Control method, device and equipment of air suspension and storage medium

Abstract

The invention relates to the technical field of vehicle control, and discloses an air suspension control method, device and equipment and a storage medium. The method comprises the steps that the height of a front axle air suspension and the height of a rear axle air suspension of a vehicle are detected; the suspension gear of the air suspension is determined according to the height of the front axle air suspension and the height of the rear axle air suspension; outputting a first height adjusting instruction according to the determined suspension gear to adjust the height of the air suspension; the air suspension comprises a front axle air suspension and a rear axle air suspension. By means of the technical scheme, the problem that when the suspension gear memory of the air suspension fails, the air suspension cannot recognize the suspension gear, and adjustment is paused or mistakenly adjusted can be solved, and the reliability of vehicle air suspension adjustment is improved.

Description

Technical Field

[0001] The present application relates to the field of automobile control technology, and in particular to a control method, device, equipment and computer-readable storage medium for an air suspension. Background Art

[0002] With the rapid development of new energy vehicle technology, new energy vehicles are becoming more and more popular, and the requirements for the electrification and intelligence of vehicles are getting higher and higher. As one of the key technologies in the electrification and intelligence of vehicles, air suspension is particularly important for new energy vehicles.

[0003] At present, the height adjustment control of the air suspension is based on the current gear. When the current gear memory of the air suspension fails, the air suspension will suspend adjustment or make incorrect adjustments due to the inability to identify the current gear. At the same time, the adjustment accuracy when adjusting the height through the memorized current gear is more dependent on the accuracy of the last adjustment of the air suspension. If the last adjustment accuracy is poor or there is a new instruction during the execution of the air suspension adjustment instruction, it is easy to cause a large height difference in this air suspension adjustment, large inertia and low accuracy. Summary of the invention

[0004] In view of the above problems, the present application provides a control method, device, equipment and computer-readable storage medium for an air suspension, which solves the problem that when the suspension gear memory of the air suspension fails, the air suspension suspends adjustment or makes incorrect adjustment due to the inability to identify the suspension gear, and the low adjustment accuracy of the air conditioning suspension gear through memory.

[0005] According to one aspect of an embodiment of the present application, a method for controlling an air suspension is provided, the method comprising:

[0006] Detect the front axle air suspension height and rear axle air suspension height of the vehicle;

[0007] Determining a suspension gear position of the air suspension according to the front axle air suspension height and the rear axle air suspension height;

[0008] Outputting a first height adjustment instruction according to the determined suspension gear position to adjust the height of the air suspension; wherein,

[0009] The air suspension includes a front axle air suspension and a rear axle air suspension.

[0010] In an optional exemplary embodiment, the determining the suspension gear position of the air suspension according to the front axle air suspension height and the rear axle air suspension height further includes:

[0011] Comparing the front axle air suspension height and the rear axle air suspension height with the heights of each suspension gear position of the air suspension to obtain a comparison result;

[0012] If the comparison result indicates a match, outputting the current suspension gear position;

[0013] If the comparison result indicates a mismatch, continue to determine the suspension gear position at which the front axle air suspension height matches the rear axle air suspension height, and output the matching suspension gear position.

[0014] In an optional exemplary embodiment, the comparing the front axle air suspension height and the rear axle air suspension height with the heights of each suspension gear of the air suspension to obtain a comparison result further includes:

[0015] Comparing the front axle air suspension height and the rear axle air suspension height with the heights of each suspension gear position of the air suspension;

[0016] If the front axle air suspension height and the rear axle air suspension height are both lower than the height corresponding to the current suspension gear position of the air suspension, the comparison result is characterized as matching;

[0017] If the front axle air suspension height or the rear axle air suspension height is higher than the height corresponding to the current suspension gear position of the air suspension, the comparison result is characterized as mismatch; wherein,

[0018] The front axle air suspension height is matched and compared with the current suspension gear of the air suspension, and has a preset height error value. The rear axle air suspension height is matched and compared with the current suspension gear of the air suspension, and has a preset height error value.

[0019] In an optional exemplary embodiment, the comparing the front axle air suspension height and the rear axle air suspension height with the respective suspension gear heights of the air suspension in sequence further includes:

[0020] The front axle air suspension height and the rear axle air suspension height are respectively compared with the heights of each suspension gear of the air suspension in a preset order; wherein,

[0021] The gear positions of the air suspension include a second low suspension gear position, a first low suspension gear position, a standard suspension gear position, a first high suspension gear position and a second high suspension gear position.

[0022] In an optional exemplary embodiment, the comparing the front axle air suspension height and the rear axle air suspension height with the respective suspension gear heights of the air suspension in a preset order further includes:

[0023] Comparing the front axle air suspension height and the rear axle air suspension height with the heights corresponding to the second low suspension gear position of the air suspension;

[0024] If the front axle air suspension height or the rear axle air suspension height does not match the height corresponding to the second low suspension gear position of the air suspension, then comparing the front axle air suspension height and the rear axle air suspension height with the height corresponding to the first low suspension gear position of the air suspension respectively;

[0025] If the front axle air suspension height or the rear axle air suspension height does not match the height corresponding to the first low suspension gear position of the air suspension, then comparing the front axle air suspension height and the rear axle air suspension height with the height corresponding to the standard suspension gear position of the air suspension respectively;

[0026] If the front axle air suspension height or the rear axle air suspension height does not match the height corresponding to the standard suspension gear position of the air suspension, then comparing the front axle air suspension height and the rear axle air suspension height with the height corresponding to the first high suspension gear position of the air suspension respectively;

[0027] If the front axle air suspension height or the rear axle air suspension height does not match the height corresponding to the first high suspension gear position of the air suspension, the front axle air suspension height and the rear axle air suspension height are respectively compared with the height corresponding to the second high suspension gear position of the air suspension.

[0028] In an optional exemplary embodiment, the method further includes:

[0029] detecting the load weight of the vehicle in real time;

[0030] If a change in the load weight of the vehicle is detected, an air suspension height detection instruction is issued;

[0031] The air suspension height of the vehicle is detected according to the air suspension height detection instruction to determine the suspension gear of the air suspension, and the air suspension height of the vehicle is updated after the matching suspension gear is determined.

[0032] In an optional exemplary embodiment, the front axle air suspension includes a left front air suspension and a right front air suspension, and the rear axle air suspension includes a left rear air suspension and a right rear air suspension;

[0033] The detecting of the front axle air suspension height and the rear axle air suspension height of the vehicle further comprises:

[0034] Detecting a height of a left front air suspension and a height of a right front air suspension of the vehicle;

[0035] Calculating the mean of the left front air suspension height and the right front air suspension height to obtain a first mean as the air suspension height of the front axle of the vehicle;

[0036] Detecting a height of a left rear air suspension and a height of a right rear air suspension of the vehicle;

[0037] The left rear air suspension height and the right rear air suspension height are averaged to obtain a second average as the vehicle rear axle air suspension height.

[0038] According to another aspect of an embodiment of the present application, a control device for an air suspension is provided, the device comprising:

[0039] A detection module, used for detecting the height of the front axle air suspension and the height of the rear axle air suspension of the vehicle;

[0040] A determination module, configured to determine a suspension gear position of the air suspension according to the front axle air suspension height and the rear axle air suspension height;

[0041] A control module is used to output a first height adjustment instruction to adjust the height of the air suspension according to the determined suspension gear; wherein the air suspension includes a front axle air suspension and a rear axle air suspension.

[0042] According to another aspect of an embodiment of the present application, there is provided an electronic device, including:

[0043] Controller;

[0044] The memory is used to store one or more programs. When the one or more programs are executed by the controller, the controller implements the above-mentioned air suspension control method.

[0045] According to another aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored. The computer program includes at least one executable instruction. When the executable instruction is executed on a control device / electronic device of an air suspension, the control device / electronic device of the air suspension performs the operation of the control method of the air suspension as described above.

[0046] In the control method of the air suspension disclosed in the embodiment of the present application, the front axle air suspension height and the rear axle air suspension height of the vehicle air suspension are detected to determine the height range based on the front axle air suspension height and the rear axle air suspension height of the vehicle, thereby determining the corresponding suspension gear of the vehicle air suspension, and then outputting a first height adjustment instruction according to the determined suspension gear of the air suspension to achieve height adjustment of the air suspension; the problem that the height adjustment strategy of the traditional air suspension needs to rely on the suspension gear memory, and when the gear memory fails, the adjustment cannot be suspended or the adjustment is made incorrectly based on the suspension gear memory, thereby affecting the normal operation of the air suspension is solved. The technical solution of the present application automatically identifies and matches the suspension gear of the vehicle according to the front axle air suspension height and the rear axle air suspension height of the air suspension, thereby ensuring that the air suspension can accurately adjust the height of the air suspension based on the identified and matched suspension gear, thereby improving the reliability of the vehicle air suspension adjustment.

[0047] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present application. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0049] Figure 1 A schematic flow chart of an embodiment of a method for controlling an air suspension provided by the present application is shown;

[0050] Figure 2 A schematic flow chart of an embodiment of determining the suspension gear position of an air suspension in the air suspension control method provided by the present application is shown;

[0051] Figure 3 A schematic flow chart showing another embodiment of the air suspension control method provided by the present application;

[0052] Figure 4 A schematic structural diagram of an embodiment of an air suspension control device provided by the present application is shown;

[0053] Figure 5 A schematic structural diagram of an embodiment of an electronic device provided by the present application is shown. DETAILED DESCRIPTION

[0054] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0055] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0056] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0057] The term "multiple" as used in this application refers to two or more than two. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship.

[0058] Before introducing the embodiments of the present application, the vehicle air suspension involved in the present application is first described as follows:

[0059] At present, the air suspension of a vehicle includes components such as air springs, electronically controlled shock absorbers, control units, and air supply systems. The body sensors collect body status signals and transmit them to the control unit. The control unit outputs control information based on the body status signals to control the operation of the air supply system. The compressor in the air supply system inhales air, removes impurities and moisture through a dryer, and then sends it to an air tank. The air is then sent to the air springs on each wheel side of the vehicle through a distribution valve, thereby adjusting the height and stiffness of the vehicle suspension through the air springs on each wheel side, and adjusting the damping through the electronically controlled shock absorbers to achieve adjustment of the vehicle body height, stiffness, etc.

[0060] During vehicle driving, the suspension stiffness can be automatically adjusted according to the road conditions and vehicle speed, thereby reducing vehicle body bumps and vibrations and improving the vehicle's stability and comfort. At the same time, the body height and stiffness can be automatically adjusted according to the vehicle speed and steering angle, thereby improving the vehicle's driving stability and handling and reducing the risk of vehicle roll and rollover. When the vehicle is driving at high speed and making sharp turns, the air suspension can more effectively control the body posture and improve driving safety.

[0061] However, the current vehicle air suspension height adjustment is based on the current gear memory of the air suspension. When the current gear memory of the air suspension fails, the air suspension will suspend adjustment or make incorrect adjustments due to the inability to recognize the current gear. At the same time, the height adjustment is performed through the memorized air suspension gear, and its adjustment accuracy is relatively dependent on the accuracy of the last adjustment. If the last adjustment accuracy is poor or there is a new instruction during the execution of the instruction, it is easy to cause a large height difference in the air suspension adjustment, large inertia and low accuracy.

[0062] To solve the above technical problems, please refer to Figure 1 As shown, the present application exemplarily shows a flow chart of an air suspension control method.

[0063] The execution subject of the air suspension control method may be a terminal device or a server or other processing device, wherein the terminal device may be a user equipment (UE), a computer, a mobile device, a user terminal, a terminal, a cellular phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. The execution subject of the air suspension control method may also be a car. In some possible implementations, the air suspension control method may be implemented by a processor calling a computer-readable instruction stored in a memory.

[0064] Specifically, the air suspension control method of this embodiment can be executed by a vehicle, and includes the following steps:

[0065] Step 100, detecting the front axle air suspension height and the rear axle air suspension height of the vehicle;

[0066] Among them, the vehicle's air suspension includes a front axle air suspension and a rear axle air suspension, the front axle air suspension includes a left front air suspension and a right front air suspension, and the rear axle air suspension includes a left rear air suspension and a right rear air suspension.

[0067] Further, detecting the front axle air suspension height and the rear axle air suspension height of the vehicle includes:

[0068] Detecting the height of the left front air suspension and the height of the right front air suspension of the vehicle; calculating the mean of the left front air suspension height and the right front air suspension height to obtain a first mean value as the height of the front axle air suspension of the vehicle;

[0069] Detecting the height of the left rear air suspension and the height of the right rear air suspension of the vehicle; calculating the mean of the left rear air suspension height and the right rear air suspension height to obtain a second mean as the height of the rear axle air suspension of the vehicle.

[0070] In actual application, the vehicle outputs control information according to the vehicle body status signal, controls the compressor in the air supply system to inhale air, remove impurities and moisture through the dryer, and then sends the air into the air tank, and then sends the gas in the air tank to the air springs at each wheel of the vehicle through the distribution valve to adjust the height of the air suspension at each wheel; after the vehicle adjusts the air suspension height, the air suspension height at each wheel is different, and the height sensors set at the left front wheel, right front wheel, left rear wheel, and right rear wheel of the vehicle can be used to detect the air suspension height at each wheel of the vehicle in real time, and read the height sensor values ​​of each wheel. It should be noted that the standard height of the air suspension can be set to 0mm, and the air suspension height detected by each wheel height sensor is a relative value relative to the standard height of the air suspension. In actual application, the standard ground clearance of the vehicle chassis is generally used as the standard height of the air suspension.

[0071] In this embodiment, after the air suspension height of each wheel side is obtained by detecting the height sensor, the left front air suspension height and the right front air suspension height are averaged to obtain a first average as the front axle air suspension height of the vehicle, and the left rear air suspension height and the right rear air suspension height are averaged to obtain a second average as the rear axle air suspension height of the vehicle; by detecting and calculating the front axle air suspension height and the rear axle air suspension height, it is convenient to subsequently judge the suspension gear of the air suspension based on the front axle air suspension height and the rear axle air suspension height.

[0072] For example, if the standard ground clearance of the vehicle chassis is 150mm, the standard ground clearance of the vehicle chassis is used as the standard air suspension height of 0mm, the detected left front air suspension height is 10mm, and the right front air suspension height is 14mm, then the first mean value calculated by the left front air suspension height and the right front air suspension height is (10+14) / 2=12mm, and the front axle air suspension height of the vehicle is 12mm; similarly, if the detected left rear air suspension height is 11mm, and the right rear air suspension height is 12mm, then the second mean value calculated by the left rear air suspension height and the right rear air suspension height is (11+12) / 2=11.5mm, and the rear axle air suspension height of the vehicle is 11.5mm.

[0073] Step 200: determining a suspension gear position of the air suspension according to the front axle air suspension height and the rear axle air suspension height.

[0074] Among them, the vehicle's air suspension includes a first low suspension gear L1, a second low suspension gear L2, a standard suspension gear N, a first high suspension gear H1 and a second high suspension gear H2. If the vehicle's air suspension is set to the standard suspension gear N=0mm, the first low suspension gear L1=-20mm, the second low suspension gear L2=-40mm, the first high suspension gear H1=20mm, and the second high suspension gear H2=40mm.

[0075] The air suspension height of each wheel side is detected by the wheel side height sensors of the vehicle, and after the front axle air suspension height and the rear axle air suspension height are calculated, the suspension gear of the air suspension is determined according to the calculated front axle air suspension height and rear axle air suspension height.

[0076] Specifically, in order to accurately determine the suspension position of the air suspension, please continue to refer to the following. Figure 2 As shown, step 200: determining the suspension gear position of the air suspension according to the front axle air suspension height and the rear axle air suspension height, further includes:

[0077] Step 121 , comparing the front axle air suspension height and the rear axle air suspension height with the heights of each suspension gear position of the air suspension to obtain a comparison result.

[0078] In combination with the above embodiment, after the front axle air suspension height and the rear axle air suspension height are detected and calculated by the height sensor, the front axle air suspension height and the rear axle air suspension height can be compared with the heights of each suspension gear of the air suspension in a preset order to determine the matching air suspension gear. It should be understood that the preset order refers to the order of the first low suspension gear L1, the second low suspension gear L2, the standard suspension gear N, the first high suspension gear H1 and the second high suspension gear H2. The front axle air suspension height and the rear axle air suspension height can be compared in the order of priority from low to high among the first low suspension gear L1, the second low suspension gear L2, the standard suspension gear N, the first high suspension gear H1 and the second high suspension gear H2 to determine the suspension gear of the air suspension; or they can be compared and matched in other preset order to determine the suspension gear of the air suspension, which is not specifically limited in this embodiment.

[0079] Exemplarily, it is illustrated here that the front axle air suspension height and the rear axle air suspension height are compared with the heights of each suspension gear of the vehicle's air suspension in a preset order from low to high until the detected front axle air suspension height and the rear axle air suspension height are matched to the appropriate air suspension gear. Specifically, the front axle air suspension height and the rear axle air suspension height are respectively compared with the height corresponding to the second low suspension gear of the air suspension to determine whether the front axle air suspension height and the rear axle air suspension height are both at the corresponding height of the second low suspension gear; if the front axle air suspension height or the rear axle air suspension height does not match the height corresponding to the second low suspension gear of the air suspension, the front axle air suspension height and the rear axle air suspension height are respectively compared with the height corresponding to the first low suspension gear of the air suspension to determine whether the front axle air suspension height and the rear axle air suspension height are both at the corresponding height of the first low suspension gear; if the front axle air suspension height or the rear axle air suspension height does not match the height corresponding to the first low suspension gear of the air suspension, the front axle air suspension height and the rear axle air suspension height are respectively compared with the height corresponding to the standard suspension gear of the air suspension. A comparison is made to determine whether the front axle air suspension height and the rear axle air suspension height are both at the corresponding height of the standard suspension gear; if the front axle air suspension height or the rear axle air suspension height does not match the height corresponding to the standard suspension gear of the air suspension, the front axle air suspension height and the rear axle air suspension height are respectively compared with the height corresponding to the first high suspension gear of the air suspension to determine whether the front axle air suspension height and the rear axle air suspension height are both at the corresponding height of the first high suspension gear; if the front axle air suspension height or the rear axle air suspension height does not match the height corresponding to the first high suspension gear of the air suspension, the front axle air suspension height and the rear axle air suspension height are respectively compared with the height corresponding to the second high suspension gear of the air suspension to determine whether the front axle air suspension height and the rear axle air suspension height are both at the corresponding height of the second high suspension gear.

[0080] It should be noted that each suspension gear of the air suspension has a corresponding height. For example, the first low suspension gear L1 = -20mm, the second low suspension gear L2 = -40mm, then the suspension height of the air suspension is between -40mm and -20mm, and the suspension gear of the air suspension is the second low suspension gear; the standard suspension gear N = 0mm, the first low suspension gear L1 = -20mm, then the suspension height of the air suspension is between -20mm and 0mm, and the suspension gear of the air suspension is the first low suspension gear; the standard suspension gear N = 0mm, the first high suspension gear H1=20mm, then the suspension height of the air suspension is between 0mm and 20mm, and the suspension gear of the air suspension is the standard suspension gear; the first high suspension gear H1=20mm, the second high suspension gear H2=40mm, then the suspension height of the air suspension is between 20mm and 40mm, and the suspension gear of the air suspension is the first high suspension gear; the second high suspension gear H2=40mm, then the suspension height of the air suspension is greater than 40mm, and the suspension gear of the air suspension is the second high suspension gear. For this embodiment, the height ranges of the front axle air suspension height and the rear axle air suspension height are determined respectively, so as to confirm the suspension gear of the air suspension according to the confirmed height range, so as to facilitate the subsequent adjustment of the air suspension according to the confirmed suspension gear, and improve the reliability of the vehicle air suspension adjustment.

[0081] In an exemplary embodiment, in order to accurately determine the suspension gear position of the air suspension, the solution further includes:

[0082] Comparing the front axle air suspension height and the rear axle air suspension height with the heights of each suspension gear position of the air suspension;

[0083] If the front axle air suspension height and the rear axle air suspension height are both lower than the height corresponding to the current suspension gear position of the air suspension, the comparison result is characterized as matching;

[0084] If the front axle air suspension height or the rear axle air suspension height is higher than the height corresponding to the current suspension gear position of the air suspension, the comparison result is characterized as mismatch.

[0085] Among them, in combination with the above embodiments, the front axle air suspension height and the rear axle air suspension height are both less than -20mm for the second low suspension gear, the front axle air suspension height and the rear axle air suspension height are both less than 0mm for the first low suspension gear, the front axle air suspension height and the rear axle air suspension height are both less than 20mm for the standard suspension gear, the front axle air suspension height and the rear axle air suspension height are both less than 40mm for the first high suspension gear, and the front axle air suspension height and the rear axle air suspension height are both greater than or equal to 40mm for the second high suspension gear. For this embodiment, the detected front axle air suspension height is compared with the height range of the second low suspension gear, the height range of the first low suspension gear, the height range of the standard suspension gear, the height range of the first high suspension gear, and the height range of the second high suspension gear in sequence, and the detected rear axle air suspension height is compared with the height range of the second low suspension gear, the height range of the first low suspension gear, the height range of the standard suspension gear, the height range of the first high suspension gear, and the height range of the second high suspension gear in sequence to obtain a comparison result, and whether there is a match is characterized by the comparison result to output the current suspension gear or the matching suspension gear.

[0086] Step 122, if the comparison result indicates a match, outputting the current suspension gear position;

[0087] Step 123: If the comparison result indicates a mismatch, continue to determine the suspension gear position at which the front axle air suspension height matches the rear axle air suspension height, and output the matching suspension gear position.

[0088] In this embodiment, after the front axle air suspension height and the rear axle air suspension height are detected, the front axle air suspension height and the rear axle air suspension height may be compared with the heights of each suspension gear of the air suspension, and the matching suspension gear is output after the comparison. Alternatively, after the front axle air suspension height and the rear axle air suspension height are detected, the front axle air suspension height and the rear axle air suspension height may be compared with the heights of each suspension gear of the air suspension from low to high, and each suspension gear of the air suspension from low to high includes the second low suspension gear, the first low suspension gear, the standard suspension gear, the first high suspension gear or the second high suspension gear.

[0089] It should be noted that if the front axle air suspension height and the rear axle air suspension height are both within the height range of the second low suspension gear, the comparison result represents a match; if either the front axle air suspension height or the rear axle air suspension height is not within the height range of the second low suspension gear, then the height range of the first low suspension gear, the height range of the standard suspension gear, the height range of the first high suspension gear, and the height range of the second high suspension gear are compared in turn to determine the suspension gear that matches the front axle air suspension height and the rear axle air suspension height, and the matching suspension gear is output when matching.

[0090] For example, if the current suspension gear is the second low suspension gear, and the detected front axle air suspension height is -24mm, and the rear axle air suspension height is -22mm, the comparison result indicates that the front axle air suspension height and the rear axle air suspension height are both less than -20mm, and the front axle air suspension height and the rear axle air suspension height match the second low suspension gear, then the current suspension gear is directly output as the second low suspension gear, thereby facilitating the subsequent height adjustment of the vehicle according to the second low suspension gear. The detection shows that the front axle air suspension height is -24mm, and the rear axle air suspension height is -15mm. The comparison result indicates that the front axle air suspension height is less than -20mm, and the rear axle air suspension height is less than 0mm, which does not match the second low suspension gear. Then, the comparison with the height of the first low suspension gear is continued. The comparison result indicates that the front axle air suspension height and the rear axle air suspension height are both less than 20mm. Then the front axle air suspension height and the rear axle air suspension height match the first low suspension gear. At this time, the matching first low suspension gear is output, so that the vehicle can be height adjusted according to the first low suspension gear later.

[0091] If the current suspension gear is the second lowest suspension gear, the front axle air suspension and the rear axle air suspension are raised due to passengers getting off the vehicle or unloading the loaded goods, so that the front axle air suspension and the rear axle air suspension do not match the current suspension gear, and the suspension gear at which the front axle air suspension height and the rear axle air suspension height match is continued to be determined; for example, at this time, the detection obtains that the front axle air suspension height is 5mm and the rear axle air suspension height is 6mm, then the comparison result indicates that the front axle air suspension height and the rear axle air suspension height do not match the current suspension gear, and the height range of the first low suspension gear, the height range of the standard suspension gear, the height range of the first high suspension gear, and the height range of the second high suspension gear are continued to be compared in turn, and then it is determined that the front axle air suspension height and the rear axle air suspension height are both less than 20mm, which meets the standard suspension gear situation, and the suspension gear of the air suspension is determined to be the standard suspension gear and output, so as to facilitate the subsequent height adjustment of the vehicle according to the standard suspension gear.

[0092] If the current suspension gear is the second low suspension gear, and the detected front axle air suspension height is 5mm and the rear axle air suspension height is 25mm, the comparison result indicates that the front axle air suspension height and the rear axle air suspension height do not match the current suspension gear, and continue to compare with the height range of the first low suspension gear, the height range of the standard suspension gear, the height range of the first high suspension gear, and the height range of the second high suspension gear in turn, and then judge that the front axle air suspension height and the rear axle air suspension height are both less than 40mm, which meets the first high suspension gear situation, and the suspension gear of the air suspension is determined to be the first high suspension gear and output, so as to facilitate the subsequent height adjustment of the vehicle according to the first high suspension gear.

[0093] It should be noted that in the above embodiment, the front axle air suspension height is matched and compared with the current suspension gear of the air suspension to have a preset height error value, and the rear axle air suspension height is matched and compared with the current suspension gear of the air suspension to have a preset height error value. It is understandable that the preset height error value can be 1mm, 2mm, etc., which is set according to actual application conditions and is not specifically limited here.

[0094] Step 300: Output a first height adjustment instruction according to the determined suspension gear to adjust the height of the air suspension.

[0095] The first height adjustment instruction may be an instruction to adjust the air suspension to the first low suspension gear, or an instruction to adjust the air suspension to the second low suspension gear, or an instruction to adjust the air suspension to the standard suspension gear, or an instruction to adjust the air suspension to the first high suspension gear, or an instruction to adjust the air suspension to the second high suspension gear. Exemplarily, if the determined suspension gear of the air suspension is the first high suspension gear, the first height adjustment instruction is output to adjust the front axle air suspension and the rear axle air suspension of the air suspension to the height corresponding to the first high suspension gear.

[0096] In the above embodiment, the front axle air suspension height and the rear axle air suspension height of the vehicle air suspension are detected to determine the height range based on the front axle air suspension height and the rear axle air suspension height of the vehicle, thereby determining the corresponding suspension gear of the vehicle air suspension, and then outputting a first height adjustment instruction according to the determined suspension gear of the air suspension to achieve height adjustment of the air suspension; this solves the problem that the height adjustment strategy of the traditional air suspension needs to rely on the suspension gear memory, and when the gear memory fails, the adjustment cannot be suspended or the adjustment is made incorrectly based on the suspension gear memory, thereby affecting the normal operation of the air suspension. The technical solution of the present application automatically identifies and matches the suspension gear of the vehicle according to the front axle air suspension height and the rear axle air suspension height of the air suspension, thereby ensuring that the air suspension can accurately adjust the height of the air suspension based on the identified and matched suspension gear, thereby improving the reliability of the vehicle air suspension adjustment.

[0097] In an exemplary embodiment, the vehicle can also adjust the air suspension according to the change of the load weight, specifically, the load weight of the vehicle is detected in real time; if the load weight of the vehicle is detected to have changed, an air suspension height detection instruction is issued; the air suspension height of the vehicle is detected according to the air suspension height detection instruction to determine the suspension gear of the air suspension, and the air suspension height of the vehicle is updated after the matching suspension gear is determined. For example, during the use of the vehicle, the load weight of the vehicle may change due to the presence of passengers getting on and off or loading some luggage, etc. This embodiment is to detect the load weight of the vehicle in real time, so that when the load weight of the vehicle is detected to have changed, an air suspension height detection instruction is issued to detect the air suspension height of the vehicle, so as to determine in real time whether the change of the air suspension height of the vehicle causes the mismatch of the suspension gear, so that the air suspension height of the vehicle is updated in real time after the matching suspension gear is determined by this embodiment.

[0098] In an exemplary embodiment, see Figure 3 As shown, when a vehicle is parked in a roadside parking space with a curb, it can be considered to prevent the vehicle from opening the door and colliding with the curb, so as to control and adjust the air suspension of the vehicle through detection. Specifically, the control method of the air suspension also includes:

[0099] Step 210: Detect the parking position of the vehicle.

[0100] The parking position of the vehicle can be, but is not limited to, detected by a vehicle positioning system, a vehicle external camera, etc., which is not specifically limited here. For example, after obtaining the shooting permission, the vehicle external camera can detect the environmental information around the vehicle to determine the parking position of the vehicle through the detected environmental information. It is understandable that the parking position of the vehicle includes roadside marked parking spaces, open-air parking lots, indoor parking lots, etc.

[0101] Step 220, if the vehicle is parked in a roadside marked parking space, detecting whether there is a risk of collision between the vehicle door and the curb;

[0102] Among them, the risk of collision between the vehicle door and the curb specifically refers to the fact that the roadside parking space where the vehicle is parked has a curb. Sometimes the height of the curb is higher than the height of the bottom of the vehicle door, causing the vehicle door to collide with the curb when it is opened.

[0103] Furthermore, if it is detected that a user has parked the vehicle and the vehicle is parked in a roadside marked parking space, a door unlocking command on the curb side of the vehicle is detected; if the door unlocking command is detected, it is detected whether there is a risk of collision between the door on the curb side of the vehicle and the curb.

[0104] In this embodiment, whether a collision occurs during the door opening process can be detected by a radar installed on the door or a camera installed on the exterior of the vehicle body; or it can be judged by combining the camera installed on the exterior of the vehicle body and the radar installed on the door. For example, the vehicle body camera and the door radar successively detect whether a collision occurs during the door opening process, thereby judging the door opening collision problem based on multiple methods to solve the problem that the user may collide with the curb when opening the door after the vehicle is parked in a marked parking space on the roadside. At the same time, whether the door will collide with the curb when opened at different angles can be used to further improve the safety and reliability of the door opening.

[0105] It is understandable that whether a collision will occur during the door opening process applies to each door of the vehicle. Therefore, each door of the vehicle is equipped with a radar, and the radar ranging on the door is used to confirm whether a collision with the curb will occur during the door opening process.

[0106] In one embodiment, when it is detected that a vehicle is parked in a roadside parking space and a vehicle body camera detects that the parking space has a high curb or obstacle, it is simultaneously detected whether there is a door unlock command at the door close to the curb. If it is detected that any door close to the curb has a door unlock command, the radar of the corresponding door is controlled to detect the distance between the door and the curb when the door is opened at multiple angles, so as to determine whether a collision with the curb will occur during the door opening process.

[0107] For example, if the vehicle is parked in a roadside parking space with a higher curb, and the front door close to the curb is detected to have a door unlock command, if it is detected that the distance between the door and the curb is greater than zero when the door is opened to the maximum angle, there will be no collision during the door opening process; if it is detected that the distance between the door and the curb is less than or equal to zero when the door is opened to the maximum angle, there will be a collision during the door opening process.

[0108] Based on this embodiment, when the vehicle is parked in a roadside marked parking space, the intention to open the door is detected. When there is a door unlocking command, it is further detected whether there is a risk of collision between the door on the curb side of the vehicle and the curb. This can avoid the problem of controlling sensors such as radar and cameras to perform detection when there is no intention to open the door, thereby effectively controlling the energy consumption of the vehicle. At the same time, when there is a door unlocking command, it is detected whether the door collides with the curb during the opening process, which improves the safety and reliability of the door opening.

[0109] Step 230: If yes, output a second height adjustment instruction to adjust the height of the air suspension to control the air suspension to rise.

[0110] The second height adjustment instruction may include information that the vehicle is parked in a roadside marked parking space, information that there is a risk of collision when the door is opened, and an instruction to control the raising of the air suspension.

[0111] In this embodiment, if it is detected that a vehicle door close to the curb has a door unlocking command, and the distance between the vehicle door and the curb when the vehicle door is opened to the maximum angle is less than or equal to zero, it is determined that there will be a collision during the opening process of the vehicle door. At this time, a second height adjustment command is output to adjust the height of the vehicle's air suspension, thereby raising the air suspension to avoid collision with the curb during the opening process of the vehicle door, thereby improving the safety and reliability of the door opening.

[0112] Figure 4 The schematic diagram of the structure of the embodiment of the air suspension control device of the present application is shown. Figure 4 As shown, the air suspension control device 300 includes: a detection module 310, a determination module 320 and a control module 330;

[0113] A detection module 310 is used to detect the height of the front axle air suspension and the height of the rear axle air suspension of the vehicle;

[0114] A determination module 320, configured to determine a suspension gear position of the air suspension according to the front axle air suspension height and the rear axle air suspension height;

[0115] The control module 330 is used to output a first height adjustment instruction to adjust the height of the air suspension according to the determined suspension gear; wherein the air suspension includes a front axle air suspension and a rear axle air suspension.

[0116] It should be noted that the air suspension control device 300 provided in the above embodiment and the air suspension control method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs operations has been described in detail in the method embodiment and will not be repeated here.

[0117] Figure 5 A schematic diagram of the structure of an embodiment of the electronic device of the present application is shown, which shows a schematic diagram of the structure of a computer system suitable for implementing the electronic device of the embodiment of the present application. The specific embodiment of the present application does not limit the specific implementation of the electronic device.

[0118] See also Figure 5 As shown, the electronic device includes: a controller; a memory for storing one or more programs, and when the one or more programs are executed by the controller, the above-mentioned air suspension control method is executed.

[0119] Please continue reading Figure 5As shown, the computer system 400 of the electronic device includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 402 or the program loaded from the storage part 408 to the random access memory (RAM) 403, such as executing the method in the above embodiment. In RAM 403, various programs and data required for system operation are also stored. CPU 401, ROM 402 and RAM 403 are connected to each other through bus 404. Input / output (I / O) interface 405 is also connected to bus 404.

[0120] The following components are connected to the I / O interface 405: an input section 406 including a keyboard, a mouse, etc.; an output section 407 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. A removable medium 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 410 as needed so that a computer program read therefrom is installed into the storage section 408 as needed.

[0121] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 409, and / or installed from a removable medium 411. When the computer program is executed by a central processing unit (CPU) 401, various functions defined in the system of the present application are executed.

[0122] Another aspect of the present application further provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the control method of the air suspension as described above is implemented. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist independently without being assembled into the electronic device.

[0123] Another aspect of the present application further provides a computer program product or a computer program, the computer program product or the computer program comprising at least one executable instruction, when the executable instruction is executed on a control device / electronic device of an air suspension, the control device / electronic device of the air suspension executes the following air suspension control method:

[0124] Detect the front axle air suspension height and rear axle air suspension height of the vehicle;

[0125] Determining a suspension gear position of the air suspension according to the front axle air suspension height and the rear axle air suspension height;

[0126] Outputting a first height adjustment instruction according to the determined suspension gear position to adjust the height of the air suspension; wherein,

[0127] The air suspension includes a front axle air suspension and a rear axle air suspension.

[0128] The first height adjustment instruction includes adjusting the air suspension to a first low suspension gear, a second low suspension gear, a standard suspension gear, a first high suspension gear, or a second high suspension gear.

[0129] In an optional manner, the executable instructions may also be used to enable the control device / electronic device of the air suspension to perform the following operations:

[0130] Comparing the front axle air suspension height and the rear axle air suspension height with the heights of each suspension gear position of the air suspension to obtain a comparison result;

[0131] If the comparison result indicates a match, outputting the current suspension gear position;

[0132] If the comparison result indicates a mismatch, continue to determine the suspension gear position at which the front axle air suspension height matches the rear axle air suspension height, and output the matching suspension gear position.

[0133] In an optional manner, the executable instructions may also be used to enable the control device / electronic device of the air suspension to perform the following operations:

[0134] Comparing the front axle air suspension height and the rear axle air suspension height with the heights of each suspension gear position of the air suspension;

[0135] If the front axle air suspension height and the rear axle air suspension height are both lower than the height corresponding to the current suspension gear position of the air suspension, the comparison result is characterized as matching;

[0136] If the front axle air suspension height or the rear axle air suspension height is higher than the height corresponding to the current suspension gear position of the air suspension, the comparison result is characterized as mismatch; wherein,

[0137] The front axle air suspension height is matched and compared with the current suspension gear of the air suspension, and has a preset height error value. The rear axle air suspension height is matched and compared with the current suspension gear of the air suspension, and has a preset height error value.

[0138] In an optional manner, the executable instructions may also be used to enable the control device / electronic device of the air suspension to perform the following operations:

[0139] The front axle air suspension height and the rear axle air suspension height are respectively compared with the heights of each suspension gear of the air suspension in a preset order; wherein,

[0140] The gear positions of the air suspension include a second low suspension gear position, a first low suspension gear position, a standard suspension gear position, a first high suspension gear position and a second high suspension gear position.

[0141] In an optional manner, the executable instructions may also be used to enable the control device / electronic device of the air suspension to perform the following operations:

[0142] Comparing the front axle air suspension height and the rear axle air suspension height with the heights corresponding to the second low suspension gear position of the air suspension;

[0143] If the front axle air suspension height or the rear axle air suspension height does not match the height corresponding to the second low suspension gear position of the air suspension, then comparing the front axle air suspension height and the rear axle air suspension height with the height corresponding to the first low suspension gear position of the air suspension respectively;

[0144] If the front axle air suspension height or the rear axle air suspension height does not match the height corresponding to the first low suspension gear position of the air suspension, then comparing the front axle air suspension height and the rear axle air suspension height with the height corresponding to the standard suspension gear position of the air suspension respectively;

[0145] If the front axle air suspension height or the rear axle air suspension height does not match the height corresponding to the standard suspension gear position of the air suspension, then comparing the front axle air suspension height and the rear axle air suspension height with the height corresponding to the first high suspension gear position of the air suspension respectively;

[0146] If the front axle air suspension height or the rear axle air suspension height does not match the height corresponding to the first high suspension gear position of the air suspension, the front axle air suspension height and the rear axle air suspension height are respectively compared with the height corresponding to the second high suspension gear position of the air suspension.

[0147] In an optional manner, the executable instructions may also be used to enable the control device / electronic device of the air suspension to perform the following operations:

[0148] detecting the load weight of the vehicle in real time;

[0149] If a change in the load weight of the vehicle is detected, an air suspension height detection instruction is issued;

[0150] The air suspension height of the vehicle is detected according to the air suspension height detection instruction to determine the suspension gear of the air suspension, and the air suspension height of the vehicle is updated after the matching suspension gear is determined.

[0151] In an optional manner, the front axle air suspension includes a left front air suspension and a right front air suspension, and the rear axle air suspension includes a left rear air suspension and a right rear air suspension;

[0152] The executable instructions may also be used to cause the control device / electronic device of the air suspension to perform the following operations:

[0153] Detecting a height of a left front air suspension and a height of a right front air suspension of the vehicle;

[0154] Calculating the mean of the left front air suspension height and the right front air suspension height to obtain a first mean as the air suspension height of the front axle of the vehicle;

[0155] Detecting a height of a left rear air suspension and a height of a right rear air suspension of the vehicle;

[0156] The left rear air suspension height and the right rear air suspension height are averaged to obtain a second average as the vehicle rear axle air suspension height.

[0157] In the control method of the air suspension disclosed in the embodiment of the present application, the front axle air suspension height and the rear axle air suspension height of the vehicle air suspension are detected to determine the height range based on the front axle air suspension height and the rear axle air suspension height of the vehicle, thereby determining the corresponding suspension gear of the vehicle air suspension, and then outputting a first height adjustment instruction according to the determined suspension gear of the air suspension to achieve height adjustment of the air suspension; the problem that the height adjustment strategy of the traditional air suspension needs to rely on the suspension gear memory, and when the gear memory fails, the adjustment cannot be suspended or the adjustment is made incorrectly based on the suspension gear memory, thereby affecting the normal operation of the air suspension is solved. The technical solution of the present application automatically identifies and matches the suspension gear of the vehicle according to the front axle air suspension height and the rear axle air suspension height of the air suspension, thereby ensuring that the air suspension can accurately adjust the height of the air suspension based on the identified and matched suspension gear, thereby improving the reliability of the vehicle air suspension adjustment.

[0158] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium can include a data signal propagated in a baseband or as a part of a carrier wave, wherein a computer-readable computer program is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0159] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0160] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0161] According to one aspect of an embodiment of the present application, a computer system is also provided, including a central processing unit (CPU), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from a storage portion into a random access memory (RAM), such as executing the method in the above embodiment. In RAM, various programs and data required for system operation are also stored. CPU, ROM and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0162] The following components are connected to the I / O interface: an input part including a keyboard, a mouse, etc.; an output part including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage part including a hard disk, etc.; and a communication part including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication part performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as needed. Removable media, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., are installed on the drive as needed so that the computer program read therefrom is installed into the storage part as needed.

[0163] The above content is only a preferred exemplary embodiment of the present application and is not intended to limit the implementation scheme of the present application. A person skilled in the art can easily make corresponding changes or modifications based on the main concept and spirit of the present application. Therefore, the scope of protection of the present application shall be based on the scope of protection required by the claims.

[0164] The data collection and processing in this application should be strictly in accordance with the requirements of relevant national laws and regulations when applied in practice, and the informed consent or separate consent of the personal information subject should be obtained. Subsequent data use and processing should be carried out within the scope of authorization of laws and regulations and the personal information subject.

Claims

1. A method for controlling an air suspension, characterized in that: The method includes: Detect the front axle air suspension height and rear axle air suspension height of the vehicle; Determining a suspension gear position of the air suspension according to the front axle air suspension height and the rear axle air suspension height; Outputting a first height adjustment instruction according to the determined suspension gear position to adjust the height of the air suspension; wherein, The air suspension includes a front axle air suspension and a rear axle air suspension.

2. The air suspension control method according to claim 1, characterized in that: The step of determining the suspension gear position of the air suspension according to the front axle air suspension height and the rear axle air suspension height further comprises: Comparing the front axle air suspension height and the rear axle air suspension height with the heights of each suspension gear position of the air suspension to obtain a comparison result; If the comparison result indicates a match, outputting the current suspension gear position; If the comparison result indicates a mismatch, continue to determine the suspension gear position at which the front axle air suspension height matches the rear axle air suspension height, and output the matching suspension gear position.

3. The air suspension control method according to claim 2, characterized in that: The step of comparing the front axle air suspension height and the rear axle air suspension height with the heights of each suspension gear of the air suspension to obtain a comparison result further includes: Comparing the front axle air suspension height and the rear axle air suspension height with the heights of each suspension gear position of the air suspension; If the front axle air suspension height and the rear axle air suspension height are both lower than the height corresponding to the current suspension gear position of the air suspension, the comparison result is characterized as matching; If the front axle air suspension height or the rear axle air suspension height is higher than the height corresponding to the current suspension gear position of the air suspension, the comparison result is characterized as mismatch; wherein, The front axle air suspension height is matched and compared with the current suspension gear of the air suspension, and has a preset height error value. The rear axle air suspension height is matched and compared with the current suspension gear of the air suspension, and has a preset height error value.

4. The air suspension control method according to claim 3, characterized in that: The comparing the front axle air suspension height and the rear axle air suspension height with the heights of each suspension gear of the air suspension respectively further includes: The front axle air suspension height and the rear axle air suspension height are respectively compared with the heights of each suspension gear of the air suspension in a preset order; wherein, The gear positions of the air suspension include a second low suspension gear position, a first low suspension gear position, a standard suspension gear position, a first high suspension gear position and a second high suspension gear position.

5. The air suspension control method according to claim 4, characterized in that: The comparing the front axle air suspension height and the rear axle air suspension height with the heights of each suspension gear of the air suspension in a preset order further includes: Comparing the front axle air suspension height and the rear axle air suspension height with the heights corresponding to the second low suspension gear position of the air suspension; If the front axle air suspension height or the rear axle air suspension height does not match the height corresponding to the second low suspension gear position of the air suspension, then comparing the front axle air suspension height and the rear axle air suspension height with the height corresponding to the first low suspension gear position of the air suspension respectively; If the front axle air suspension height or the rear axle air suspension height does not match the height corresponding to the first low suspension gear position of the air suspension, then comparing the front axle air suspension height and the rear axle air suspension height with the height corresponding to the standard suspension gear position of the air suspension respectively; If the front axle air suspension height or the rear axle air suspension height does not match the height corresponding to the standard suspension gear position of the air suspension, then comparing the front axle air suspension height and the rear axle air suspension height with the height corresponding to the first high suspension gear position of the air suspension respectively; If the front axle air suspension height or the rear axle air suspension height does not match the height corresponding to the first high suspension gear position of the air suspension, the front axle air suspension height and the rear axle air suspension height are respectively compared with the height corresponding to the second high suspension gear position of the air suspension.

6. The air suspension control method according to claim 1, characterized in that: The method further comprises: detecting the load weight of the vehicle in real time; If a change in the load weight of the vehicle is detected, an air suspension height detection instruction is issued; The air suspension height of the vehicle is detected according to the air suspension height detection instruction to determine the suspension gear of the air suspension, and the air suspension height of the vehicle is updated after the matching suspension gear is determined.

7. The air suspension control method according to any one of claims 1 to 6, characterized in that: The front axle air suspension includes a left front air suspension and a right front air suspension, and the rear axle air suspension includes a left rear air suspension and a right rear air suspension; The detecting of the front axle air suspension height and the rear axle air suspension height of the vehicle further comprises: Detecting a height of a left front air suspension and a height of a right front air suspension of the vehicle; Calculating the mean of the left front air suspension height and the right front air suspension height to obtain a first mean as the air suspension height of the front axle of the vehicle; Detecting a height of a left rear air suspension and a height of a right rear air suspension of the vehicle; The left rear air suspension height and the right rear air suspension height are averaged to obtain a second average as the vehicle rear axle air suspension height.

8. A control device for an air suspension, characterized in that: The device comprises: A detection module, used for detecting the height of the front axle air suspension and the height of the rear axle air suspension of the vehicle; A determination module, configured to determine a suspension gear position of the air suspension according to the front axle air suspension height and the rear axle air suspension height; A control module is used to output a first height adjustment instruction to adjust the height of the air suspension according to the determined suspension gear; wherein the air suspension includes a front axle air suspension and a rear axle air suspension.

9. An electronic device, characterized in that: include: Controller; A memory is used to store one or more programs. When the one or more programs are executed by the controller, the controller implements the air suspension control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, which includes at least one executable instruction. When the executable instruction is executed on the control device / electronic device of the air suspension, the control device / electronic device of the air suspension performs the operation of the control method of the air suspension as described in any one of claims 1 to 7.

Images