Vehicle control method, vehicle, electronic equipment and storage medium

Abstract

The invention provides a vehicle control method, a vehicle, electronic equipment and a storage medium. The method comprises the steps that driving parameters in the vehicle driving process are acquired; the driving intention and the current driving road condition of the vehicle are determined according to the driving parameters, and the driving intention comprises one of accelerated driving, decelerated driving, left turning driving and right turning driving; acquiring a first control parameter of the vehicle according to the driving intention and the driving parameter; controlling the damping device to execute a first action according to the first control parameter, wherein the first action is used for reducing vehicle body movement of the vehicle in the length direction of the vehicle and / or the width direction of the vehicle; acquiring a second control parameter of the vehicle according to the current driving road condition and the driving parameter; and controlling the damping device to execute a second action according to the second control parameter, wherein the second action is used for reducing vehicle body movement of the vehicle in the height direction of the vehicle. According to the invention, the body movement of passengers during riding can be reduced, the riding comfort is improved, and the carsickness risk of the passengers is reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, a vehicle, an electronic device and a storage medium. Background Art

[0002] Traveling by car is a common mode of transportation in modern society. Motion sickness is a relatively common phenomenon, which is very unfriendly to people who are prone to motion sickness, such as children and the elderly. There are many ways to solve or improve motion sickness, such as car fragrances, anti-motion sickness bracelets, playing soothing music and other measures. These are passive improvement measures after motion sickness symptoms occur.

[0003] In the related art, there is no method to actively improve the problem of motion sickness of passengers. Summary of the invention

[0004] In view of this, the present application provides a vehicle control method, a vehicle, an electronic device and a storage medium, which can reduce the body movement of passengers while riding, thereby actively improving the passengers' motion sickness problem, improving the passengers' riding comfort and reducing the passengers' risk of motion sickness.

[0005] An embodiment of the present application provides a vehicle control method, wherein the vehicle includes a shock absorbing device, and the method includes: obtaining driving parameters during vehicle driving; determining the driving intention and current driving conditions of the vehicle according to the driving parameters, wherein the driving intention includes one of accelerating driving, decelerating driving, turning left, and turning right; obtaining a first control parameter of the vehicle according to the driving intention and the driving parameter; controlling the shock absorbing device to perform a first action according to the first control parameter, the first action being used to reduce the body movement of the vehicle in the length direction of the vehicle and / or in the width direction of the vehicle; obtaining a second control parameter of the vehicle according to the current driving conditions and the driving parameter; controlling the shock absorbing device to perform a second action according to the second control parameter, the second action being used to reduce the body movement of the vehicle in the height direction of the vehicle.

[0006] Compared with the related art, the embodiments of the present application have at least the following advantages: by obtaining the driving parameters of the vehicle, the current driving road conditions and different driving intentions of the vehicle can be determined according to the driving parameters, and then the first control parameters of the vehicle are obtained based on the driving intention and the driving parameters, so that after the shock absorbing device is controlled to actively perform the first action according to the first control parameter, the shock absorbing device can reduce the body movement of the vehicle in the length direction of the vehicle and / or in the width direction of the vehicle, thereby effectively avoiding the movement of the passenger's body due to the movement of the body, improving the passenger's riding comfort, and reducing the risk of motion sickness; in addition, by obtaining the second control parameters of the vehicle based on the current driving road conditions and driving parameters, after the shock absorbing device is controlled to actively perform the second action according to the second control parameter, the shock absorbing device can reduce the body movement of the vehicle in the height direction of the vehicle, thereby further avoiding the movement of the passenger's body due to the movement of the body, further improving the passenger's riding comfort, and further reducing the risk of motion sickness.

[0007] In some possible implementations, the driving parameters include an accelerator pedal signal, a brake pedal signal, a current vehicle speed signal, a longitudinal acceleration G-value signal, a longitudinal deceleration G-value signal, a vertical acceleration G-value signal, and a pitch angle signal of a gyroscope; determining the driving intention and current driving road condition of the vehicle according to the driving parameters includes: determining that the driving intention is accelerating when the accelerator pedal signal is received; determining that the driving intention is decelerating when the brake pedal signal is received; determining the current driving road condition according to the vertical acceleration G-value signal and the pitch angle signal, wherein the current driving road condition includes a flat road condition and an uneven road condition; The obtaining of the first control parameter of the vehicle according to the driving intention and the driving parameters includes: when the driving intention is to accelerate, obtaining the first control parameter according to the longitudinal acceleration G-value signal and the current vehicle speed signal; when the driving intention is to decelerate, obtaining the first control parameter according to the longitudinal deceleration G-value signal and the current vehicle speed signal; the obtaining of the second control parameter of the vehicle according to the current driving road condition and the driving parameters includes: when it is determined that the current driving road condition is an uneven road condition, determining the second control parameter according to the current vehicle speed signal, the vertical acceleration G-value signal and the pitch angle signal.

[0008] In some possible implementations, the shock absorbing device includes shock absorbers and air springs respectively arranged at the four wheels of the vehicle; when the driving intention is to accelerate, the shock absorbing device is controlled to perform a first action according to the first control parameter, including: increasing the stiffness of the air springs arranged at the left rear wheel and the right rear wheel, increasing the tensile damping force of the shock absorbers arranged at the left front wheel and the right front wheel, and increasing the compression damping force of the shock absorbers arranged at the left rear wheel and the right rear wheel.

[0009] In some possible implementations, the shock absorbing device includes shock absorbers and air springs respectively arranged at the four wheels of the vehicle; when the driving intention is to decelerate, the shock absorbing device is controlled to perform a first action according to the first control parameter, including: increasing the stiffness of the air spring arranged at the left front wheel and the right front wheel, increasing the compression damping force of the shock absorber arranged at the left front wheel and the right front wheel, and increasing the tension damping force of the shock absorber arranged at the left rear wheel and the right rear wheel.

[0010] In some possible implementations, the shock absorbing device includes shock absorbers and air springs respectively arranged at the four wheels of the vehicle; when it is determined that the current driving road condition is an uneven road condition, the shock absorbing device is controlled to perform a second action according to the second control parameter, including: increasing the stiffness of the air springs arranged at the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel, and increasing the tensile damping force and compression damping force of the shock absorbers arranged at the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel.

[0011] In some possible implementations, the driving parameters include a steering wheel angle direction signal, a steering wheel angular velocity signal, and a lateral acceleration G-value signal of a gyroscope; determining the vehicle's driving intention based on the driving parameters includes: determining whether the driving intention is a left turn or a right turn based on the steering wheel angle direction signal, the steering wheel angular velocity signal, and the lateral acceleration G-value signal.

[0012] In some possible implementations, the shock absorbing device includes shock absorbers and air springs respectively arranged at the four wheels of the vehicle; when it is determined that the driving intention is to turn left, the shock absorbing device is controlled to perform a first action according to the first control parameter, including: increasing the stiffness of the air spring arranged at the right front wheel and the right rear wheel, increasing the tensile damping force of the shock absorber arranged at the left front wheel and the left rear wheel, and increasing the compression damping force of the shock absorber arranged at the right front wheel and the right rear wheel; when it is determined that the driving intention is to turn right, the shock absorbing device is controlled to perform a first action according to the first control parameter, including: increasing the stiffness of the air spring arranged at the left front wheel and the left rear wheel, increasing the tensile damping force of the shock absorber arranged at the right front wheel and the right rear wheel, and increasing the compression damping force of the shock absorber arranged at the left front wheel and the left rear wheel.

[0013] The second aspect of the present application discloses a vehicle, which includes a vibration reduction device, and the vehicle also includes: a monitoring module, a decision module and an execution module; the monitoring module is used to obtain driving parameters during the vehicle's driving process; the decision module is used to determine the vehicle's driving intention and current driving conditions based on the driving parameters, wherein the driving intention includes one of accelerating, decelerating, turning left, and turning right; the decision module is also used to obtain a first control parameter of the vehicle based on the driving intention and the driving parameters; the execution module is used to control the vibration reduction device to perform a first action based on the first control parameter, and the first action is used to reduce the body movement of the vehicle in the length direction of the vehicle and / or in the width direction of the vehicle; the decision module is also used to obtain a second control parameter of the vehicle based on the current driving conditions and the driving parameters; the execution module is also used to control the vibration reduction device to perform a second action based on the second control parameter, and the second action is used to reduce the body movement of the vehicle in the height direction of the vehicle.

[0014] The third aspect of the present application discloses an electronic device, which includes a processor and a memory, wherein the memory is used to store instructions, and the processor is used to call the instructions in the memory so that the electronic device executes the above-mentioned vehicle control method.

[0015] The fourth aspect of the present application discloses a storage medium, including computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes the above-mentioned vehicle control method.

[0016] It can be understood that the vehicle of the second aspect, the electronic device of the third aspect and the storage medium of the fourth aspect provided above all correspond to the method of the first aspect. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the functional modules of a vehicle according to an embodiment of the present application.

[0018] Figure 2 It is a flow chart of a vehicle control method according to an embodiment of the present application.

[0019] Figure 3 It is a flow chart of a vehicle control method according to an embodiment of the present application.

[0020] Figure 4 It is a schematic diagram of the functional modules of an air spring control unit and each air spring according to an embodiment of the present application.

[0021] Figure 5 It is a schematic diagram of the functional modules of a shock absorber control unit and each shock absorber according to an embodiment of the present application.

[0022] Figure 6 It is a flow chart of a vehicle control method according to an embodiment of the present application.

[0023] Figure 7 This is an application scenario diagram of a vehicle display screen according to an embodiment of the present application.

[0024] Figure 8 It is a schematic diagram of the structure of a vehicle according to an embodiment of the present application.

[0025] Fig. 9 It is a schematic diagram of functional modules of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application is described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the implementation methods of the present application and the features in the implementation methods can be combined with each other without conflict.

[0027] In the following description, many specific details are set forth to facilitate a full understanding of the present application. The described implementations are only part of the implementations of the present application, rather than all the implementations.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0029] It should be further noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0030] In this application, "at least one" means one or more, and "more" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0031] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0032] To facilitate understanding of the embodiments of the present application, first, the technical terms involved in the present application are introduced: Gyroscope: A gyroscope is an instrument that can measure the angle and angular velocity of an object. Its working principle is to use a rotating gyroscope to keep its own direction unchanged. In automobile performance tests, gyroscopes are usually installed on vehicles, and the vehicle's motion state is obtained by sensing the vehicle's steering, tilt, acceleration and other data. The role of gyroscopes in vehicles mainly includes the following aspects: 1. Measuring the steering angle of the vehicle: The gyroscope can sense the steering angle of the vehicle to measure the vehicle's handling performance. By measuring the steering angle of the vehicle, the vehicle's steering stability and comfort can be evaluated. 2. Measuring the tilt angle of the vehicle: The gyroscope can also sense the tilt angle of the vehicle, which is very important for evaluating the vehicle's suspension system and handling performance. By measuring the tilt angle of the vehicle, the stability of the vehicle, the adjustment effect of the suspension system and other indicators can be evaluated. 3. Measuring the acceleration of the vehicle: The gyroscope can also sense the acceleration of the vehicle, which is very important for evaluating the acceleration and braking performance of the vehicle. By measuring the acceleration of the vehicle, the acceleration ability, braking distance and other indicators of the vehicle can be evaluated.

[0033] Shock absorber: The main function of the shock absorber is to suppress and absorb the energy brought by the spring vibration and convert this energy into heat energy and release it. Specifically, the shock absorber can absorb the impact of the road and prevent the car body from bouncing excessively, thus providing a better driving smoothness.

[0034] Air spring: Air springs are made by filling compressed air in a flexible and sealed container, using the compressibility of air to achieve elasticity. Its main functions include: 1. Load-bearing and buffering: bearing and transmitting vertical loads, easing and resisting the impact caused by uneven roads. 2. Changing the height of the vehicle body and the stiffness of the suspension: adjusting the suspension travel and the height of the vehicle body by filling and releasing air.

[0035] CAN: CAN (Controller Area Network) is a serial communication protocol bus for real-time applications. It is mainly used for communication between various components in the car to replace expensive and bulky distribution harnesses. The CAN bus uses twisted pair cables to transmit signals and supports a serial communication network for distributed control or real-time control.

[0036] ECU: ECU (Electronic Control Unit) is an important electronic control device in automobiles, mainly used for comprehensive control of engines. Its main function is to calculate, process and judge various information input by various sensors of the engine according to its own stored programs, and then output instructions to control the actions of relevant actuators, so as to achieve the purpose of fast, accurate and automatic control of engine operation.

[0037] Please refer to Figure 1, is a schematic diagram of a functional module of a vehicle provided in an embodiment of the present application. The vehicle includes a monitoring ECU1, a decision ECU2, and an execution ECU3. Figure 1 It can be seen that the monitoring ECU1 and the decision-making ECU2 are connected via the vehicle-mounted CAN network communication, and the decision-making ECU2 and the execution ECU3 are also connected via the vehicle-mounted CAN network communication.

[0038] Specifically, the monitoring ECU1 includes an accelerator pedal unit 11, a brake pedal unit 12, a gyroscope unit 13, a steering wheel unit 14 and a vehicle speed signal unit 15, and the monitoring ECU1 user obtains the driving parameters of the vehicle during driving. In this embodiment, the driving parameters include but are not limited to: an accelerator pedal signal sent by the accelerator pedal unit 11, a brake pedal signal sent by the brake pedal unit 12, a longitudinal acceleration G value signal, a longitudinal deceleration G value signal, a lateral acceleration G value signal, a vertical acceleration G value signal and a pitch angle signal sent by the gyroscope unit 13, a steering wheel angle direction signal and a steering wheel angular velocity signal sent by the steering wheel unit 14, and a current vehicle speed signal sent by the vehicle speed signal unit 15.

[0039] The monitoring ECU1 sends the above-monitored driving parameters to the decision-making ECU2 through the on-board CAN network. The decision-making ECU2 determines the driving intention and current driving road conditions of the vehicle based on the driving parameters. The driving intention includes one of accelerating, decelerating, turning left, and turning right. The current driving road conditions include flat road conditions and uneven road conditions.

[0040] The decision ECU2 is also used to obtain the first control parameter of the vehicle according to the driving intention and driving parameters, and to obtain the second control parameter of the vehicle according to the current driving road conditions and driving parameters. The decision ECU2 sends the first control parameter and the second control parameter to the execution ECU3 through the on-board CAN network.

[0041] The execution ECU3 includes an air spring control unit 31 and a shock absorber control unit 32. It can be understood that the vehicle's shock absorbing device includes shock absorbers and air springs respectively arranged at the four wheels of the vehicle. The air spring control unit 31 is used to control the stiffness of the air springs at the four wheels, and the shock absorber control unit 32 is used to control the tensile damping force and compression damping force of the shock absorbers at the four wheels.

[0042] After receiving the first control parameter and the second control parameter, the air spring control unit 31 and the shock absorber control unit 32 control the air spring and the shock absorber to perform the first action according to the first control parameter, and control the air spring and the shock absorber to perform the second action according to the second control parameter.

[0043] It should be noted that the specific control process of the air spring by the air spring control unit 31 and the specific control process of the shock absorber by the shock absorber control unit 32 are described in detail in subsequent embodiments, and will not be described again here to avoid repetition.

[0044] Please refer to Figure 2 , is a flow chart of a vehicle control method provided in an embodiment of the present application. This embodiment is applied to a vehicle, the vehicle includes a vibration reduction device, and the vehicle control method includes the following steps: Step 101: Acquire driving parameters of a vehicle during driving.

[0045] In some embodiments, driving parameters are obtained through the above-mentioned monitoring ECU1. The driving parameters of this embodiment include but are not limited to: accelerator pedal signal, brake pedal signal, longitudinal acceleration G-value signal, longitudinal deceleration G-value signal, lateral acceleration G-value signal, vertical acceleration G-value signal and pitch angle signal of the gyroscope, steering wheel angle direction signal, steering wheel angular velocity signal, and current vehicle speed signal.

[0046] In some embodiments, the vehicle includes a vehicle speed sensor, a steering wheel angle sensor, a gyroscope, an accelerator pedal position sensor, and a brake pedal position sensor. The vehicle speed sensor is used to obtain the current vehicle speed signal; the steering wheel angle sensor is used to obtain the steering wheel angle direction signal and angular velocity signal; the gyroscope is used to obtain the longitudinal acceleration G value signal, the longitudinal deceleration G value signal, the lateral acceleration G value signal, the vertical acceleration G value signal, and the pitch angle signal; the accelerator pedal signal is obtained through the accelerator pedal position sensor, and the brake pedal signal is obtained through the brake pedal position sensor.

[0047] Step 102: Determine the vehicle's driving intention and current driving road conditions based on the driving parameters.

[0048] In some embodiments, the driving intention includes one of accelerating, decelerating, turning left, and turning right.

[0049] In some embodiments, the current driving road condition includes a flat road condition and an uneven road condition.

[0050] How to determine the driving intention and current driving condition of the vehicle based on the driving parameters is described in detail in the subsequent embodiments, and will not be described again here to avoid repetition.

[0051] Step 103: Acquire a first control parameter of the vehicle according to the driving intention and the driving parameter.

[0052] Step 104 : Control the vibration reduction device to perform a first action according to the first control parameter, where the first action is used to reduce the body movement of the vehicle in the length direction of the vehicle and / or the width direction of the vehicle.

[0053] Step 105: Obtain a second control parameter of the vehicle according to the current driving road condition and driving parameters.

[0054] Step 106: Control the vibration reduction device to perform a second action according to the second control parameter, where the second action is used to reduce the body movement of the vehicle in the height direction of the vehicle.

[0055] The descriptions of steps 103 to 106 are all described in detail in the subsequent embodiments, and will not be repeated here to avoid repetition.

[0056] Compared with the related art, the embodiments of the present application have at least the following advantages: by obtaining the driving parameters of the vehicle, the current driving road conditions and different driving intentions of the vehicle can be determined according to the driving parameters, and then the first control parameters of the vehicle are obtained based on the driving intention and the driving parameters, so that after the shock absorbing device is controlled to actively perform the first action according to the first control parameter, the shock absorbing device can reduce the body movement of the vehicle in the length direction of the vehicle and / or in the width direction of the vehicle, thereby effectively avoiding the movement of the passenger's body due to the movement of the body, improving the passenger's riding comfort, and reducing the risk of motion sickness; in addition, by obtaining the second control parameters of the vehicle based on the current driving road conditions and driving parameters, after the shock absorbing device is controlled to actively perform the second action according to the second control parameter, the shock absorbing device can reduce the body movement of the vehicle in the height direction of the vehicle, thereby further avoiding the movement of the passenger's body due to the movement of the body, further improving the passenger's riding comfort, and further reducing the risk of motion sickness.

[0057] Please refer to Figure 3 , Figure 3 This is a flow chart of a vehicle control method provided by an embodiment of the present application. This embodiment is a specific description of the above-mentioned embodiment, which mainly describes: when the driving parameters include an accelerator pedal signal, a brake pedal signal, a current vehicle speed signal, a longitudinal acceleration G value signal of a gyroscope, a longitudinal deceleration G value signal, a vertical acceleration G value signal, and a pitch angle signal, how to determine the vehicle's driving intention and current driving conditions, and how to control the vibration reduction device to perform the first action and the second action. In this way, it is possible to ensure that the passenger's body movement is reduced during the vehicle's driving process, thereby improving the passenger's riding experience and reducing the risk of motion sickness.

[0058] The specific process of this embodiment is as follows Figure 3 As shown, the following steps are included: Step 201: Acquire driving parameters of a vehicle during driving.

[0059] Specifically, the driving parameters of this embodiment include an accelerator pedal signal, a brake pedal signal, a current vehicle speed signal, a longitudinal acceleration G-value signal, a longitudinal deceleration G-value signal, a vertical acceleration G-value signal and a pitch angle signal of a gyroscope.

[0060] Step 202: When an accelerator pedal signal is received, determining that the driving intention is accelerating.

[0061] Specifically, when the driver operates the accelerator pedal, the position of the accelerator pedal will change, and the accelerator pedal position sensor sends an accelerator pedal signal to the decision ECU2. After receiving the accelerator pedal signal, the decision ECU2 can determine that the vehicle's driving intention is to accelerate.

[0062] Step 203: When the driving intention is to accelerate, obtain a first control parameter according to the longitudinal acceleration G value signal and the current vehicle speed signal.

[0063] In some embodiments, different longitudinal accelerations and different vehicle speeds correspond to different first control parameters. Specifically, the decision ECU 2 stores a preset first correspondence between the longitudinal acceleration, the vehicle speed, and the first control parameter. The decision ECU 2 determines the longitudinal acceleration of the vehicle through the longitudinal acceleration G value signal and determines the current vehicle speed of the vehicle through the current vehicle speed signal, that is, the first control parameter corresponding to the longitudinal acceleration and the current vehicle speed can be determined according to the first correspondence.

[0064] Step 204: When a brake pedal signal is received, determine that the driving intention is to decelerate.

[0065] Specifically, when the driver operates the brake pedal, the position of the brake pedal will change, and the brake pedal position sensor will send a brake pedal signal to the decision ECU2. After receiving the brake pedal signal, the decision ECU2 can determine that the vehicle's driving intention is to decelerate.

[0066] Step 205: When the driving intention is to decelerate, obtain a first control parameter according to the longitudinal deceleration G value signal and the current vehicle speed signal.

[0067] In some embodiments, different longitudinal decelerations and different vehicle speeds correspond to different first control parameters. Specifically, the decision ECU 2 stores a preset second correspondence between the longitudinal deceleration, the vehicle speed, and the first control parameter. The decision ECU 2 determines the longitudinal deceleration of the vehicle through the longitudinal deceleration G value signal and determines the current vehicle speed of the vehicle through the current vehicle speed signal, that is, the longitudinal deceleration and the first control parameter corresponding to the current vehicle speed can be determined according to the second correspondence.

[0068] Step 206: Control the vibration reduction device to perform a first action according to the first control parameter, where the first action is used to reduce the body movement of the vehicle in the length direction of the vehicle and / or the width direction of the vehicle.

[0069] Please refer to Figure 4 and Figure 5 The vibration reduction device includes a shock absorber and an air spring respectively arranged at the four wheels of the vehicle.

[0070] Specifically, from Figure 4 It can be seen that the air spring arranged at the left front wheel is the left front air spring 41, the air spring arranged at the left rear wheel is the left rear air spring 43, the air spring arranged at the right front wheel is the right front air spring 42, and the air spring arranged at the right rear wheel is the right rear air spring 44. The air spring control unit 4 is respectively connected to the left front air spring 41, the left rear air spring 43, the right front air spring 42 and the right rear air spring 44, and the air spring control unit 4 is used to control the stiffness of the left front air spring 41, the left rear air spring 43, the right front air spring 42 and the right rear air spring 44, respectively.

[0071] from Figure 5 It can be seen that the shock absorber arranged at the left front wheel is the left front shock absorber 51, the shock absorber arranged at the left rear wheel is the left rear shock absorber 53, the shock absorber arranged at the right front wheel is the right front shock absorber 52, and the shock absorber arranged at the right rear wheel is the right rear shock absorber 54. The shock absorber control unit 5 is respectively connected to the left front shock absorber 51, the left rear shock absorber 53, the right front shock absorber 52 and the right rear shock absorber 54. The shock absorber control unit 5 is used to control the tensile damping force and the compression damping force of the left front shock absorber 51, the left rear shock absorber 53, the right front shock absorber 52 and the right rear shock absorber 54 respectively.

[0072] When the driving intention is to accelerate, the first control parameter is used to control the damping device to perform the first action, including: increasing the stiffness of the left rear air spring 43 and the right rear air spring 44, increasing the tensile damping force of the left front shock absorber 51 and the right front shock absorber 52, and increasing the compression damping force of the left rear shock absorber 53 and the right rear shock absorber 54. Specifically, in the process of accelerating the vehicle, in order to suppress the "lifting up" phenomenon of the vehicle body during acceleration, that is, the "leaning back" phenomenon, the above adjustment method can greatly reduce the lifting movement of the vehicle body during acceleration, thereby reducing the body movement of passengers during the acceleration of the vehicle.

[0073] When the driving intention is to decelerate, the vibration reduction device is controlled to perform a first action according to the first control parameter, including: increasing the stiffness of the left front air spring 41 and the right front air spring 42, increasing the compression damping force of the left front shock absorber 51 and the right front shock absorber 52, and increasing the extension damping force of the left rear shock absorber 53 and the right rear shock absorber 54. Specifically, in the process of decelerating the vehicle, in order to suppress the "nodding" phenomenon of the vehicle body when the controlled vehicle accelerates, the above adjustment method can greatly reduce the dive movement of the vehicle body when the vehicle decelerates, thereby reducing the body movement of passengers during the deceleration of the vehicle.

[0074] Step 207: determine the current driving road condition according to the vertical acceleration G value signal and the pitch angle signal.

[0075] Specifically, when the vehicle is traveling on a flat road, the vehicle body will not have too much body shaking in the height direction, so the vertical acceleration of the gyroscope is small and the pitch angle is small; while when the vehicle is traveling on an uneven road, the vehicle body has a large body shaking in the height direction due to the large height difference of the driving road surface, so that the vertical acceleration of the gyroscope is large and the pitch angle is large. Therefore, after the gyroscope unit 13 sends the vertical acceleration G value signal and the pitch angle signal to the decision ECU2, the decision ECU2 can determine the current driving condition of the vehicle according to the gyroscope vertical acceleration represented by the vertical acceleration G value signal and the gyroscope pitch angle represented by the pitch angle signal.

[0076] Step 208: When it is determined that the current driving road condition is an uneven road condition, determine the second control parameter according to the current vehicle speed signal, the vertical acceleration G value signal and the pitch angle signal.

[0077] In some embodiments, different vehicle speeds, different vertical accelerations, and different pitch angles correspond to different second control parameters. Specifically, the decision ECU 2 stores a third correspondence between the preset vertical acceleration, vehicle speed, pitch angle, and second control parameter. The decision ECU 2 determines the vertical acceleration of the vehicle through the vertical acceleration G value signal, determines the current vehicle speed of the vehicle through the current vehicle speed signal, and determines the pitch angle of the vehicle through the pitch angle signal. The second control parameter corresponding to the vertical acceleration, current vehicle speed, and pitch angle can be determined according to the third correspondence.

[0078] Step 209: Control the vibration reduction device to perform a second action according to the second control parameter, where the second action is used to reduce the body movement of the vehicle in the height direction of the vehicle.

[0079] Please refer again Figure 4 and Figure 5, when it is determined that the current driving road condition is an uneven road condition, the vibration reduction device is controlled to perform a second action according to the second control parameter, including: increasing the stiffness of the left front air spring 41, the left rear air spring 43, the right front air spring 42 and the right rear air spring 44, and increasing the tensile damping force and the compression damping force of the left front shock absorber 51, the left rear shock absorber 53, the right front shock absorber 52 and the right rear shock absorber 54. Through this adjustment method, the vertical movement of the vehicle body during straight driving can be greatly reduced, thereby reducing the body movement of the passengers.

[0080] Compared with the related art, the embodiments of the present application have at least the following advantages: by obtaining the driving parameters of the vehicle, the current driving road conditions and different driving intentions of the vehicle can be determined according to the driving parameters, and then the first control parameters of the vehicle are obtained based on the driving intention and the driving parameters, so that after the shock absorbing device is controlled to actively perform the first action according to the first control parameter, the shock absorbing device can reduce the body movement of the vehicle in the length direction of the vehicle and / or in the width direction of the vehicle, thereby effectively avoiding the movement of the passenger's body due to the movement of the body, improving the passenger's riding comfort, and reducing the risk of motion sickness; in addition, by obtaining the second control parameters of the vehicle based on the current driving road conditions and driving parameters, after the shock absorbing device is controlled to actively perform the second action according to the second control parameter, the shock absorbing device can reduce the body movement of the vehicle in the height direction of the vehicle, thereby further avoiding the movement of the passenger's body due to the movement of the body, further improving the passenger's riding comfort, and further reducing the risk of motion sickness.

[0081] Please refer to Figure 6 , Figure 6 It is a flow chart of a vehicle control method provided by an embodiment of the present application. This embodiment is a specific description of the aforementioned embodiment, mainly illustrating: when the driving parameters include a steering wheel angle direction signal, a steering wheel angular velocity signal and a lateral acceleration G-value signal of a gyroscope, how to determine the vehicle's driving intention and how to control the vibration reduction device to perform the first action.

[0082] Step 301: Acquire driving parameters of a vehicle during driving.

[0083] Step 302: Determine whether the driving intention is a left turn or a right turn according to the steering wheel angle direction signal and the steering wheel angular velocity signal.

[0084] Specifically, when the driver operates the steering wheel, the steering wheel will turn and turn to a certain angle. The steering wheel angle sensor sends a steering wheel angle direction signal and a steering wheel angular velocity signal to the decision ECU2. After receiving the steering wheel angle direction signal and the steering wheel angular velocity signal, the decision ECU2 can determine the steering angle and direction of the steering wheel, thereby determining whether the vehicle's driving intention is to turn left or right.

[0085] Step 303: When it is determined that the driving intention is to turn left, determine a first control parameter according to the lateral acceleration G value signal.

[0086] In some embodiments, when the vehicle turns left, different lateral accelerations correspond to different first control parameters. Specifically, the decision ECU 2 stores a preset fourth correspondence between the lateral acceleration and the first control parameter. After receiving the lateral acceleration G value signal, the decision ECU 2 determines the lateral acceleration of the vehicle through the lateral acceleration G value signal, and can determine the first control parameter corresponding to the lateral acceleration according to the fourth correspondence.

[0087] Step 304: When it is determined that the driving intention is to turn right, determine a first control parameter according to the lateral acceleration G value signal.

[0088] In some embodiments, when the vehicle turns right, different lateral accelerations correspond to different first control parameters. Specifically, the decision ECU 2 stores a preset fifth correspondence between the lateral acceleration and the first control parameter. After receiving the lateral acceleration G value signal, the decision ECU 2 determines the lateral acceleration of the vehicle through the lateral acceleration G value signal, and can determine the first control parameter corresponding to the lateral acceleration according to the fifth correspondence.

[0089] Step 305: Control the vibration reduction device to perform a first action according to the first control parameter, where the first action is used to reduce the body movement of the vehicle in the length direction of the vehicle and / or the width direction of the vehicle.

[0090] Please refer again Figure 4 and Figure 5 When it is determined that the driving intention is to turn left, the damping device is controlled to perform a first action according to the first control parameter, including: increasing the stiffness of the right front air spring 42 and the right rear air spring 44, increasing the tensile damping force of the left front shock absorber 51 and the left rear shock absorber 53, and increasing the compression damping force of the right front shock absorber 52 and the right rear shock absorber 54. Through this adjustment method, the lateral roll motion of the vehicle when turning left can be greatly reduced, thereby reducing the body motion of the passengers.

[0091] When it is determined that the driving intention is to turn right, the damping device is controlled to perform a first action according to the first control parameter, including: increasing the stiffness of the left front air spring 41 and the left rear air spring 43, increasing the tensile damping force of the right front shock absorber 52 and the right rear shock absorber 54, and increasing the compression damping force of the left front shock absorber 51 and the left rear shock absorber 53. Through this adjustment method, the lateral roll motion of the vehicle when turning right can be greatly reduced, thereby reducing the body motion of the passengers.

[0092] Step 306: Obtain a second control parameter of the vehicle according to the current driving road condition and driving parameters.

[0093] Step 307: Control the vibration reduction device to perform a second action according to the second control parameter, where the second action is used to reduce the body movement of the vehicle in the height direction of the vehicle.

[0094] Please refer to Figure 7 , which is an application scenario diagram of the vehicle display screen provided in the embodiment of the present application. The vehicle large screen 6 includes driving mode selection 61, comfort mode 62, standard mode 63, sports mode 64 and anti-motion sickness mode 65. The user can click Figure 7 In the "anti-motion sickness mode" shown, the vehicle will enter the anti-motion sickness mode, and the vehicle will execute the above-mentioned vehicle control method to reduce the risk of motion sickness for passengers.

[0095] Compared with the related art, the embodiments of the present application have at least the following advantages: by obtaining the driving parameters of the vehicle, the current driving road conditions and different driving intentions of the vehicle can be determined according to the driving parameters, and then the first control parameters of the vehicle are obtained based on the driving intention and the driving parameters, so that after the shock absorbing device is controlled to actively perform the first action according to the first control parameter, the shock absorbing device can reduce the body movement of the vehicle in the length direction of the vehicle and / or in the width direction of the vehicle, thereby effectively avoiding the movement of the passenger's body due to the movement of the body, improving the passenger's riding comfort, and reducing the risk of motion sickness; in addition, by obtaining the second control parameters of the vehicle based on the current driving road conditions and driving parameters, after the shock absorbing device is controlled to actively perform the second action according to the second control parameter, the shock absorbing device can reduce the body movement of the vehicle in the height direction of the vehicle, thereby further avoiding the movement of the passenger's body due to the movement of the body, further improving the passenger's riding comfort, and further reducing the risk of motion sickness.

[0096] Please refer to Figure 8 , is a schematic diagram of the structure of a vehicle 100 provided in an embodiment of the present application. The vehicle includes a vibration reduction device 101, a monitoring module 102, a decision module 103 and an execution module 104.

[0097] The monitoring module 102 is used to obtain the driving parameters of the vehicle 100 during the driving process; the decision module 103 is used to determine the driving intention and current driving conditions of the vehicle 100 according to the driving parameters, wherein the driving intention includes one of accelerating, decelerating, turning left, and turning right; the decision module 103 is also used to obtain a first control parameter of the vehicle 100 according to the driving intention and the driving parameters; the execution module 104 is used to control the vibration reduction device 101 to perform a first action according to the first control parameter, and the first action is used to reduce the body movement of the vehicle in the length direction of the vehicle 100 and / or in the width direction of the vehicle 100; the decision module 103 is also used to obtain a second control parameter of the vehicle 100 according to the current driving conditions and driving parameters; the execution module 104 is also used to control the vibration reduction device 101 to perform a second action according to the second control parameter, and the second action is used to reduce the body movement of the vehicle 100 in the height direction of the vehicle 100.

[0098] Please refer to Fig. 9 , is a schematic diagram of the hardware structure of the electronic device 1000 provided in the embodiment of the present application. Fig. 9 As shown, the electronic device 1000 may include a processor 1001 and a memory 1002. The memory 1002 is used to store one or more computer programs 1003. The one or more computer programs 1003 are configured to be executed by the processor 1001. The one or more computer programs 1003 include instructions, and the above instructions can be used to implement the above vehicle control method in the electronic device 1000.

[0099] It is understandable that the structure shown in this embodiment does not constitute a specific limitation on the electronic device 1000. In other embodiments, the electronic device 1000 may include more or fewer components than shown, or combine or separate some components, or arrange the components differently.

[0100] The processor 1001 may include one or more processing units, for example, the processor 1001 may include an application processor (AP), a modem, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0101] The processor 1001 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 1001 is a cache memory. The memory may store instructions or data that the processor 1001 has just used or circulated. If the processor 1001 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 1001, and thus improves the efficiency of the system.

[0102] In some embodiments, the processor 1001 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a SIM interface, and / or a USB interface, etc.

[0103] In some embodiments, processor 1001 is used to execute acceleration schemes such as single instruction multiple data (SIMD) and very long instruction word (VLIW).

[0104] In some embodiments, memory 1002 may include high-speed random access memory and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0105] This embodiment also provides a storage medium, in which computer instructions are stored. When the instructions are executed on an electronic device, the electronic device executes the above-mentioned related method steps to implement the vehicle control method in the above-mentioned embodiment.

[0106] Among them, the electronic device and storage medium provided in this embodiment are used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0107] In practical applications, the above functions can be distributed to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0108] In several embodiments provided in the present application, the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are schematic. For example, the division of the modules or units is a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0109] The unit described as a separate component may or may not be physically separated, and the component shown as a unit may be one physical unit or multiple physical units, that is, it may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.

[0110] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0111] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program code.

[0112] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: The vehicle includes a vibration reduction device, and the method includes: Acquire driving parameters of the vehicle during driving; Determining the driving intention and current driving road condition of the vehicle according to the driving parameters, wherein the driving intention includes one of accelerating driving, decelerating driving, turning left, and turning right; Acquire a first control parameter of the vehicle according to the driving intention and the driving parameter; controlling the vibration reduction device to perform a first action according to the first control parameter, wherein the first action is used to reduce the body movement of the vehicle in the length direction of the vehicle and / or in the width direction of the vehicle; Acquire a second control parameter of the vehicle according to the current driving condition and the driving parameter; The vibration reduction device is controlled to perform a second action according to the second control parameter, wherein the second action is used to reduce the body movement of the vehicle in the height direction of the vehicle.

2. The vehicle control method according to claim 1, characterized in that: The driving parameters include an accelerator pedal signal, a brake pedal signal, a current vehicle speed signal, a longitudinal acceleration G value signal, a longitudinal deceleration G value signal, a vertical acceleration G value signal and a pitch angle signal of a gyroscope; The determining the driving intention and current driving condition of the vehicle according to the driving parameters includes: In the case of receiving the accelerator pedal signal, determining that the driving intention is accelerating driving; When receiving the brake pedal signal, determining that the driving intention is to decelerate; Determine the current driving road condition according to the vertical acceleration G value signal and the pitch angle signal, wherein the current driving road condition includes a flat road condition and an uneven road condition; The obtaining of the first control parameter of the vehicle according to the driving intention and the driving parameter comprises: When the driving intention is accelerating, obtaining the first control parameter according to the longitudinal acceleration G value signal and the current vehicle speed signal; When the driving intention is to decelerate, obtaining the first control parameter according to the longitudinal deceleration G value signal and the current vehicle speed signal; The obtaining the second control parameter of the vehicle according to the current driving road condition and the driving parameter comprises: When it is determined that the current driving road condition is an uneven road condition, the second control parameter is determined according to the current vehicle speed signal, the vertical acceleration G value signal and the pitch angle signal.

3. The vehicle control method according to claim 2, characterized in that: The vibration reduction device includes a vibration reducer and an air spring respectively arranged at four wheels of the vehicle; When the driving intention is to accelerate, controlling the vibration reduction device to perform a first action according to the first control parameter includes: Increase the stiffness of the air springs provided at the left rear wheel and the right rear wheel, increase the tensile damping force of the shock absorbers provided at the left front wheel and the right front wheel, and increase the compression damping force of the shock absorbers provided at the left rear wheel and the right rear wheel.

4. The vehicle control method according to claim 2, characterized in that: The vibration reduction device includes a vibration reducer and an air spring respectively arranged at four wheels of the vehicle; When the driving intention is to decelerate, controlling the vibration reduction device to perform a first action according to the first control parameter includes: Increase the stiffness of the air springs provided at the left front wheel and the right front wheel, increase the compression damping force of the shock absorbers provided at the left front wheel and the right front wheel, and increase the tension damping force of the shock absorbers provided at the left rear wheel and the right rear wheel.

5. The vehicle control method according to claim 2, characterized in that: The vibration reduction device includes a vibration reducer and an air spring respectively arranged at four wheels of the vehicle; When it is determined that the current driving road condition is an uneven road condition, controlling the vibration reduction device to perform a second action according to the second control parameter includes: The stiffness of the air springs arranged at the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel is increased, and the tensile damping force and the compression damping force of the shock absorbers arranged at the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel are increased.

6. The vehicle control method according to claim 1, characterized in that: The driving parameters include a steering wheel angle direction signal, a steering wheel angular velocity signal, and a lateral acceleration G value signal of a gyroscope; The determining the driving intention of the vehicle according to the driving parameter comprises: Determining whether the driving intention is a left turn or a right turn according to the steering wheel angle direction signal and the steering wheel angular velocity signal; The obtaining of the first control parameter of the vehicle according to the driving intention and the driving parameter comprises: The first control parameter is obtained according to the lateral acceleration G value signal.

7. The vehicle control method according to claim 6, characterized in that: The vibration reduction device includes a vibration reducer and an air spring respectively arranged at four wheels of the vehicle; When it is determined that the driving intention is to turn left, controlling the vibration reduction device to perform a first action according to the first control parameter includes: Increase the stiffness of the air springs provided at the right front wheel and the right rear wheel, increase the tensile damping force of the shock absorbers provided at the left front wheel and the left rear wheel, and increase the compression damping force of the shock absorbers provided at the right front wheel and the right rear wheel; When it is determined that the driving intention is to turn right, controlling the vibration reduction device to perform a first action according to the first control parameter includes: Increase the stiffness of the air springs provided at the left front wheel and the left rear wheel, increase the tensile damping force of the shock absorbers provided at the right front wheel and the right rear wheel, and increase the compression damping force of the shock absorbers provided at the left front wheel and the left rear wheel.

8. A vehicle, characterized in that: The vehicle includes a vibration reduction device, and the vehicle also includes: a monitoring module, a decision module and an execution module; The monitoring module is used to obtain the driving parameters of the vehicle during driving; The decision module is used to determine the driving intention and current driving road condition of the vehicle according to the driving parameters, wherein the driving intention includes one of accelerating driving, decelerating driving, turning left, and turning right; The decision module is also used to obtain a first control parameter of the vehicle according to the driving intention and the driving parameter; The execution module is used to control the vibration reduction device to perform a first action according to the first control parameter, wherein the first action is used to reduce the body movement of the vehicle in the length direction of the vehicle and / or in the width direction of the vehicle; The decision module is also used to obtain a second control parameter of the vehicle according to the current driving road condition and the driving parameter; The execution module is further used to control the vibration reduction device to execute a second action according to the second control parameter, where the second action is used to reduce the body movement of the vehicle in the height direction of the vehicle.

9. An electronic device, characterized in that: The electronic device comprises a processor and a memory, wherein the memory is used to store instructions, and the processor is used to call the instructions in the memory, so that the electronic device executes the vehicle control method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The method comprises computer instructions, which, when executed on an electronic device, enable the electronic device to execute the vehicle control method according to any one of claims 1 to 7.

Images