Electromagnetic valve current control method and device, storage medium and electronic device

Abstract

The invention discloses an electromagnetic valve current control method and device, a storage medium and an electronic device. The method comprises the following steps: carrying out current calibration on a controller based on a target current value at a preset temperature, and determining a first mapping table of the calibrated controller; in response to the received damping adjustment request, determining a target current value based on a target damping value carried in the damping adjustment request; determining a target duty ratio corresponding to the target current value based on the target current value and a first mapping table; and controlling the output current of the at least one electromagnetic valve to be stabilized to a target current value based on the target duty ratio and the initial duty ratio so as to adjust the damping force of the shock absorber. According to the invention, the technical problems in the prior art that the adjustment of a proportional-integral-differential controller needs a certain time and the lagging condition exists in current recovery are solved.

Description

Technical Field

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

[0002] Solenoid valves are widely used in automotive HVAC systems, fuel injection systems, automatic transmission systems, electronically controlled automatic transmission systems, new energy vehicle motor control, digital drive controllers, etc. Among them, the solenoid valve is an actuator, and the current of its solenoid coil controls the opening of the solenoid valve. The opening of the solenoid valve determines the damping when the medium flows through the solenoid valve, thereby affecting the system response characteristics. In particular, the solenoid valve used in the HVAC system determines the refrigerant flow rate, which in turn affects the operating efficiency of the air-conditioning system. Therefore, the current control of the solenoid valve coil of the solenoid valve becomes the key to improving the system response.

[0003] There are several main control strategies for the electromagnetic coil current of the solenoid valve: constant current control, constant pressure control and proportional-integral-derivative (PID) feedback control. The PID feedback control method can improve the response speed and suppress current fluctuations, but due to the complexity of calculation, it requires large digital signal processing and state detection equipment, and the system cost is high. The constant current control method has a slow response speed and must have coil current in a wide load range, and the current adjustment of the solenoid valve coil has a long cycle.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present invention provide a solenoid valve current control method, device, storage medium and electronic device to at least solve the technical problems in the related art that the proportional-integral-differential controller needs a certain time to adjust and there is a lag in current recovery.

[0006] According to one aspect of an embodiment of the present invention, a solenoid valve current control method is provided, comprising: calibrating a controller based on a target current value at a preset temperature, and determining a first mapping table of the calibrated controller, wherein the first mapping table is used to represent a mapping relationship between an output current of the calibrated controller and a duty cycle, and the controller is used to control the output current of at least one solenoid valve; in response to receiving a damping adjustment request, determining a target current value based on a target damping value carried in the damping adjustment request, wherein the damping adjustment request is used to adjust the damping force of a shock absorber in a vehicle suspension system; determining a target duty cycle corresponding to the target current value based on the target current value and the first mapping table; and controlling the output current of the at least one solenoid valve to stabilize to the target current value based on the target duty cycle and an initial duty cycle, so as to adjust the damping force of the shock absorber, wherein the initial duty cycle is used to represent the duty cycle of the controller in a current output state.

[0007] Furthermore, the controller is current calibrated based on the target current value at a preset temperature, and a first mapping table of the calibrated controller is determined, including: obtaining at least one calibrated current value, wherein the at least one calibrated current value is the current value requested by the at least one solenoid valve within a preset time period; at the preset temperature, a first proportional-integral-differential control strategy is used to adjust the output current of the controller to the at least one calibrated current value, and obtain a duty cycle corresponding to the at least one calibrated current value; and the first mapping table is determined based on the at least one calibrated current value and the duty cycle corresponding to the at least one calibrated current value.

[0008] Further, in response to receiving a damping adjustment request, determining a target current value based on a target damping value carried in the damping adjustment request includes: in response to receiving the damping adjustment request, determining the target current value based on the target damping value and a second mapping table, wherein the second mapping table is used to represent a mapping relationship between an output current of the controller and a damping force.

[0009] Further, determining the target duty cycle corresponding to the target current value based on the target current value and the first mapping table includes: determining whether the target current value is recorded in the first mapping table to obtain a determination result; in response to the determination result indicating that the target current value is recorded in the first mapping table, searching the first mapping table to obtain the target duty cycle corresponding to the target current value; in response to the determination result indicating that the target current value is not recorded in the first mapping table, determining the target duty cycle based on a linear matching strategy and the target current value.

[0010] Further, determining the target duty cycle based on the linear matching strategy and the target current value includes: determining the duty cycle interval to which the duty cycle corresponding to the target current value belongs in the first mapping table, wherein the maximum duty cycle within the duty cycle interval is the first duty cycle, and the minimum duty cycle within the duty cycle interval is the second duty cycle; determining the target duty cycle based on a first current value corresponding to the first duty cycle, a second current value corresponding to the second duty cycle, the target current value and the first duty cycle.

[0011] Furthermore, controlling the output current of at least one solenoid valve to stabilize to the target current value based on the target duty cycle and the initial duty cycle includes: determining the difference between the target duty cycle and the initial duty cycle to obtain the difference duty cycle; in response to the absolute value of the difference duty cycle being greater than a preset difference, using a preset direct-through strategy to adjust the duty cycle of the controller to a first preset value or a second preset value so that the output current of the at least one solenoid valve is stabilized to the target current value; in response to the absolute value of the difference duty cycle being less than or equal to the preset difference, using a preset pulse width modulation strategy to adjust the duty cycle of the controller to the target duty cycle so that the output current of the at least one solenoid valve is stabilized to the target current value.

[0012] Furthermore, using a preset direct-pass strategy to adjust the duty cycle of the controller to a first preset value or a second preset value includes: in response to the difference duty cycle being greater than zero, adjusting the duty cycle of the controller to the second preset value; in response to the difference duty cycle being less than or equal to zero, adjusting the duty cycle of the controller to the first preset value.

[0013] Furthermore, the solenoid valve current control method further includes: using a second proportional-integral-differential control strategy to control the output current of the at least one solenoid valve.

[0014] According to another aspect of an embodiment of the present invention, a solenoid valve current control device is also provided, comprising: a calibration module, configured to perform current calibration on a controller based on a target current value at a preset temperature, and determine a first mapping table of the calibrated controller, wherein the first mapping table is used to represent a mapping relationship between an output current of the calibrated controller and a duty cycle, and the controller is used to control the output current of at least one solenoid valve; a first determination module, configured to determine a target current value based on a target damping value carried in the damping adjustment request in response to receiving a damping adjustment request, wherein the damping adjustment request is used to adjust the damping force of a shock absorber in a vehicle suspension system; a second determination module, configured to determine a target duty cycle corresponding to the target current value based on the target current value and the first mapping table; and a control module, configured to control the output current of at least one solenoid valve to stabilize to a target current value based on the target duty cycle and an initial duty cycle, so as to adjust the damping force of the shock absorber, wherein the initial duty cycle is used to represent the duty cycle in the current output state of the controller.

[0015] Furthermore, the calibration module is also used to obtain at least one calibrated current value, wherein at least one calibrated current value is the current value requested by at least one solenoid valve within a preset time period; at a preset temperature, a first proportional integral differential control strategy is used to adjust the output current of the controller to at least one calibrated current value, and obtain a duty cycle corresponding to at least one calibrated current value; and a first mapping table is determined based on at least one calibrated current value and the duty cycle corresponding to at least one calibrated current value.

[0016] Furthermore, the first determination module is further configured to determine a target current value based on a target damping value and a second mapping table in response to receiving a damping adjustment request, wherein the second mapping table is configured to represent a mapping relationship between an output current of the controller and a damping force.

[0017] Furthermore, the second determination module is also used to determine whether the target current value is recorded in the first mapping table to obtain a determination result; in response to the determination result indicating that the target current value is recorded in the first mapping table, the target duty cycle corresponding to the target current value is searched in the first mapping table; in response to the determination result indicating that the target current value is not recorded in the first mapping table, the target duty cycle is determined based on the linear matching strategy and the target current value.

[0018] Furthermore, the second determination module is also used to determine the duty cycle interval to which the duty cycle corresponding to the target current value belongs in the first mapping table, wherein the maximum duty cycle within the duty cycle interval is the first duty cycle, and the minimum duty cycle within the duty cycle interval is the second duty cycle; the target duty cycle is determined based on the first current value corresponding to the first duty cycle, the second current value corresponding to the second duty cycle, the target current value and the first duty cycle.

[0019] Furthermore, the control module is also used to determine the difference between the target duty cycle and the initial duty cycle to obtain the difference duty cycle; in response to the absolute value of the difference duty cycle being greater than the preset difference, a preset direct-through strategy is used to adjust the duty cycle of the controller to a first preset value or a second preset value so that the output current of at least one solenoid valve is stabilized to a target current value; in response to the absolute value of the difference duty cycle being less than or equal to the preset difference, a preset pulse width modulation strategy is used to adjust the duty cycle of the controller to the target duty cycle so that the output current of at least one solenoid valve is stabilized to the target current value.

[0020] Furthermore, the control module is also used to adjust the duty cycle of the controller to a second preset value in response to the difference duty cycle being greater than zero; and to adjust the duty cycle of the controller to a first preset value in response to the difference duty cycle being less than or equal to zero.

[0021] Furthermore, the control module is also used to control the output current of at least one solenoid valve by adopting a second proportional-integral-derivative control strategy.

[0022] An embodiment of the present application further provides a vehicle, comprising: a memory storing an executable program; and a processor for running the program, wherein the method in each embodiment of the present invention is executed when the program is running.

[0023] According to another aspect of an embodiment of the present invention, there is further provided an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the method in each embodiment of the present invention is executed when the program is running.

[0024] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0025] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0026] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0027] According to another aspect of the embodiments of the present invention, a computer program is further provided. When the computer program is executed by a processor, the methods in the embodiments of the present invention are implemented.

[0028] In an embodiment of the present invention, a method for current calibration of the controller based on the target current value is adopted to determine the first mapping table of the controller, and the first mapping table is used to represent the mapping relationship between the output current and the duty cycle. After receiving the damping adjustment request, the target current value is determined according to the target damping value in the request, and the target duty cycle corresponding to the target current value is further determined. By controlling the output current of the solenoid valve to stabilize to the target current value, the damping force of the shock absorber can be adjusted, and the purpose of not involving how to determine the damping size and only focusing on the current type variable damping valve is achieved, thereby achieving the technical effect of quickly reaching the specified target current and realizing damping control, thereby solving the technical problem in the related technology that the proportional-integral-differential controller adjustment requires a certain amount of time and there is a lag in the current recovery. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0030] Figure 1 is a flow chart of a solenoid valve current control method according to one embodiment of the present invention;

[0031] Figure 2 is a flow chart of current calibration under constant temperature conditions according to one embodiment of the present invention;

[0032] Figure 3 is a flow chart of calculating a target duty cycle according to one embodiment of the present invention;

[0033] Figure 4 is a flow chart of entering constant current PID feedback control according to one embodiment of the present invention;

[0034] Figure 5 4 is a structural block diagram of a solenoid valve current control device according to one embodiment of the present invention. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0036] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0037] According to an embodiment of the present invention, a method embodiment of solenoid valve current control is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0038] The embodiment of the present application provides a solenoid valve current control method. The solenoid valve current control method can be used to provide a solenoid valve current control function for a preset application scenario. The above-mentioned preset application scenarios may include the following scenarios in the vehicle field: commuting automatic driving scenarios, artificial intelligence (AI) driving scenarios for family cars, automatic parking assist (APA) scenarios (such as memory parking for owned parking spaces in garages, smart parking for designated parking spaces in parking lots, etc.), and smart navigation assistance (Navigation Guided Pilot, NGP) scenarios in urban areas or high-speed areas. In addition, the above-mentioned preset application scenarios may also include, but are not limited to: solenoid valve current control scenarios for smart driving trucks or unmanned trucks in the field of logistics and transportation, and solenoid valve current control scenarios for self-driving agricultural vehicles in the field of agricultural machinery.

[0039] When the above-mentioned preset application scenario is a scenario in a field other than the vehicle field, those skilled in the art should be able to understand that the vehicle in the above-mentioned solenoid valve current control method can be replaced with other objects (such as agricultural machinery, etc.). On this basis, in the embodiment of the present application, the specific implementation of the above-mentioned solenoid valve current control method is exemplarily described by taking the field of vehicle control technology as an example.

[0040] Figure 1 FIG. 1 is a flow chart of a solenoid valve current control method according to one embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0041] Step S10, calibrating the controller based on the target current value at a preset temperature, and determining a first mapping table of the calibrated controller, wherein the first mapping table is used to represent a mapping relationship between an output current and a duty cycle of the calibrated controller, and the controller is used to control an output current of at least one solenoid valve;

[0042] In the embodiment of the present invention, the preset temperature can be understood as a constant temperature condition set when calibrating the controller. For example, the performance of the solenoid valve and the controller will be affected by the ambient temperature. Therefore, during the calibration process, it is necessary to perform the calibration in a controlled temperature environment to ensure the accuracy and consistency of the calibration results. The preset temperature should generally be selected to represent a temperature value within the working range of the solenoid valve, such as 25°C (room temperature), or selected according to the actual application environment, which is not limited here.

[0043] The target current value can be understood as the specific current value that the controller attempts to make the solenoid valve reach during the current calibration process. For example, the magnitude of the current value directly affects the damping effect of the solenoid valve, and thus affects its control performance. During calibration, a series of target current values ​​(I 1 to In) are set, and the current actually output by the solenoid valve is made close to these target values ​​through the adjustment of the controller (such as PID control).

[0044] Current calibration can be understood as a systematic testing and adjustment process, which aims to determine the pulse width modulation (PWM) duty cycle that the controller should output at different target current values ​​so that the current output by the solenoid valve reaches the expected accurate value.

[0045] The first mapping table can be understood as a data table generated based on the current calibration result, which represents the relationship between the PWM duty cycle output by the controller and the output current of the solenoid valve. For example, the establishment of the mapping table enables the controller to directly find the corresponding duty cycle value in the mapping table according to the damping requirement (converted into the target current) issued by the system layer in actual applications, without the need to perform PID adjustment again, thereby speeding up the response speed, which is not limited here.

[0046] A solenoid valve can be understood as a valve that uses electromagnetic force to control fluid. It is widely used in the intelligent chassis control system of automobiles (such as CDC-Continuously Damping Control) to adjust the damping effect of the shock absorber.

[0047] Current calibration of the controller based on the target current value at a preset temperature can be understood as accurately measuring and adjusting the output characteristics of the controller under specific temperature conditions to ensure that the controller can accurately drive the solenoid valve to reach the current value required by the system.

[0048] Determining the first mapping table of the calibrated controller can be understood as establishing and solidifying a correspondence table between the duty cycle of the controller output PWM signal and the actual output current of the solenoid valve based on the collected experimental data after completing the current calibration process.

[0049] In an embodiment of the present invention, by calibrating the current of the controller based on the target current value at a preset temperature and determining the first mapping table of the calibrated controller, the response speed, control accuracy and overall reliability of the solenoid valve control system can be significantly improved, while reducing the complexity and cost of production and debugging, which plays an important role in improving the intelligent chassis control performance of the vehicle.

[0050] Step S11, in response to receiving a damping adjustment request, determining a target current value based on a target damping value carried in the damping adjustment request, wherein the damping adjustment request is used to adjust a damping force of a shock absorber in a vehicle suspension system;

[0051] In an embodiment of the present invention, the damping adjustment request can be understood as an instruction or signal issued by the vehicle's central control system or a specific vehicle control unit (such as a CDC control unit), the purpose of which is to adjust the damping force of the shock absorber in the vehicle's suspension system to adapt to different driving conditions or provide the best driving experience.

[0052] The target damping value can be understood as a quantitative value, which indicates the damping force that the shock absorber in the vehicle suspension system is expected to achieve. For example, the target damping value is calculated by the vehicle control system according to the real-time vehicle state and road conditions, and is the core information in the damping adjustment request, which is not limited here.

[0053] The target current value can be understood as being converted based on the target damping value through a damping-current mapping table, and is the current size that the controller needs to achieve when controlling the solenoid valve.

[0054] The vehicle suspension system can be understood as the components that connect the wheels and the vehicle body to absorb road impact and maintain vehicle stability and ride comfort. The vehicle suspension system is mainly composed of springs, shock absorbers, connecting rods and lateral stabilizer bars, among which the shock absorber (also called damper) adjusts the vibration absorption and control performance of the vehicle by controlling the damping force of the relative motion between the wheels and the vehicle body, which is not limited here.

[0055] The shock absorber can be understood as an important component of the vehicle suspension system, which is used to suppress the shock caused by the spring rebounding after shock absorption and the impact from the road surface.

[0056] In response to receiving a damping adjustment request, determining the target current value based on the target damping value carried in the damping adjustment request can be understood as the controller searching and determining the current size that the solenoid valve should reach based on the damping-current mapping table based on the damping adjustment request issued by the vehicle control system (which contains the target damping value).

[0057] In an embodiment of the present invention, a target current value is directly determined based on a target damping value in a damping adjustment request, and the output of the solenoid valve is quickly controlled, which can significantly improve the control accuracy and response speed of a vehicle suspension system, simplify the control system design, and improve energy efficiency.

[0058] Step S12, determining a target duty cycle corresponding to the target current value based on the target current value and the first mapping table;

[0059] In the embodiment of the present invention, the target duty cycle can be understood to refer to the duty cycle value of the PWM (pulse width modulation) signal that the controller needs to set in order to make the output of the solenoid valve reach the target current value.

[0060] Determining the target duty cycle corresponding to the target current value based on the target current value and the first mapping table can be understood as, based on the target current value and the first mapping table, the controller determines the PWM signal duty cycle that can generate this current, that is, the target duty cycle, by looking up the corresponding position of the target current value in the mapping table.

[0061] In an embodiment of the present invention, determining the target duty cycle corresponding to the target current value based on the target current value and the first mapping table can significantly improve the control accuracy, response speed and system stability of the intelligent chassis control system, while simplifying the control algorithm, optimizing energy utilization, and ultimately improving the driving experience and driving safety.

[0062] Step S13, based on the target duty cycle and the initial duty cycle, controlling the output current of at least one solenoid valve to stabilize to a target current value to adjust the damping force of the shock absorber, wherein the initial duty cycle is used to represent the duty cycle of the controller in the current output state.

[0063] In the embodiment of the present invention, the initial duty cycle can be understood as the duty cycle of the PWM signal currently being output by the controller before receiving a damping adjustment request (ie, the solenoid valve current needs to be adjusted to change the damping force of the shock absorber).

[0064] Controlling the output current of at least one solenoid valve to stabilize to a target current value based on a target duty cycle and an initial duty cycle to adjust the damping force of the shock absorber can be understood as combining the target duty cycle and the initial duty cycle, by directly or gradually adjusting the duty cycle of the PWM signal, quickly and accurately controlling the current of the solenoid valve to achieve instant adjustment of the damping force of the shock absorber.

[0065] In the embodiment of the present invention, by directly adjusting the PWM duty cycle to the target value and combining it with the current initial duty cycle state, rapid and precise control of the solenoid valve current is achieved, thereby efficiently adjusting the shock absorber damping force, enhancing the dynamic response capability and overall performance of the vehicle's intelligent chassis, and also improving energy efficiency and system robustness.

[0066] By calibrating the controller based on the target current value at a preset temperature and determining the first mapping table of the calibrated controller, the response speed, control accuracy and overall reliability of the solenoid valve control system can be significantly improved, while reducing the complexity and cost of production and debugging, which plays an important role in improving the intelligent chassis control performance of the vehicle. Directly determining the target current value based on the target damping value in the damping adjustment request and quickly controlling the output of the solenoid valve can significantly improve the control accuracy and response speed of the vehicle suspension system, simplify the control system design, and improve energy efficiency. Determining the target duty cycle corresponding to the target current value based on the target current value and the first mapping table can significantly improve the control accuracy, response speed and system stability of the intelligent chassis control system, simplify the control algorithm, optimize energy utilization, and ultimately improve the driving experience and driving safety. By directly adjusting the PWM duty cycle to the target value and combining the current initial duty cycle state, the rapid and precise control of the solenoid valve current is achieved, thereby efficiently adjusting the damping force of the shock absorber, enhancing the dynamic response capability and overall performance of the vehicle intelligent chassis, and also improving energy efficiency and system robustness.

[0067] Through the above steps, a method for current calibration of the controller based on the target current value can be implemented, the first mapping table of the controller is determined, and the first mapping table is used to represent the mapping relationship between the output current and the duty cycle. After receiving the damping adjustment request, the target current value is determined according to the target damping value in the request, and the target duty cycle corresponding to the target current value is further determined. By controlling the output current of the solenoid valve to stabilize to the target current value, the damping force of the shock absorber can be adjusted, achieving the purpose of not involving how to determine the damping size, and only focusing on the current type variable damping valve, thereby achieving the technical effect of quickly reaching the specified target current and realizing damping control, thereby solving the technical problem in the related technology that the proportional-integral-differential controller adjustment requires a certain amount of time and there is a lag in the current recovery.

[0068] Optionally, in step S10, current calibration of the controller based on the target current value at a preset temperature and determining a first mapping table of the calibrated controller may include the following execution steps:

[0069] Step S101, obtaining at least one calibrated current value, wherein the at least one calibrated current value is a current value requested by at least one solenoid valve within a preset time period;

[0070] Step S102, at a preset temperature, using a first proportional-integral-differential control strategy to adjust the output current of the controller to at least one calibrated current value, and obtaining a duty cycle corresponding to at least one calibrated current value;

[0071] Step S103: determining a first mapping table based on at least one calibrated current value and a duty cycle corresponding to at least one calibrated current value.

[0072] In the embodiment of the present invention, the calibration current value may be understood as a current value that is preset in the controller calibration process and that the solenoid valve needs to reach.

[0073] The preset time period can be understood as a time window during the calibration process for monitoring and confirming whether the solenoid valve stably reaches the calibrated current value.

[0074] The first proportional integral derivative control strategy can be understood as a closed-loop control strategy that adjusts the controller output by calculating the control effects of the three parts of proportional (P), integral (I) and differential (D) to reduce the error between the measured value and the expected value. Specifically, the proportional part is responsible for quickly responding to the error, the integral part eliminates the steady-state error, and the differential part predicts the change trend of the error, thereby achieving accurate and stable current control.

[0075] Obtaining at least one calibrated current value, wherein at least one calibrated current value is the current value requested by at least one solenoid valve within a preset time period can be understood as finding out the typical or frequent current value requested by the solenoid valve within a preset time period by analyzing the vehicle's operating data within different preset time periods.

[0076] At a preset temperature, the first proportional integral differential control strategy is used to adjust the output current of the controller to at least one calibrated current value, and obtain a duty cycle corresponding to at least one calibrated current value. It can be understood that before calibrating the controller, the solenoid valve is placed in an environment that can maintain a preset temperature, and the parameters of the PID control strategy are pre-set in the controller. For each calibrated current value, the controller dynamically adjusts the output signal through a PID algorithm, usually the duty cycle of the PWM signal, so that the current of the solenoid valve reaches and stabilizes at the target calibrated current value, and all calibrated current values ​​and their corresponding duty cycles are recorded to form a current-duty cycle mapping table, which is not restricted here.

[0077] Determining the first mapping table based on at least one calibrated current value and the duty cycle corresponding to at least one calibrated current value can be understood as creating an accurate mapping relationship between the solenoid valve current and the PWM signal duty cycle during the controller calibration phase.

[0078] In an embodiment of the present invention, a calibrated current value is obtained, a PID control strategy is used to adjust the current at a preset temperature and obtain a duty cycle, and a first mapping table is established based on the above data, which significantly improves the performance of the intelligent chassis control system, including response speed, control accuracy and system robustness, while also simplifying production debugging and subsequent maintenance work.

[0079] Optionally, in step S11, in response to receiving the damping adjustment request, determining the target current value based on the target damping value carried in the damping adjustment request may include the following execution steps:

[0080] Step S111 , in response to receiving a damping adjustment request, determining a target current value based on a target damping value and a second mapping table, wherein the second mapping table is used to represent a mapping relationship between an output current of a controller and a damping force.

[0081] In the embodiment of the present invention, the second mapping table can be understood as a data mapping relationship pre-established through experimental data or theoretical calculation based on the complex relationship between the solenoid valve, the controller and the vehicle shock absorption system.

[0082] In response to receiving a damping adjustment request, determining a target current value based on the target damping value and the second mapping table can be understood as when the system detects that the damping force of the shock absorber needs to be adjusted to optimize the handling performance or ride comfort of the vehicle, a damping adjustment request is generated, and when the control system receives the damping adjustment request, the control system queries the second mapping table according to the target damping value in the request. By looking up the record corresponding to the target damping value, the control system can determine the target current value that the solenoid valve needs to reach.

[0083] In the embodiment of the present invention, the target current value is determined by using the target damping value and the second mapping table, which not only improves the response speed and control accuracy of the damping adjustment, but also simplifies the design and maintenance of the control system and enhances its adaptability and robustness under complex driving conditions.

[0084] Optionally, in step S12, determining a target duty cycle corresponding to the target current value based on the target current value and the first mapping table may include the following execution steps:

[0085] Step S121, determining whether the target current value is recorded in the first mapping table, and obtaining a determination result;

[0086] Step S122, in response to the determination result indicating that the target current value is recorded in the first mapping table, searching the first mapping table to obtain a target duty cycle corresponding to the target current value;

[0087] Step S123 , in response to the determination result indicating that the target current value is not recorded in the first mapping table, determining a target duty cycle based on a linear matching strategy and the target current value.

[0088] In the embodiment of the present invention, the determination result can be understood as a judgment made by the control system on whether there is a record of the target current value in the first mapping table.

[0089] The linear matching strategy can be understood as a calculation method for estimating the duty cycle of the PWM signal corresponding to the target current value when the target current value is not directly recorded in the first mapping table.

[0090] Determine whether the target current value is recorded in the first mapping table. The determination result can be understood as if the target current value has an exact match in the first mapping table, that is, the control system can directly find the PWM duty cycle corresponding to this current value, then the "determination result" is positive, indicating that the target value is directly available, no additional calculation is required, and accurate control can be performed immediately. Conversely, if the target current value does not find a match in the first mapping table, the "determination result" is negative, which means that an alternative strategy needs to be adopted to determine the target duty cycle.

[0091] In response to the determination result indicating that the target current value is recorded in the first mapping table, searching the first mapping table to obtain the target duty cycle corresponding to the target current value can be understood as once the control system determines that the target current value exists in the first mapping table, the control system will quickly search the mapping table for the target duty cycle corresponding to this current value.

[0092] In response to the determination result indicating that the target current value is not recorded in the first mapping table, determining the target duty cycle based on the linear matching strategy and the target current value can be understood as if the control system determines that the target current value is not recorded in the first mapping table, the control system will determine the target duty cycle based on the linear matching strategy and the target current value.

[0093] In an embodiment of the present invention, when processing a damping adjustment request, the control system decides whether to use a direct search or linear matching strategy to determine the target duty cycle based on the search result of the target current value in the first mapping table. This can efficiently and accurately control the solenoid valve current to achieve rapid adjustment of the damping force, thereby optimizing the vehicle's dynamic performance and riding experience, while also simplifying the control process and maintenance work, and improving the overall robustness and efficiency of the system.

[0094] Optionally, in step S123, determining the target duty cycle based on the linear matching strategy and the target current value may include the following execution steps:

[0095] Step S1231, determining the duty cycle interval to which the duty cycle corresponding to the target current value belongs in the first mapping table, wherein the maximum duty cycle in the duty cycle interval is the first duty cycle, and the minimum duty cycle in the duty cycle interval is the second duty cycle;

[0096] Step S1232, determining a target duty cycle based on a first current value corresponding to the first duty cycle, a second current value corresponding to the second duty cycle, the target current value, and the first duty cycle.

[0097] In an embodiment of the present invention, the first duty cycle can be understood as when the target current value is not directly recorded in the first mapping table, the control system needs to determine the duty cycle interval to which the target current value belongs. Exemplarily, the interval is defined by two boundary values ​​as [Da, Db], where the first duty cycle Da is the maximum PWM duty cycle value in the interval, which is not limited here.

[0098] The second duty cycle may be understood as the minimum PWM duty cycle value within the above duty cycle interval. Exemplarily, the second duty cycle may be Db.

[0099] The first current value can be understood as the current value associated with the first duty cycle in the first mapping table. The first current value is the maximum of the current values ​​in the above duty cycle intervals, which can be expressed as I Da , which is usually the duty cycle at the higher current levels that the control system attempts to achieve during the calibration phase.

[0100] The second current value can be understood as the current value associated with the second duty cycle in the first mapping table. The second current value is the minimum of the current values ​​in the above duty cycle intervals, which can be expressed as I Db , represents the duty cycle at the lower current level that the control system attempts to achieve during the calibration phase.

[0101] Determining the duty cycle interval of the duty cycle corresponding to the target current value in the first mapping table can be understood as a set of mapping relationships between the current value and the PWM signal duty cycle obtained through experiments. For example, the target current value can be expressed as I target By searching the mapping relationship set, the system can determine the interval to which the target current value belongs, as well as the first duty cycle and the second duty cycle within the interval.

[0102] Determining the target duty cycle based on the first current value corresponding to the first duty cycle, the second current value corresponding to the second duty cycle, the target current value and the first duty cycle can be understood as the control system using a linear interpolation algorithm to estimate the PWM signal duty cycle corresponding to the current value that is not directly calibrated based on the first current value corresponding to the first duty cycle, the second current value corresponding to the second duty cycle, the target current value and the first duty cycle.

[0103] In the embodiment of the present invention, by determining the duty cycle interval to which the target current value belongs in the first mapping table and determining the target duty cycle based on a linear interpolation algorithm, the control system can achieve rapid and precise adjustment of the solenoid valve current, improve the efficiency and accuracy of damping force adjustment, and at the same time simplify the calibration and maintenance process, reduce computing resource consumption, and enhance the system's adaptability and flexibility to changing driving conditions.

[0104] Optionally, in step S13, controlling the output current of at least one solenoid valve to stabilize to a target current value based on the target duty cycle and the initial duty cycle may include the following execution steps:

[0105] Step S131, determining the difference between the target duty cycle and the initial duty cycle to obtain a difference duty cycle;

[0106] Step S132, in response to the absolute value of the difference duty cycle being greater than the preset difference value, a preset direct-through strategy is used to adjust the duty cycle of the controller to a first preset value or a second preset value, so that the output current of at least one solenoid valve is stabilized to a target current value;

[0107] Step S133, in response to the absolute value of the difference duty cycle being less than or equal to the preset difference, a preset pulse width modulation strategy is used to adjust the duty cycle of the controller to a target duty cycle, so that the output current of at least one solenoid valve is stabilized to a target current value.

[0108] In the embodiment of the present invention, the differential duty cycle can be understood as the difference between the target duty cycle (the duty cycle of the PWM signal that the controller needs to output in order to achieve the target current value) and the current initial duty cycle (the duty cycle of the PWM signal currently being output by the controller).

[0109] The preset difference can be understood as a threshold preset by the system, which is used to determine whether the absolute value of the difference duty cycle exceeds a certain range, and can be expressed as Z, which is not limited here.

[0110] The preset direct-through strategy can be understood as a strategy of directly setting the duty cycle of the PWM signal to a fully-on (100%) or fully-off (0%) state.

[0111] The first preset value may be understood as a duty cycle value of the PWM signal output by the controller. Exemplarily, the first preset value is 100% or 0%, which is not limited herein.

[0112] The second preset value may be understood as a duty cycle value of the PWM signal output by the controller. Exemplarily, the second preset value is 100% or 0%, which is not limited here.

[0113] The preset pulse width modulation strategy can be understood as a strategy that makes the solenoid valve current change smoothly and finally stabilize at the target current value by finely adjusting the duty cycle of the PWM signal.

[0114] Determine the difference between the target duty cycle and the initial duty cycle, and obtain the difference duty cycle. It can be understood that the difference duty cycle is the difference between the target duty cycle and the initial duty cycle. Exemplarily, the calculation formula is ΔD=D target -D initial Among them, D targetis the target duty cycle, D initial is the initial duty cycle, and ΔD is the differential duty cycle, which is used to quantify the size and direction of the control action and is not limited here.

[0115] In response to the absolute value of the difference duty cycle being greater than a preset difference, a preset direct-pass strategy is adopted to adjust the duty cycle of the controller to a first preset value or a second preset value, so that the output current of at least one solenoid valve is stabilized to a target current value. It can be understood that when the detected absolute value of the difference duty cycle (|ΔD|) exceeds the preset difference (Z, a system preset threshold), it indicates that the gap between the current current state of the solenoid valve and the target current value is large, and rapid adjustment is required. In order to quickly narrow the gap between the current current state of the solenoid valve and the target current value, the control system will adopt a preset direct-pass strategy to allow the duty cycle of the controller output PWM signal to directly jump to the first preset value or the second preset value, aiming to enable the output current of at least one solenoid valve to approach the target value as quickly as possible.

[0116] In response to the absolute value of the difference duty cycle being less than or equal to the preset difference, the preset pulse width modulation strategy is used to adjust the duty cycle of the controller to the target duty cycle, so that the output current of at least one solenoid valve is stabilized to the target current value. It can be understood that if |ΔD| is less than or equal to the preset difference (Z), it indicates that the difference between the current state of the solenoid valve and the target current value is within a controllable range, and the controller will adjust the duty cycle of the solenoid valve according to the target duty cycle D target , adjust the duty cycle of its PWM signal output to achieve the target current value I target .

[0117] In the embodiment of the present invention, by detecting the differential duty cycle and selecting a suitable control strategy based on its absolute value, the control system can intelligently select the control strategy that best suits the current situation, thereby ensuring both rapid response to large current changes and high precision and smooth transition during small current adjustments, thereby effectively improving system performance.

[0118] Optionally, in step S132, using a preset direct-through strategy to adjust the duty cycle of the controller to a first preset value or a second preset value may include the following execution steps:

[0119] Step S1321, in response to the difference duty cycle being greater than zero, adjusting the duty cycle of the controller to a second preset value;

[0120] Step S1322, in response to the difference duty cycle being less than or equal to zero, adjusting the duty cycle of the controller to a first preset value.

[0121] In the embodiment of the present invention, in response to the difference duty cycle being greater than zero, adjusting the duty cycle of the controller to the second preset value can be understood as adjusting the PWM signal duty cycle of the controller to the maximum second preset value (100%) when the target current value is greater than the current current value.

[0122] In response to the difference duty cycle being less than or equal to zero, adjusting the duty cycle of the controller to the first preset value can be understood as adjusting the PWM signal duty cycle of the controller to the first preset value (0%) when the target current value is less than or equal to the current current value.

[0123] In an embodiment of the present invention, the control system can significantly improve the efficiency, response speed and accuracy of the solenoid valve current control by quickly adjusting the controller's PWM signal duty cycle to a preset value according to the positive or negative condition of the differential duty cycle, while optimizing energy consumption, reducing costs, and enhancing the stability and reliability of the system.

[0124] Optionally, the solenoid valve current control method further includes:

[0125] A second proportional-integral-derivative control strategy is adopted to control the output current of at least one solenoid valve.

[0126] In the embodiment of the present invention, the second proportional-integral-differential control strategy can be understood as a strategy for dynamically adjusting the output of the controller by calculating the difference between the process variable and the target value, using the three control parameters of proportion (P), integration (I) and differentiation (D), so as to achieve stable control of the process.

[0127] Using the second proportional integral differential control strategy to control the output current of at least one solenoid valve can be understood as using a PID control algorithm to finely adjust the current output of the solenoid valve at a certain stage or under specific conditions in the control process to achieve and maintain the target current value.

[0128] In the embodiment of the present invention, by utilizing PID regulation to control the continuity of the valve body current, not only can accurate and stable current control be provided, but also dynamic response can be optimized, different working conditions can be adapted, energy consumption can be efficiently managed, and system robustness can be enhanced.

[0129] Figure 2 FIG. 1 is a flow chart of current calibration under constant temperature conditions according to one embodiment of the present invention. Figure 2 As shown in the figure, when starting the current calibration under constant temperature conditions, first input a series of commonly used current values ​​I1 to In, stabilize the target current I1 through PID adjustment and record the corresponding duty cycle D1, repeat the above steps until the target current In is stable, record the corresponding duty cycle Dn, and then store the current-duty cycle mapping table, at which point the calibration process ends.

[0130] Figure 3is a flow chart of calculating a target duty cycle according to one embodiment of the present invention. Figure 3 As shown, first, the system-level target damping instruction is received, and the corresponding target current value I is found through the damping-current mapping. target , and then determine the target current I target Whether it can be accurately matched in the calibrated current-duty ratio mapping table, if it cannot be accurately matched, it is necessary to determine the current-duty ratio MAP interval [Da, Db] where the target current is located. Then linear interpolation is used to calculate and obtain the target duty ratio D target , at this time, the process of calculating the target duty cycle is completed and the control strategy is ready to be executed.

[0131] Figure 4 is a flow chart of entering constant current PID feedback control according to one embodiment of the present invention, such as Figure 4 As shown, first determine the target duty cycle D target , calculate the current duty cycle D initial and the target duty cycle D target The difference ΔD between them is then determined. Then determine whether ΔD is greater than the preset value Z. If ΔD is less than or equal to the preset value Z, it is determined to be a hot start and enter constant current PID feedback control. If ΔD is greater than the preset value Z, it is determined to be a cold start. Further determine whether ΔD is greater than 0. If ΔD>0, set the PWM duty cycle to 0% to quickly increase the solenoid valve current. If ΔD≤0, set the PWM duty cycle to 100% to quickly reduce the solenoid valve current. Then detect the solenoid valve loop current to determine whether the detected solenoid valve loop current reaches the target value. If so, adjust the PWM duty cycle to D target , and the process ends. If not, return to the step of detecting the solenoid valve loop current, and continue to detect and adjust until the current stabilizes at the target value.

[0132] In the embodiment of the present invention, for the solenoid valve, the equivalent model can be replaced by a simple inductor + resistor, which also means that for the same model of solenoid valve, the difference in parameters is controllable; for the controller, due to the large number and complexity of discrete devices, the corresponding equivalent model cannot be simply expressed, and the accuracy is uncontrollable, so a separate calibration process is required to unify the differences of each controller; since the calibrated controller layer eliminates the error, it is not necessary to perform a round of PID adjustment process every time after receiving the damping adjustment instruction issued by the system layer, and it is only necessary to directly take the value according to the calibrated current-duty cycle correspondence table for output, which reduces the load executed by the control unit and improves the response speed. In the embodiment of the present invention, it is mainly divided into two stages, the controller production stage and the vehicle installation and application stage. (1) Calibration process: By controlling the same solenoid valve to achieve the target current, each controller's own current-duty cycle mapping table is obtained. The purpose of this is to eliminate the differences in individual controller parameters and ensure the accuracy of the output current. The current value during calibration can be any value. The best choice is to calibrate according to the current value frequently requested by the solenoid valve during vehicle road test adjustment to maximize the matching degree during subsequent vehicle installation. (2) Vehicle installation application: After receiving the system-level damping adjustment requirement, the corresponding target current value is found through the damping-current mapping table. The target current value I target Look for an exact match in the current calibration library. If there is no exact match, use linear matching to determine the size of the target duty cycle (according to actual measurements, the current value is linearly related to the duty cycle). After obtaining the target duty cycle, compare it with the current output state (for example, it is currently stationary or the current suddenly changes from maximum to minimum). If the change exceeds a certain value Z, it is determined to be a cold start mode, and a direct-through mode is used to quickly reach the target current (the PWM output is not controlled, and power is directly turned on / off to quickly increase the valve body current / rapidly reduce the valve body current). If the change is not large, the output duty cycle is directly adjusted to the target duty cycle, and after the current stabilizes, the PID regulation is used to control the continuity of the valve body current.

[0133] In the embodiment of the present invention, when calibrating the controller, the target current is directly taken in the form of equal value interval division, and an approximate equation is fitted. When loading the vehicle, the target duty cycle value is directly calculated by substituting the required current value. The controller in the embodiment of the present invention adds a constant temperature calibration link, which is integrated and executed in a high temperature aging test environment, thereby reducing individual errors. By quickly responding to system-level adjustment requirements, reducing the controller execution time, increasing the CDC response control cycle, and reducing the PID adjustment to determine the initial value process, the control system calculation load is reduced, thereby improving the robustness of the multi-valve simultaneous control system.

[0134] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0135] According to an embodiment of the present invention, an embodiment of a device for controlling current of a solenoid valve is provided. It should be noted that the device can be used to execute the above-mentioned method for controlling current of a solenoid valve.

[0136] Figure 5 is a structural block diagram of a solenoid valve current control device according to one embodiment of the present invention. Figure 5 As shown, taking a solenoid valve current control device 500 as an example, the device includes: a calibration module 501, which is used to calibrate the current of the controller based on the target current value at a preset temperature, and determine a first mapping table of the calibrated controller, wherein the first mapping table is used to represent the mapping relationship between the output current and the duty cycle of the calibrated controller, and the controller is used to control the output current of at least one solenoid valve; a first determination module 502, which is used to determine the target current value based on the target damping value carried in the damping adjustment request in response to receiving a damping adjustment request, wherein the damping adjustment request is used to adjust the damping force of the shock absorber in the vehicle suspension system; a second determination module 503, which is used to determine the target duty cycle corresponding to the target current value based on the target current value and the first mapping table; a control module 504, which is used to control the output current of at least one solenoid valve to be stable to the target current value based on the target duty cycle and the initial duty cycle, so as to adjust the damping force of the shock absorber, wherein the initial duty cycle is used to represent the duty cycle in the current output state of the controller.

[0137] Furthermore, the calibration module 501 is also used to obtain at least one calibrated current value, wherein at least one calibrated current value is the current value requested by at least one solenoid valve within a preset time period; at a preset temperature, a first proportional integral differential control strategy is used to adjust the output current of the controller to at least one calibrated current value, and obtain a duty cycle corresponding to at least one calibrated current value; and a first mapping table is determined based on at least one calibrated current value and the duty cycle corresponding to at least one calibrated current value.

[0138] Furthermore, the first determination module 502 is further configured to determine a target current value based on a target damping value and a second mapping table in response to receiving a damping adjustment request, wherein the second mapping table is configured to represent a mapping relationship between an output current of the controller and a damping force.

[0139] Furthermore, the second determination module 503 is also used to determine whether the target current value is recorded in the first mapping table to obtain a determination result; in response to the determination result indicating that the target current value is recorded in the first mapping table, the target duty cycle corresponding to the target current value is searched in the first mapping table; in response to the determination result indicating that the target current value is not recorded in the first mapping table, the target duty cycle is determined based on the linear matching strategy and the target current value.

[0140] Furthermore, the second determination module 503 is also used to determine the duty cycle interval to which the duty cycle corresponding to the target current value belongs in the first mapping table, wherein the maximum duty cycle within the duty cycle interval is the first duty cycle, and the minimum duty cycle within the duty cycle interval is the second duty cycle; the target duty cycle is determined based on the first current value corresponding to the first duty cycle, the second current value corresponding to the second duty cycle, the target current value and the first duty cycle.

[0141] Furthermore, the control module 504 is also used to determine the difference between the target duty cycle and the initial duty cycle to obtain the difference duty cycle; in response to the absolute value of the difference duty cycle being greater than the preset difference, a preset direct-through strategy is used to adjust the duty cycle of the controller to a first preset value or a second preset value so that the output current of at least one solenoid valve is stabilized to a target current value; in response to the absolute value of the difference duty cycle being less than or equal to the preset difference, a preset pulse width modulation strategy is used to adjust the duty cycle of the controller to the target duty cycle so that the output current of at least one solenoid valve is stabilized to the target current value.

[0142] Furthermore, the control module 504 is further configured to adjust the duty cycle of the controller to a second preset value in response to the difference duty cycle being greater than zero; and to adjust the duty cycle of the controller to a first preset value in response to the difference duty cycle being less than or equal to zero.

[0143] Furthermore, the control module 504 is further configured to control the output current of at least one solenoid valve by adopting a second proportional-integral-derivative control strategy.

[0144] An embodiment of the present application further provides a vehicle, comprising: a memory storing an executable program; and a processor for running the program, wherein the method in each embodiment of the present invention is executed when the program is running.

[0145] According to another aspect of an embodiment of the present invention, there is further provided an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the method in each embodiment of the present invention is executed when the program is running.

[0146] Optionally, in this embodiment, the processor in the electronic device may be configured to run a computer program to perform the following steps:

[0147] Step S10, calibrating the controller based on the target current value at a preset temperature, and determining a first mapping table of the calibrated controller, wherein the first mapping table is used to represent a mapping relationship between an output current and a duty cycle of the calibrated controller, and the controller is used to control an output current of at least one solenoid valve;

[0148] Step S11, in response to receiving a damping adjustment request, determining a target current value based on a target damping value carried in the damping adjustment request, wherein the damping adjustment request is used to adjust a damping force of a shock absorber in a vehicle suspension system;

[0149] Step S12, determining a target duty cycle corresponding to the target current value based on the target current value and the first mapping table;

[0150] Step S13, based on the target duty cycle and the initial duty cycle, controlling the output current of at least one solenoid valve to stabilize to a target current value to adjust the damping force of the shock absorber, wherein the initial duty cycle is used to represent the duty cycle of the controller in the current output state.

[0151] An embodiment of the present application further provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0152] Optionally, in this embodiment, the computer-readable storage medium may be configured to store a computer program for performing the following steps:

[0153] Step S10, calibrating the controller based on the target current value at a preset temperature, and determining a first mapping table of the calibrated controller, wherein the first mapping table is used to represent a mapping relationship between an output current and a duty cycle of the calibrated controller, and the controller is used to control an output current of at least one solenoid valve;

[0154] Step S11, in response to receiving a damping adjustment request, determining a target current value based on a target damping value carried in the damping adjustment request, wherein the damping adjustment request is used to adjust a damping force of a shock absorber in a vehicle suspension system;

[0155] Step S12, determining a target duty cycle corresponding to the target current value based on the target current value and the first mapping table;

[0156] Step S13, based on the target duty cycle and the initial duty cycle, controlling the output current of at least one solenoid valve to stabilize to a target current value to adjust the damping force of the shock absorber, wherein the initial duty cycle is used to represent the duty cycle of the controller in the current output state.

[0157] An embodiment of the present application further provides a computer program product, including a computer program, which implements the methods in various embodiments of the present invention when executed by a processor.

[0158] Optionally, in this embodiment, the computer program in the above computer program product may be configured to perform the following steps when executed by a processor:

[0159] Step S10, calibrating the controller based on the target current value at a preset temperature, and determining a first mapping table of the calibrated controller, wherein the first mapping table is used to represent a mapping relationship between an output current and a duty cycle of the calibrated controller, and the controller is used to control an output current of at least one solenoid valve;

[0160] Step S11, in response to receiving a damping adjustment request, determining a target current value based on a target damping value carried in the damping adjustment request, wherein the damping adjustment request is used to adjust a damping force of a shock absorber in a vehicle suspension system;

[0161] Step S12, determining a target duty cycle corresponding to the target current value based on the target current value and the first mapping table;

[0162] Step S13, based on the target duty cycle and the initial duty cycle, controlling the output current of at least one solenoid valve to stabilize to a target current value to adjust the damping force of the shock absorber, wherein the initial duty cycle is used to represent the duty cycle of the controller in the current output state.

[0163] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0164] Optionally, in this embodiment, the computer program in the above computer program product may be configured to perform the following steps when executed by a processor:

[0165] Step S10, calibrating the controller based on the target current value at a preset temperature, and determining a first mapping table of the calibrated controller, wherein the first mapping table is used to represent a mapping relationship between an output current and a duty cycle of the calibrated controller, and the controller is used to control an output current of at least one solenoid valve;

[0166] Step S11, in response to receiving a damping adjustment request, determining a target current value based on a target damping value carried in the damping adjustment request, wherein the damping adjustment request is used to adjust a damping force of a shock absorber in a vehicle suspension system;

[0167] Step S12, determining a target duty cycle corresponding to the target current value based on the target current value and the first mapping table;

[0168] Step S13, based on the target duty cycle and the initial duty cycle, controlling the output current of at least one solenoid valve to stabilize to a target current value to adjust the damping force of the shock absorber, wherein the initial duty cycle is used to represent the duty cycle of the controller in the current output state.

[0169] The embodiments of the present application further provide a computer program, which implements the methods in the above-mentioned embodiments of the present invention when executed by a processor.

[0170] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0171] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, 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 units or modules, which can be electrical or other forms.

[0172] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0173] In addition, each functional unit in each embodiment of the present invention 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.

[0174] 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 computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, 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, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0175] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A solenoid valve current control method, characterized in that: include: Performing current calibration on the controller based on the target current value at a preset temperature, and determining a first mapping table of the calibrated controller, wherein the first mapping table is used to represent a mapping relationship between an output current and a duty cycle of the calibrated controller, and the controller is used to control an output current of at least one solenoid valve; In response to receiving a damping adjustment request, determining a target current value based on a target damping value carried in the damping adjustment request, wherein the damping adjustment request is used to adjust a damping force of a shock absorber in a vehicle suspension system; Determining a target duty cycle corresponding to the target current value based on the target current value and the first mapping table; Based on the target duty cycle and the initial duty cycle, the output current of the at least one solenoid valve is controlled to be stable to the target current value to adjust the damping force of the shock absorber, wherein the initial duty cycle is used to represent the duty cycle under the current output state of the controller.

2. The method according to claim 1, characterized in that The current calibration of the controller based on the target current value at the preset temperature and determining the first mapping table of the calibrated controller includes: Acquiring at least one calibrated current value, wherein the at least one calibrated current value is a current value requested by the at least one solenoid valve within a preset time period; At the preset temperature, a first proportional-integral-differential control strategy is used to adjust the output current of the controller to the at least one calibrated current value, and a duty cycle corresponding to the at least one calibrated current value is obtained; The first mapping table is determined based on the at least one calibrated current value and a duty cycle corresponding to the at least one calibrated current value.

3. The method according to claim 1, characterized in that In response to receiving the damping adjustment request, determining the target current value based on the target damping value carried in the damping adjustment request includes: In response to receiving the damping adjustment request, the target current value is determined based on the target damping value and a second mapping table, wherein the second mapping table is used to represent a mapping relationship between an output current of the controller and a damping force.

4. The method according to claim 1, characterized in that The determining the target duty cycle corresponding to the target current value based on the target current value and the first mapping table comprises: Determine whether the target current value is recorded in the first mapping table, and obtain a determination result; In response to the determination result indicating that the target current value is recorded in the first mapping table, searching the first mapping table to obtain the target duty cycle corresponding to the target current value; In response to the determination result indicating that the target current value is not recorded in the first mapping table, the target duty ratio is determined based on a linear matching strategy and the target current value.

5. The method according to claim 4, characterized in that Determining the target duty cycle based on a linear matching strategy and the target current value includes: Determine a duty cycle interval to which the duty cycle corresponding to the target current value belongs in the first mapping table, wherein the maximum duty cycle in the duty cycle interval is the first duty cycle, and the minimum duty cycle in the duty cycle interval is the second duty cycle; The target duty ratio is determined based on a first current value corresponding to the first duty ratio, a second current value corresponding to the second duty ratio, the target current value, and the first duty ratio.

6. The method according to any one of claims 1 to 5, characterized in that The controlling the output current of the at least one solenoid valve to stabilize to the target current value based on the target duty cycle and the initial duty cycle comprises: Determine a difference between the target duty cycle and the initial duty cycle to obtain a difference duty cycle; In response to the absolute value of the difference duty cycle being greater than a preset difference value, a preset direct-through strategy is used to adjust the duty cycle of the controller to a first preset value or a second preset value, so that the output current of the at least one solenoid valve is stabilized to the target current value; In response to the absolute value of the difference duty cycle being less than or equal to the preset difference, a preset pulse width modulation strategy is adopted to adjust the duty cycle of the controller to the target duty cycle so that the output current of the at least one solenoid valve is stabilized to the target current value.

7. The method according to claim 6, characterized in that The step of using a preset direct-through strategy to adjust the duty cycle of the controller to a first preset value or a second preset value includes: In response to the difference duty cycle being greater than zero, adjusting the duty cycle of the controller to the second preset value; In response to the difference duty cycle being less than or equal to zero, adjusting the duty cycle of the controller to the first preset value.

8. The method according to claim 6, characterized in that The method further comprises: A second proportional-integral-derivative control strategy is adopted to control the output current of the at least one solenoid valve.

9. A solenoid valve current control device, characterized in that: include: a calibration module, configured to perform current calibration on a controller based on a target current value at a preset temperature, and determine a first mapping table of the calibrated controller, wherein the first mapping table is used to represent a mapping relationship between an output current and a duty cycle of the calibrated controller, and the controller is used to control an output current of at least one solenoid valve; a first determination module, configured to determine a target current value based on a target damping value carried in the damping adjustment request in response to receiving a damping adjustment request, wherein the damping adjustment request is used to adjust a damping force of a shock absorber in a vehicle suspension system; A second determining module, configured to determine a target duty cycle corresponding to the target current value based on the target current value and the first mapping table; A control module is used to control the output current of at least one solenoid valve to stabilize to the target current value based on the target duty cycle and the initial duty cycle, so as to adjust the damping force of the shock absorber, wherein the initial duty cycle is used to represent the duty cycle of the controller in the current output state.

10. A vehicle, characterized in that: The vehicle is used to execute the solenoid valve current control method described in any one of claims 1 to 8 above.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program is configured to execute the solenoid valve current control method described in any one of claims 1 to 8 when running on a computer or a processor.

12. An electronic device comprising a memory and a processor, characterized in that: The memory stores a computer program, and the processor is configured to run the computer program to execute the solenoid valve current control method described in any one of claims 1 to 8.

13. A computer program product, characterized in that The invention comprises a computer program, which implements the solenoid valve current control method as claimed in any one of claims 1 to 8 when being executed by a processor.

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