a confirmation page, and after obtaining the separate permission or separate consent of the user, the necessary user-related data for enabling the embodiments of the present application to normally operate will be obtained.

[0057] As shown in Figure 1 FIG. 1 is a flowchart of a step of a continuous damping control shock absorber temperature compensation method provided by an embodiment of the present application, referring to Figure 1 The embodiment of the present application provides a continuous damping control shock absorber temperature compensation method, which specifically comprises the following steps:

[0058] S101, a first PWM duty cycle of a target shock absorber at a current moment and an actual current of a solenoid valve are obtained, and an oil temperature estimation value of the target shock absorber is determined according to the first PWM duty cycle and the actual current of the solenoid valve;

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

[0060] S103, a second PWM duty cycle 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 cycle.

[0061] Specifically, as Figure 2 The whole flowchart of the continuous damping control shock absorber temperature compensation method provided by the embodiment of the application is shown in FIG. 1. In the continuous damping control shock absorber, the controller calculates the target current of the electromagnetic valve under different motion states according to the pre-set program, changes the oil flow passage cross-sectional area of the electromagnetic valve to change the damping force, so as to realize the damping control of the vehicle. The bottom layer software is used to transmit the PWM duty cycle signal of the electromagnetic valve to the application layer software for the estimation of the oil temperature of the shock absorber. 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 time and the actual current of the electromagnetic valve. The corresponding shock absorber force value MAP is obtained according to the estimated value of the oil temperature. The target current of the electromagnetic valve at the next time is determined in combination with the target damping force at the next time. Thus, the second PWM duty cycle at the next time can be determined by the PID algorithm and the target shock absorber is driven and controlled, so as to ensure the control effect of the continuous damping control shock absorber at different working temperatures and improve the control precision of the continuous damping control shock absorber and the driving experience of the driver and passenger. In addition, compared with the prior art, the temperature sensing element does not need to be installed in the shock absorber, so as to reduce the production cost, fault risk and later maintenance cost of the continuous damping control shock absorber.

[0062] As Figure 3 The step flowchart of step S101 provided by the embodiment of the application is shown in FIG. 2. Referring to Figure 3 Further, as an optional implementation, the estimated value of the oil temperature of the target shock absorber is determined according to the first PWM duty cycle and the actual current of the electromagnetic valve, which specifically includes the following steps.

[0063] S1011, obtaining a pre-set PWM duty cycle MAP;

[0064] S1012, querying the PWM duty cycle MAP according to the first PWM duty cycle and the actual current of the electromagnetic valve to obtain the estimated value of the oil temperature.

[0065] Specifically, since the impedance of the electromagnetic valve coil changes with the temperature, and different electromagnetic valve coil impedances can be reflected by the actual current of the electromagnetic valve and the PWM duty cycle, the PWM duty cycle MAP is pre-established based on the temperature (the temperature of the electromagnetic valve or the oil temperature flowing through the electromagnetic valve), the current and the PWM duty cycle in the embodiment of the application. After the first PWM duty cycle and the actual current of the electromagnetic valve are obtained, the estimated value of the oil temperature of the target shock absorber can be determined by querying the PWM duty cycle MAP.

[0066] As Figure 4 The step flowchart of pre-establishing the PWM duty cycle MAP provided by the embodiment of the application is shown in FIG. 3. Referring to Figure 4As further optional implementation, the continuous damping control shock absorber temperature compensation method further comprises a step of pre-constructing a PWM duty cycle MAP, which specifically comprises:

[0067] S201, driving an electromagnetic valve of a 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 the preset temperature, the first preset current and the current PWM duty cycle, and constructing a PWM duty cycle MAP according to the three-dimensional array.

[0069] Specifically, a map of the electromagnetic valve current, the PWM duty cycle and the electromagnetic valve temperature is measured, which requires a high-low temperature chamber, a controller for driving the electromagnetic valve and a data calibration device. The electromagnetic valve is placed in the high-low temperature chamber and connected to the controller and the calibration device outside the chamber through a wire harness.

[0070] The temperature of the high-low temperature chamber T is set to -20℃, 0℃, 20℃, 40℃, 60℃, 80℃ and 100℃ respectively. When the temperature of the high-low temperature chamber reaches the target temperature, it is kept for 30 minutes to make the electromagnetic valve coil temperature consistent with the environment temperature. The electromagnetic valve is driven to reach a preset current I (the preset current is from 0A to the maximum current of the electromagnetic valve, and each 0.1A is one grade) by the controller, and each grade of current is only kept for 1 second of data (to prevent the electromagnetic valve coil temperature from rising). The data is played back and the duty cycle value P corresponding to each grade of electromagnetic valve current at each environment temperature is recorded.

[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 finally formed PWM duty cycle MAP is as shown in Figure 5 .

[0072] Based on the PWM duty cycle MAP shown in Figure 5 , a two-dimensional curve relationship between the temperature and the PWM duty cycle is obtained according to the actual temperature of the electromagnetic valve, which is used for estimating the current shock absorber oil temperature and subsequent temperature compensation. For example, given that the current electromagnetic valve current is 1A, the two-dimensional curve relationship between the temperature and the PWM duty cycle can be queried in the PWM duty cycle MAP as shown in Figure 6 , and combined with the first PWM duty cycle at the current moment, the corresponding temperature, i.e. the current estimated shock absorber oil temperature, can be calculated.

[0073] A step flow chart for pre-constructing a shock absorber force value MAP at different temperature intervals provided by the embodiment of the application is as shown in Figure 7 . Referring to Figure 7As further optional implementation, the continuous damping control shock absorber temperature compensation method further comprises a step of pre-constructing a shock absorber force value MAP under different temperature intervals, which specifically comprises:

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

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

[0076] S303, generate a first mapping relationship according to the second preset current and the current damping force, and construct a shock absorber force value MAP under the preset temperature interval according to the first mapping relationship.

[0077] Specifically, the estimated temperature is divided into three temperature intervals: low (T≤10℃), medium (10℃<T≤70℃) and high (70℃<T), and the force value map of the shock absorber is measured at the typical temperature (0℃, 40℃, 90℃) of each temperature interval, obtaining the MAP of the electromagnetic valve current and the current damping force under three typical temperatures, i.e. the shock absorber force value MAP. When the estimated temperature is within a certain temperature interval, the corresponding shock absorber force value MAP is used to calculate the required electromagnetic valve target current, so that the temperature variable is introduced into the shock absorber force value MAP, making the algorithm more accurate in controlling the damping force of the shock absorber, and avoiding the use of the same current when the shock absorber oil temperature is very low and very high, resulting in a large difference in force value and inconsistent comfort performance.

[0078] As shown in Figure 8 is a step flow chart of step S102 provided by the embodiment of the application, referring to Figure 8 As further optional implementation, the corresponding shock absorber force value MAP is obtained according to the oil temperature estimation value, and the electromagnetic valve target current 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 comprises:

[0079] S1021, determine the target temperature interval in which the oil temperature estimation value is located, and obtain the corresponding shock absorber force value MAP according to the target temperature interval;

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

[0081] S1023, query the target damping force in the shock absorber force value MAP to obtain the electromagnetic valve target current at the next moment.

[0082] Specifically, as shown in Figure 9The logic block diagram of the continuous damping control shock absorber temperature compensation method provided by the embodiment of the present application selects a corresponding shock absorber force value MAP according to the temperature interval in which the oil temperature estimation value is located, judges the vehicle driving state according to sensor signals such as a vehicle body acceleration sensor, a wheel acceleration sensor and a lateral acceleration sensor on the vehicle, and driving mode signals and vehicle speed signals in the CAN network signals, determines the target damping force at the next moment by the controller through the CDC control algorithm, queries the target damping force in the shock absorber force value MAP to obtain the electromagnetic valve target current at the next moment, and then controls the opening of the shock absorber valve through the electromagnetic valve target current to provide the damping force suitable for the current state.

[0083] As shown in Figure 10 The step flow chart of step S103 provided by the embodiment of the present application is shown in Figure 10 Further, as an optional implementation, the second PWM duty cycle at the next moment is determined according to the electromagnetic valve target current, and the target shock absorber is driven and controlled according to the second PWM duty cycle, which specifically includes:

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

[0085] S1034, controlling the opening of the electromagnetic valve of the target shock absorber according to the second PWM duty cycle, 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 through the PID control algorithm according to the electromagnetic valve target current, as shown in Figure 2 When the actual current of the electromagnetic valve at the moment can be used as a feedback value and input into the controller together with the electromagnetic valve target current at the next moment for PID control calculation, the specific calculation process is not the focus of the present application, and will not be repeated here. After determining the second PWM duty cycle, the electromagnetic valve of the target shock absorber is driven through the second PWM duty cycle, that is, the opening of the electromagnetic valve (the oil flow passage area of the electromagnetic valve) is changed, so that the target shock absorber outputs the target damping force, and the damping control of the vehicle is realized.

[0087] The method steps of the embodiment of the present application are described above. It can be understood that the embodiment of the present application estimates the oil temperature of the target shock absorber according to the first PWM duty ratio of the target shock absorber at the current moment and the actual current of the electromagnetic valve, obtains the corresponding shock absorber force value MAP according to the oil temperature estimation value, determines the target current of the electromagnetic valve at the next moment in combination with the target damping force at the next moment, so as to determine the second PWM duty ratio at the next moment through the PID algorithm and drive control the target shock absorber, thereby ensuring the control effect of the continuous damping control shock absorber at different working temperatures, improving the control precision of the continuous damping control shock absorber and the driving experience of the driver and passenger, and further, compared with the prior art, the embodiment of the present application does not need to install a temperature sensing element in the shock absorber, thereby reducing the production cost, fault risk and later maintenance cost of the continuous damping control shock absorber.

[0088] As Figure 11 Fig. 1 is a structural schematic diagram of a continuous damping control shock absorber temperature compensation system provided by the embodiment of the present application, referring to Figure 11 The embodiment of the present application provides a continuous damping control shock absorber temperature compensation system, which comprises:

[0089] a temperature estimation module, configured to obtain the first PWM duty ratio of the target shock absorber at the current moment and the actual current of the electromagnetic valve, and determine the oil temperature estimation value of the target shock absorber according to the first PWM duty ratio and the actual current of the electromagnetic valve;

[0090] a target current determination module, configured to obtain the corresponding shock absorber force value MAP according to the oil temperature estimation value, and determine the target current of the electromagnetic valve at the next moment according to the target damping force at the next moment and the shock absorber force value MAP;

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

[0092] The contents in the above method embodiment are all applicable to the system embodiment, the system embodiment specifically realizes the same functions as the above method embodiment, and achieves the same beneficial effects as the above method embodiment.

[0093] The embodiment of the present application further provides an electronic device, which comprises a memory, a processor, a program stored in the memory and executable on the processor, and a data bus for realizing connection communication between the processor and the memory, and the program realizes the above continuous damping control shock absorber temperature compensation method when executed by the processor. The electronic device can be any intelligent terminal including a tablet computer, a vehicle-mounted computer and the like.

[0094] As Figure 12The diagram shown is a hardware structure schematic of an electronic device provided in an embodiment of the present invention. (Refer to...) Figure 12 This invention provides an electronic device, comprising:

[0095] The processor 1201 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, 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 read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 1202 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1202 and is called and executed by the processor 1201 to execute the continuous damping control vibration damper temperature compensation method of the embodiments of the present invention.

[0097] The input / output interface 1203 is used to implement information input and output;

[0098] The communication interface 1204 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

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

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

[0101] like Figure 13 The diagram shown is a structural schematic of the storage medium provided in an embodiment of the present invention. (Refer to...) Figure 13 The present invention also provides a storage medium, which is a computer-readable storage medium for computer-readable storage. The storage medium stores one or more programs 1301, which can be executed by one or more processors to implement the above-described continuous damping control vibration damper temperature compensation method.

[0102] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory can include a high-speed random access memory and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory can optionally include a memory that is remotely located with respect to the processor, and these remote memories can be connected to the processor through 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] The embodiment of the present application also provides a vehicle, which comprises the continuous damping control shock absorber temperature compensation system or the electronic device of the electric drive assembly.

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

[0105] The embodiment of the present application also provides a computer program product or a computer program, which comprises computer instructions stored in a computer readable storage medium. The processor of the computer device can read the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to make the computer device execute the method shown in the embodiment. Figure 1 The method shown in the embodiment.

[0106] In some alternative embodiments, the functions / operations mentioned in the block diagram can not occur in the order mentioned in the operation diagram. For example, depending on the functions / operations involved, two blocks shown in succession can actually be executed substantially simultaneously or the above-mentioned blocks can sometimes be executed in reverse order. In addition, the embodiments presented and described in the flowcharts of the present application are provided by way of example, with the purpose of providing a more comprehensive understanding of the technology. The disclosed method is not limited to the operations and logical flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and in which sub-operations described as part of larger operations are independently executed.

[0107] Furthermore, although the present application is described in the context of functional modules, it is to be understood that one or more of the functions and / or features described above can be integrated in a single physical device and / or software module, or one or more functions and / or features can be implemented in separate physical devices or software modules. It will also be appreciated that detailed discussion of the actual implementation of each module is unnecessary to an understanding of the present application. Rather, the actual implementation of the modules, in conjunction with their attributes, functions, and internal relationships, are to be understood within the context of the devices disclosed herein. Thus, those skilled in the art with access to the teachings presented herein will be able to devise suitable implementations of the present application without undue experimentation. It is also to be understood that the particular concepts disclosed are merely illustrative and are not intended to limit the scope of the present application, which is defined by the appended claims and equivalents thereof.

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

[0109] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a list of executable instructions for implementing logic functions, which can be specifically 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 and execute instructions from an instruction execution system, device or apparatus, or in conjunction with these instructions execution system, device or apparatus. For the purpose of this specification, "computer readable medium" can be any device that can contain, store, communicate, propagate or transport programs for use by an instruction execution system, device or apparatus, or in conjunction with these instruction execution system, device or apparatus.

[0110] More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection (electronic) having one or more wires, a portable computer diskette (magnetic), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can also be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, for example, via optical scanning of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.

[0111] It should be understood that aspects of the application can be implemented in hardware, software, firmware or combinations thereof. In the above embodiments, various steps or methods can be implemented in software or firmware which are stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any of the following technologies, known in the art, or their combinations can be used: discrete logic circuitry having logic gates for implementing logic functions upon an application of data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), and the like.

[0112] In the above description of the present specification, the description referring to the terms "one embodiment", "another embodiment", or "certain embodiments" or the like means that a specific feature, structure, material or characteristic described in connection with the embodiments or examples is included in at least one embodiment or example of the present application. The illustrative expressions of the above terms do not necessarily refer to the same embodiment or example in the present specification. Also, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

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

[0114] The above is a specific description of the preferred embodiments of the present application, but the present application is not limited to the above-described embodiments, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present application, and these equivalent modifications or substitutions are included in the scope defined by the claims of the present application.

Claims

1. A continuous damping control shock absorber temperature compensation method, characterized by, The method comprises the following steps: acquiring a first PWM duty ratio of a target shock absorber at a current time and an actual current of a solenoid valve, determining an oil temperature estimation value of the target shock absorber according to the first PWM duty ratio and the actual current of the solenoid valve; acquiring a corresponding shock absorber force value MAP according to the oil temperature estimation value, and determining a solenoid valve target current at a next time according to a target damping force at the next time and the shock absorber force value MAP; determining a second PWM duty ratio at the next time according to the solenoid valve target current, and driving and controlling the target shock absorber according to the second PWM duty ratio; The shock absorber temperature compensation method further comprises the step of pre-constructing the shock absorber force value MAP in different temperature intervals, which specifically comprises: determining a plurality of preset temperature intervals, and determining a typical temperature of each preset temperature interval; driving the solenoid valve of the target shock absorber to reach a second preset current at the typical temperature, and determining a current damping force of the target shock absorber; generating a first mapping relationship according to the second preset current and the current damping force, and constructing the shock absorber force value MAP in the preset temperature interval according to the first mapping relationship; The method specifically comprises: determining a target temperature interval in which the oil temperature estimation value is located, and acquiring a corresponding shock absorber force value MAP according to the target temperature interval; determining the target damping force at the next time through a continuous damping control algorithm according to a sensor signal and a CAN network signal; querying the target damping force in the shock absorber force value MAP to obtain the solenoid valve target current at the next time.

2. The method of claim 1, wherein the temperature compensation is performed continuously. The method specifically comprises: acquiring a preset PWM duty ratio MAP; inquiring the first PWM duty ratio and the actual current of the solenoid valve in the PWM duty ratio MAP to obtain the oil temperature estimation value.

3. A continuous damping control shock absorber temperature compensation method according to claim 2, wherein The shock absorber temperature compensation method further comprises the step of pre-constructing the PWM duty ratio MAP, which specifically comprises: 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 ratio of the target shock absorber; generating a three-dimensional array according to the preset temperature, the first preset current and the current PWM duty ratio, and constructing the PWM duty ratio MAP according to the three-dimensional array.

4. A method of temperature compensation for a continuously damped control shock absorber according to claims 1 to 3, characterized in that The method specifically comprises: determining the second PWM duty ratio at the next time through a PID control algorithm according to the solenoid valve target current; determining the second PWM duty ratio at the next time through a PID control algorithm according to the solenoid valve target current; The opening of the electromagnetic valve of the target shock absorber is controlled according to the second PWM duty ratio, so that the target shock absorber outputs the target damping force.

5. A continuously damped control shock absorber temperature compensation system characterized by, Comprise: A temperature estimation module is configured to obtain a first PWM duty ratio of a target shock absorber at a current time and an actual current of an electromagnetic valve, and determine 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 target current determination module is configured to obtain a corresponding shock absorber force value map according to the oil temperature estimation value, and determine a target current of the electromagnetic valve at a next time according to a target damping force at the next time and the shock absorber force value map; A drive control module is configured to determine a second PWM duty ratio at the next time according to the target current of the electromagnetic valve, and drive control the target shock absorber according to the second PWM duty ratio; The target current determination module is specifically configured to: Determine a target temperature interval in which the oil temperature estimation value is located, and obtain a corresponding shock absorber force value map according to the target temperature interval; Determine the target damping force at the next time through a continuous damping control algorithm according to a sensor signal and a CAN network signal; Query the shock absorber force value map according to the target damping force to obtain the target current of the electromagnetic valve at the next time; Wherein, the shock absorber force value map under different temperature intervals is constructed by the following steps: Determine a plurality of preset temperature intervals, and determine a typical temperature of each preset temperature interval; Drive the electromagnetic valve of the target shock absorber to reach a second preset current at the typical temperature, and determine a current damping force of the target shock absorber; Generate a first mapping relationship according to the second preset current and the current damping force, and construct the shock absorber force value map under the preset temperature interval according to the first mapping relationship.

6. An electronic device, comprising: The electronic device comprises a memory, a processor, a program stored on the memory and executable on the processor, and a data bus for realizing connection communication between the processor and the memory, and the program is executed by the processor to realize the steps of the continuous damping control shock absorber temperature compensation method in any one of claims 1 to 4.

7. A storage medium, the storage medium being a computer-readable storage medium for computer-readable storage, characterized in that, The storage medium stores one or more programs, which can be executed by one or more processors to realize the steps of the continuous damping control shock absorber temperature compensation method in any one of claims 1 to 4.

8. A vehicle characterized by comprising: The vehicle comprises the continuous damping control shock absorber temperature compensation system of claim 5 or the electronic device of claim 6.

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