Self-adaptive control method and system for adjustable shock absorber and suspension controller

Abstract

The invention provides a self-adaptive control method and system for an adjustable shock absorber and a suspension controller. The method comprises the steps that the movement speed of the shock absorber and the initial target current of the current shock absorber are obtained; according to the shock absorber movement speed and the initial target current of the current shock absorber and according to a pre-stored standard damping force-shock absorber movement speed curve of a shock absorber standard component under different current points, the required damping force of the current shock absorber is obtained through calculation; according to the required damping force of the current shock absorber, the movement speed of the shock absorber and a pre-stored damping force-shock absorber movement speed curve of the current shock absorber at different current points, a driving target current is obtained through calculation; and controlling the electromagnetic valve according to the driving target current so as to control the shock absorber. According to the invention, self-adaptive adjustment of electromagnetic driving current of different shock absorbers according to damping force-shock absorber movement speed characteristic data is realized, and the problem that the consistency of damping force output of different shock absorbers is difficult to guarantee due to production errors is solved.

Description

Technical Field

[0001] The invention belongs to the field of automobile shock absorbers, and in particular relates to an adaptive control method and system for an adjustable shock absorber and a suspension controller. Background Art

[0002] For vehicles equipped with hydraulic adjustable damping systems, the damping force provided by the vehicle shock absorber can be adjusted by controlling the solenoid valve current. The suspension controller obtains the current state of the vehicle through the CAN bus and sensor information, and adjusts the shock absorber solenoid valve current in real time according to the vehicle's driving state to adjust the shock absorber damping force to improve the vehicle's comfort and handling stability. If the driver performs intense operations such as acceleration and deceleration, and the steering condition causes the vehicle to pitch and roll, this condition increases the output of the damping force and suppresses the rapid change of the vehicle's posture. For example, when the vehicle passes through a bumpy road, the output of the damping force is reduced at this time, thereby weakening the road excitation transmitted to the vehicle body through the shock absorber, improving ride comfort.

[0003] However, there are dispersion differences between different shock absorbers. The damping force output by the shock absorber is related to the current speed of the shock absorber movement and the driving current of the solenoid valve. Due to the dispersion differences between individual shock absorbers, the damping force output by the shock absorber will be different at the same shock absorber movement speed and the same current, which will affect the accuracy of suspension control and the ride comfort and handling stability of the vehicle. Summary of the invention

[0004] In view of the above shortcomings of the prior art, the purpose of the present invention is to provide an adjustable shock absorber adaptive control method, system and suspension controller to solve the problem that due to the dispersion between different shock absorbers, the damping force output by the shock absorber is different under the same shock absorber movement speed and the same current, thereby affecting the accuracy of suspension control and affecting the ride comfort and handling stability of the vehicle.

[0005] To achieve the above-mentioned object and other related objects, the present invention provides an adaptive control method for an adjustable shock absorber, comprising:

[0006] Obtain the movement speed of the shock absorber and the initial target current of the current shock absorber;

[0007] The required damping force of the current shock absorber is calculated according to the shock absorber movement speed of the current shock absorber, the initial target current, and the standard damping force-shock absorber movement speed curve of the pre-stored shock absorber standard parts at different current points;

[0008] The driving target current is calculated according to the required damping force of the current shock absorber, the movement speed of the shock absorber and the pre-stored damping force-shock absorber movement speed curve of the current shock absorber at different current points;

[0009] The solenoid valve is controlled according to the drive target current, thereby controlling the shock absorber.

[0010] In one embodiment of the present invention, the step of obtaining the movement speed of the shock absorber includes:

[0011] Get the distance from the vehicle's wheel center to the wheel arch;

[0012] The moving speed from the wheel center to the wheel eyebrow is calculated by differentiating the distance;

[0013] The shock absorber movement speed is obtained by multiplying the movement speed by the lever ratio of the wheel center to the wheel eyebrow stroke and the shock absorber stroke.

[0014] In one embodiment of the present invention, the step of obtaining the distance from the wheel center to the wheel arch of the vehicle comprises:

[0015] The current angle value is obtained according to the height sensor, wherein the height sensor is installed on the vehicle frame and connected to one end of the connecting rod through a swing rod, and the other end of the connecting rod is connected to the suspension arm;

[0016] The distance from the wheel center to the wheel arch of the vehicle is obtained according to the current angle value and a pre-stored angle value-distance map.

[0017] In one embodiment of the present invention, the step of obtaining the initial target current of the current shock absorber includes:

[0018] Get vehicle status and road condition information;

[0019] The initial target current of the current shock absorber is calculated according to the road condition information and the vehicle state.

[0020] In one embodiment of the present invention, the step of calculating the required damping force of the current shock absorber according to the shock absorber movement speed of the current shock absorber, the initial target current, and the standard damping force-shock absorber movement speed curve of the pre-stored shock absorber standard component at different current points includes:

[0021] According to whether the shock absorber is currently located at the front axle position or the rear axle position of the vehicle, a front axle standard damping force-shock absorber motion speed curve corresponding to the front axle or a rear axle standard damping force-shock absorber motion speed curve corresponding to the rear axle is selected;

[0022] The required damping force is calculated by linear interpolation according to the current shock absorber movement speed and the initial target current of the shock absorber.

[0023] In one embodiment of the present invention, the step of calculating the driving target current according to the required damping force of the current shock absorber, the shock absorber movement speed and the pre-stored damping force-shock absorber movement speed curve of the current shock absorber at different current points includes:

[0024] Obtaining the required damping force of the current shock absorber and the movement speed of the shock absorber;

[0025] The driving target current is calculated by linear interpolation under the damping force-shock absorber movement speed curve at different current points of the current shock absorber.

[0026] The present invention also provides an adjustable shock absorber adaptive control system, comprising:

[0027] An initial data acquisition module is used to acquire the movement speed of the shock absorber and the initial target current of the current shock absorber;

[0028] A required damping force calculation module, used to calculate the required damping force of the current shock absorber according to the shock absorber movement speed of the current shock absorber, the initial target current, and the standard damping force-shock absorber movement speed curve of the pre-stored shock absorber standard parts at different current points;

[0029] The driving target current control module is used to calculate the driving target current according to the required damping force of the current shock absorber, the shock absorber movement speed and the pre-stored damping force-shock absorber movement speed curve of the current shock absorber at different current points, and control the solenoid valve according to the driving target current, thereby controlling the shock absorber.

[0030] In one embodiment of the present invention, the initial data acquisition module includes:

[0031] Data acquisition unit, used to obtain the distance from the wheel center to the wheel arch, vehicle status and road condition information

[0032] a shock absorber speed calculation unit, configured to obtain a moving speed from the wheel center to the fender by differentiating the distance, and to obtain a shock absorber movement speed by multiplying the moving speed by a lever ratio of a wheel center to fender stroke to a shock absorber stroke;

[0033] The initial target current calculation unit is used to calculate the initial target current of the current shock absorber according to the road condition information and the vehicle state.

[0034] In one embodiment of the present invention, a storage module is also included, which pre-stores the front axle standard damping force-shock absorber movement speed curve corresponding to the front axle at different current points, the rear axle standard damping force-shock absorber movement speed curve corresponding to the rear axle at different current points, and the damping force-shock absorber movement speed curve corresponding to each shock absorber at different current points.

[0035] The present invention also provides a suspension controller, comprising:

[0036] A memory, wherein the memory is used to store a control program;

[0037] A processor, wherein when processing the control program, the processor executes the steps of the adjustable shock absorber adaptive control method as described in any one of the above embodiments.

[0038] The present invention proposes an adjustable shock absorber adaptive control method, system and suspension controller, which calculates the target damping force by the damping force-shock absorber movement speed curve of each shock absorber obtained when the vehicle is offline and the standard damping force-shock absorber movement speed curve of the standard shock absorber, and calculates the final electromagnetic valve drive target current according to the damping force-shock absorber movement speed curve detected by each shock absorber, so as to realize the adaptive adjustment of the electromagnetic drive current of different shock absorbers according to the damping force-shock absorber movement speed characteristic data, and solve the problem of different shock absorbers. The problem that it is difficult to ensure the consistency of damping force output due to production errors has the advantages of improving the accuracy of damping force output in adaptive control of adjustable shock absorbers, compensating for the control effect deviation caused by production errors of shock absorber parts, and having a more stable performance in different vehicles. The software can make adaptive corrections based on the deviations of individual shock absorbers, thereby reducing the requirements for production dispersion of shock absorber assemblies or solenoid valves, improving the yield of shock absorber assemblies or solenoid valves, and reducing the scrap rate of production, thereby reducing the production cost of shock absorber assemblies and solenoid valves. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 Shown is a flowchart of an adaptive control method for an adjustable shock absorber in one embodiment of the present application.

[0041] Figure 2 Shown is a flowchart of obtaining the movement speed of the shock absorber in one embodiment of the present application.

[0042] Figure 3 Shown is a structural block diagram of an adaptive control system of an adjustable shock absorber in an embodiment of the present application. DETAILED DESCRIPTION

[0043] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0044] It should be noted that the illustrations provided in this embodiment are only used to illustrate the basic concept of the present invention in a schematic manner. Therefore, the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0045] See also Figure 1 As shown, the present invention proposes an adjustable shock absorber adaptive control method, system and suspension controller to solve the problem that due to the dispersion between different shock absorbers, the damping force output by the shock absorber is different under the same shock absorber movement speed and the same current, thereby affecting the accuracy of suspension control and affecting the ride comfort and handling stability of the vehicle. Figure 1 The flowchart of the adaptive control method of an adjustable shock absorber in one embodiment of the present application is shown. Specifically, the adaptive control method of the adjustable shock absorber includes:

[0046] S1, obtaining the movement speed of the shock absorber and the initial target current of the current shock absorber;

[0047] For details, please refer to Figure 2 As shown, Figure 2 The flowchart of obtaining the movement speed of the shock absorber in one embodiment of the present application is shown. The steps of obtaining the movement speed of the shock absorber include:

[0048] S11, obtaining the distance from the wheel center to the wheel eyebrow of the vehicle; wherein the step of obtaining the distance from the wheel center to the wheel eyebrow of the vehicle comprises:

[0049] S111, obtaining the current angle value according to the height sensor;

[0050] S112, obtaining the distance from the wheel center to the wheel arch of the vehicle according to the current angle value and a pre-stored angle value-distance map.

[0051] See also Figure 1 As shown, in this embodiment, the height sensor is installed on the frame and connected to one end of the connecting rod through a rocker arm, and the other end of the connecting rod is connected to the suspension arm. Specifically, the sensor body is fixedly mounted on the frame through a bracket and connected to one end of the connecting rod through a rocker arm, and the other end of the connecting rod is connected to the suspension arm. For example, the sensor is a rotary type and is equipped with a rocker arm.

[0052] S12, differentiating the distance to obtain a moving speed from the wheel center to the wheel eyebrow; that is, differentiating the distance from the wheel center to the wheel eyebrow, and the result is the moving speed.

[0053] S13, obtaining the shock absorber movement speed according to the moving speed and multiplying it by the lever ratio of the wheel center to the fender stroke to the shock absorber stroke. The lever ratio is a known value of the vehicle and can be directly read from the vehicle controller. It can be understood that the lever ratios of the wheel center to the fender stroke to the shock absorber stroke of the front axle and the rear axle of the vehicle are different, and the corresponding lever ratio is selected according to whether the shock absorber to be calculated is located on the front axle or the rear axle.

[0054] See also Figure 1 As shown, in this embodiment, the step of obtaining the initial target current of the current shock absorber includes:

[0055] Get vehicle status and road condition information;

[0056] The initial target current of the current shock absorber is calculated according to the road condition information and the vehicle state.

[0057] It is understandable that the suspension controller will calculate the initial target current of each shock absorber solenoid valve in real time according to the vehicle state and road conditions. The target current of each shock absorber is calculated by software logic operation and pre-set data, wherein the pre-set data is obtained by calibration based on shock absorber debugging parts in different test road conditions in the early stage. For example, in some embodiments, the vehicle state includes at least vehicle speed, lateral acceleration and longitudinal acceleration, and the basic current value is obtained according to the preset calibration of the vehicle speed; the compensation current value is determined according to the vehicle speed, the lateral acceleration and the longitudinal acceleration; the current upper limit value is obtained, and the basic current value and the compensation current value are added to obtain the intermediate current value; the minimum of the intermediate current value and the current upper limit value is selected as the output current value, and the output current is the initial target current; wherein the current upper limit value is obtained according to road condition information, such as the road condition level preset calibration to obtain the road condition current upper limit value, and the road condition current upper limit value is obtained according to the vehicle mode set calibration to obtain the smaller value. Of course, the initial target current can also be calculated by other existing methods, which will not be elaborated in this application.

[0058] S2, calculating the required damping force of the current shock absorber according to the shock absorber movement speed of the current shock absorber, the initial target current, and according to the standard damping force-shock absorber movement speed curve of the pre-stored shock absorber standard parts at different current points;

[0059] It can be understood that the standard damping force-shock absorber movement speed curve characteristics of the standard parts are determined by the actual vehicle debugging in the engineering stage. The standard damping force-shock absorber movement speed curve characteristics data of the standard parts can be stored in the software in advance. During the operation of the software, the real-time electric shock absorber movement speed and the initial target current are used as input, and the required damping force of the current shock absorber is obtained through Map linear interpolation.

[0060] It can also be understood that the standard damping force-shock absorber movement speed curves of the shock absorber standard parts of the front axle and the rear axle of the vehicle at different current points are different. Therefore, in this embodiment, the step of calculating the required damping force of the current shock absorber according to the shock absorber movement speed of the current shock absorber, the initial target current, and the standard damping force-shock absorber movement speed curves of the shock absorber standard parts at different current points includes:

[0061] S21, selecting a front axle standard damping force-shock absorber motion speed curve corresponding to the front axle or a rear axle standard damping force-shock absorber motion speed curve corresponding to the rear axle according to whether the shock absorber is currently located at the front axle position or the rear axle position of the vehicle;

[0062] S22, calculating the required damping force by linear interpolation according to the current shock absorber movement speed and the initial target current of the shock absorber.

[0063] It can be understood that, in the present embodiment, the shock absorber of the vehicle is divided into a front axle shock absorber located at the front axle and a rear axle shock absorber located at the rear axle, and the front axle shock absorber and the rear axle shock absorber respectively correspond to a standard damping force-shock absorber movement speed curve. When calculating the required damping force of a certain shock absorber, it is determined whether the shock absorber is the front axle shock absorber or the rear axle shock absorber, and the corresponding standard damping force-shock absorber movement speed curve is selected according to the judgment result, that is, the front axle standard damping force-shock absorber movement speed curve or the rear axle standard damping force-shock absorber movement speed curve is selected, and the required damping force of the shock absorber is calculated by linear interpolation according to the shock absorber movement speed of the current shock absorber and the initial target current, so that each shock absorber of the vehicle can independently calculate its required damping force, thereby improving the accuracy of the damping force output in the adaptive control of the adjustable shock absorber.

[0064] S3, calculating the driving target current according to the required damping force of the current shock absorber, the movement speed of the shock absorber and the pre-stored damping force-shock absorber movement speed curve of the current shock absorber at different current points;

[0065] It is understandable that, due to the dispersion difference between different shock absorbers, in this embodiment, for each shock absorber, a damping force-shock absorber movement speed curve at different current points matched by the shock absorber is pre-stored. For a certain shock absorber, the driving target current of the shock absorber can be calculated according to the required damping force calculated in step S2, the shock absorber movement speed calculated in step S1, and the pre-stored damping force-shock absorber movement speed curve at different current points. Specifically, the characteristic data of the damping force-shock absorber movement speed curve at different current points of each shock absorber are stored in the software in advance. During the operation of the software, the real-time required damping force and shock absorber movement speed are used as inputs, and the final driving target current of the solenoid valve is obtained by Map linear interpolation.

[0066] Specifically, the step of calculating the driving target current according to the required damping force of the current shock absorber, the shock absorber movement speed and the pre-stored damping force-shock absorber movement speed curve of the current shock absorber at different current points includes:

[0067] S31, obtaining the required damping force of the current shock absorber and the movement speed of the shock absorber;

[0068] S32. Under the damping force-shock absorber movement speed curve at different current points of the current shock absorber, the driving target current is calculated by linear interpolation.

[0069] S4. Control the solenoid valve according to the drive target current, thereby controlling the shock absorber.

[0070] It is understandable that the shock absorber movement speed of the present application refers to the movement speed of the shock absorber piston rod relative to the cylinder. The present application can calculate the driving control current of each shock absorber separately to independently control each shock absorber, so that it can bring more refined vehicle dynamic control. By independently controlling each shock absorber of the vehicle, the system can more accurately adjust the suspension system of the vehicle to adapt to different driving conditions and road conditions, and improve the performance and ride comfort of the vehicle.

[0071] It can be understood that, in this embodiment, the standard damping force-shock absorber movement speed curve of the shock absorber standard part and the damping force-shock absorber movement speed curve corresponding to each individual shock absorber can be obtained by testing under different current point conditions offline and pre-stored in the controller. Different current points are taken between the minimum driving current and the maximum driving current of the shock absorber, and the value points at least include a current test point close to the minimum driving current, a current test point close to the maximum driving current, and one or more current test points located in the middle. Preferably, each current test point is evenly distributed between the minimum driving current and the maximum driving current.

[0072] For example, by testing the damping force-shock absorber movement speed curve corresponding to the four current test points of 400mA, 800mA, 1200mA, and 1600mA of each shock absorber when it is offline, and uploading it to the cloud, or downloading it from the cloud to the host computer of the OEM; when assembling the suspension controller, the identifier of each shock absorber can be identified by scanning the code of the device to obtain the damping force-shock absorber movement speed curve data of the four current points of 400mA, 800mA, 1200mA, and 1600mA of the left front, right front, left rear, and right rear shock absorbers from the cloud or the host computer.

[0073] It is understandable that, in this embodiment, the above method can be used for electronically controlled adjustable shock absorbers, and can also be used for shock absorber current control of similar shock absorber hydraulic adjustable systems, such as compression-tension dual valve hydraulic adjustable shock absorbers, etc.

[0074] See also Figure 3 As shown, Figure 3 The structure block diagram of the adjustable shock absorber adaptive control system in the embodiment of the present application is shown. In this embodiment, an adjustable shock absorber adaptive control system is provided, and the adjustable shock absorber adaptive control system corresponds to the adjustable shock absorber adaptive control method in the above embodiment. Specifically, the adjustable shock absorber adaptive control system 100 includes an initial data acquisition module 10, a required damping force calculation module 20 and a drive target current control module 30. The functional modules are described in detail as follows:

[0075] The initial data acquisition module 10 is used to acquire the movement speed of the shock absorber and the initial target current of the current shock absorber;

[0076] The required damping force calculation module 20 is used to calculate the required damping force of the current shock absorber according to the shock absorber movement speed of the current shock absorber, the initial target current, and the standard damping force-shock absorber movement speed curve of the pre-stored shock absorber standard parts at different current points;

[0077] The driving target current control module 30 is used to calculate the driving target current according to the required damping force of the current shock absorber, the shock absorber movement speed and the pre-stored damping force-shock absorber movement speed curve of the current shock absorber at different current points, and control the solenoid valve according to the driving target current, thereby controlling the shock absorber.

[0078] See also Figure 3 As shown, in this embodiment, the initial data acquisition module 10 includes: a data acquisition unit 11, a shock absorber speed calculation unit 12 and an initial target current calculation unit 13. The functional modules are described in detail as follows:

[0079] The data acquisition unit 11 is used to obtain the distance from the wheel center to the wheel arch, the vehicle status and the road condition information.

[0080] The shock absorber speed calculation unit 12 is used to calculate the moving speed from the wheel center to the wheel eyebrow by differentiating the distance, and obtain the shock absorber movement speed by multiplying the moving speed by the lever ratio of the wheel center to the wheel eyebrow stroke and the shock absorber stroke;

[0081] The initial target current calculation unit 13 is used to calculate the initial target current of the current shock absorber according to the road condition information and the vehicle state.

[0082] See also Figure 2 As shown, the adjustable shock absorber adaptive control system 100 also includes a storage module 40, which pre-stores a front axle standard damping force-shock absorber movement speed curve corresponding to the front axle at different current points, a rear axle standard damping force-shock absorber movement speed curve corresponding to the rear axle at different current points, and a damping force-shock absorber movement speed curve corresponding to each shock absorber at different current points.

[0083] For the specific definition of the adaptive control system of the adjustable shock absorber, please refer to the definition of the adaptive control method of the adjustable shock absorber mentioned above, which will not be repeated here. Each module in the above-mentioned adaptive control system of the adjustable shock absorber can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0084] See also Figure 1 As shown, the present invention also proposes a suspension controller, comprising: a memory, the memory is used to store a control program; a processor, the processor executes the steps of the adjustable shock absorber adaptive control method described in the above embodiment when processing the control program. Specifically, the following steps are executed:

[0085] Obtain the movement speed of the shock absorber and the initial target current of the current shock absorber;

[0086] The required damping force of the current shock absorber is calculated according to the shock absorber movement speed of the current shock absorber, the initial target current, and the standard damping force-shock absorber movement speed curve of the pre-stored shock absorber standard parts at different current points;

[0087] The driving target current is calculated according to the required damping force of the current shock absorber, the movement speed of the shock absorber and the pre-stored damping force-shock absorber movement speed curve of the current shock absorber at different current points;

[0088] The damper is controlled according to the drive target current.

[0089] In summary, the present invention proposes an adjustable shock absorber adaptive control method, system and suspension controller, which calculates the target damping force by the damping force-shock absorber movement speed curve of each shock absorber obtained when the vehicle is offline and the standard damping force-shock absorber movement speed of the standard shock absorber, and calculates the final electromagnetic valve driving target current according to the damping force-shock absorber movement speed curve detected by each shock absorber, thereby realizing the adaptive adjustment of the electromagnetic driving current of different shock absorbers according to the damping force-shock absorber movement speed characteristic data, and solving the problem of different shock absorbers. The problem of difficulty in ensuring the consistency of damping force output due to production errors in shock absorbers is that the accuracy of damping force output in adaptive control of adjustable shock absorbers is improved, which compensates for the deviation in control effect caused by production errors in shock absorber parts, and has a more stable performance in different vehicles. The software can make adaptive corrections based on the deviations of individual shock absorbers, thereby reducing the requirements for dispersion of shock absorber assemblies or solenoid valves, improving the yield of shock absorber assemblies or solenoid valves, and reducing the scrap rate of production, thereby reducing the production cost of shock absorber assemblies and solenoid valves.

[0090] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory.

[0091] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD ROM, optical storage, etc.) containing computer-usable program code.

[0092] The above embodiments are only illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Any person familiar with the technology can modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the relevant technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention. In the description herein, many specific details, such as examples of components and / or methods, are provided to provide a complete understanding of the embodiments of the present invention. However, those skilled in the art will recognize that the embodiments of the present invention can be practiced without one or more specific details or by other devices, systems, components, methods, components, materials, parts, etc. In other cases, well-known structures, materials or operations are not specifically shown or described in detail to avoid blurring the aspects of the embodiments of the present invention.

[0093] References throughout this specification to "one embodiment," "an embodiment," or "a specific embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention, and not necessarily in all embodiments. Thus, various appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in different places throughout this specification do not necessarily refer to the same embodiment. In addition, the particular features, structures, or characteristics of any specific embodiment of the invention may be combined with one or more other embodiments in any suitable manner. It should be understood that other variations and modifications of the embodiments of the invention described and illustrated herein may be possible in light of the teachings herein and are to be considered part of the spirit and scope of the invention.

[0094] It should also be understood that one or more of the elements shown in the figures may also be implemented in a more separate or more integrated manner, or even removed because they are inoperable in certain circumstances or provided because they may be useful depending on the application.

[0095] In addition, unless otherwise explicitly indicated, any marking arrows in the drawings should be regarded as exemplary only and not limiting. In addition, unless otherwise indicated, the term "or" used herein is generally intended to mean "and / or". In the case where the term is not clear because it is anticipated that the ability to separate or combine is provided, the combination of components or steps will also be regarded as indicated.

[0096] As used in the description herein and throughout the claims that follow, "a", "an", and "the" include plural references unless otherwise indicated. Likewise, as used in the description herein and throughout the claims that follow, the meaning of "in" includes "in" and "on" unless otherwise indicated.

[0097] The above description of the illustrated embodiments of the present invention (including the contents described in the Abstract) is not intended to be an exhaustive list or to limit the present invention to the precise form disclosed herein. Although specific embodiments of the present invention and examples of the present invention are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present invention as will be recognized and appreciated by those skilled in the art. As noted, these modifications may be made to the present invention in accordance with the above description of the embodiments described in the present invention, and these modifications will be within the spirit and scope of the present invention.

[0098] Systems and methods have been generally described herein as details that aid in understanding the present invention. In addition, various specific details have been given to provide an overall understanding of embodiments of the present invention. However, those skilled in the relevant art will recognize that embodiments of the present invention may be practiced without one or more of the specific details, or may be practiced using other devices, systems, accessories, methods, components, materials, parts, etc. In other cases, well-known structures, materials, and / or operations are not specifically shown or described in detail to avoid confusion with various aspects of embodiments of the present invention.

[0099] Thus, although the invention has been described herein with reference to specific embodiments thereof, freedom of modification, various changes and substitutions are also within the foregoing disclosure, and it should be understood that in some cases, some features of the invention will be employed without the corresponding use of other features without departing from the scope and spirit of the proposed invention. Thus, many modifications may be made to adapt a particular environment or material to the essential scope and spirit of the invention. The invention is not intended to be limited to the specific terms used in the claims below and / or the specific embodiments disclosed as the best mode contemplated for carrying out the invention, but the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Thus, the scope of the invention will be determined solely by the appended claims.

Claims

1. An adaptive control method for an adjustable shock absorber, characterized in that: include: Obtain the shock absorber movement speed and the initial target current of the current shock absorber solenoid valve; The required damping force of the current shock absorber is calculated according to the shock absorber movement speed of the current shock absorber, the initial target current, and the standard damping force-shock absorber movement speed curve of the pre-stored shock absorber standard parts at different current points; The driving target current is calculated according to the required damping force of the current shock absorber, the movement speed of the shock absorber and the pre-stored damping force-shock absorber movement speed curve of the current shock absorber at different current points; The solenoid valve is controlled according to the drive target current, thereby controlling the shock absorber.

2. The adaptive control method of adjustable shock absorber according to claim 1, characterized in that: The step of obtaining the movement speed of the shock absorber comprises: Get the distance from the vehicle's wheel center to the wheel arch; The moving speed from the wheel center to the wheel eyebrow is calculated by differentiating the distance; The shock absorber movement speed is obtained by multiplying the movement speed by the lever ratio of the wheel center to the wheel eyebrow stroke and the shock absorber stroke.

3. The adaptive control method of adjustable shock absorber according to claim 2, characterized in that: The step of obtaining the distance from the wheel center to the wheel arch of the vehicle comprises: The current angle value is obtained according to the height sensor, wherein the height sensor is installed on the vehicle frame and connected to one end of the connecting rod through a swing rod, and the other end of the connecting rod is connected to the suspension arm; The distance from the wheel center to the wheel arch of the vehicle is obtained according to the current angle value and a pre-stored angle value-distance map.

4. The adaptive control method of adjustable shock absorber according to claim 1, characterized in that: The steps for obtaining the initial target current of the current shock absorber include: Get vehicle status and road condition information; The initial target current of the current shock absorber is calculated according to the road condition information and the vehicle state.

5. The adaptive control method of adjustable shock absorber according to claim 1, characterized in that: The step of calculating the required damping force of the current shock absorber according to the shock absorber movement speed of the current shock absorber, the initial target current, and the standard damping force-shock absorber movement speed curve of the pre-stored shock absorber standard parts at different current points includes: According to whether the shock absorber is currently located at the front axle position or the rear axle position of the vehicle, a front axle standard damping force-shock absorber motion speed curve corresponding to the front axle or a rear axle standard damping force-shock absorber motion speed curve corresponding to the rear axle is selected; The required damping force is calculated by linear interpolation according to the current shock absorber movement speed and the initial target current of the shock absorber.

6. The adaptive control method of adjustable shock absorber according to claim 1, characterized in that: The step of calculating the driving target current according to the required damping force of the current shock absorber, the shock absorber movement speed and the pre-stored damping force-shock absorber movement speed curve of the current shock absorber at different current points comprises: Obtaining the required damping force of the current shock absorber and the movement speed of the shock absorber; The driving target current is calculated by linear interpolation under the damping force-shock absorber movement speed curve at different current points of the current shock absorber.

7. An adjustable shock absorber adaptive control system, characterized in that: include: An initial data acquisition module is used to acquire the movement speed of the shock absorber and the initial target current of the current shock absorber; A required damping force calculation module, used to calculate the required damping force of the current shock absorber according to the shock absorber movement speed of the current shock absorber, the initial target current, and the standard damping force-shock absorber movement speed curve of the pre-stored shock absorber standard parts at different current points; The driving target current control module is used to calculate the driving target current according to the required damping force of the current shock absorber, the shock absorber movement speed and the pre-stored damping force-shock absorber movement speed curve of the current shock absorber at different current points, and control the solenoid valve according to the driving target current, thereby controlling the shock absorber.

8. The adjustable shock absorber adaptive control system according to claim 7, characterized in that: The initial data acquisition module comprises: A data acquisition unit, used to acquire the distance from the wheel center to the fender, the vehicle state and the road condition information; a shock absorber speed calculation unit, used to calculate the moving speed from the wheel center to the fender by differentiating the distance, and to obtain the shock absorber movement speed by multiplying the moving speed by the lever ratio of the wheel center to the fender stroke and the shock absorber stroke; The initial target current calculation unit is used to calculate the initial target current of the current shock absorber according to the road condition information and the vehicle state.

9. The adjustable shock absorber adaptive control system according to claim 7, characterized in that: It also includes a storage module, which pre-stores the front axle standard damping force-shock absorber movement speed curve corresponding to the front axle at different current points, the rear axle standard damping force-shock absorber movement speed curve corresponding to the rear axle at different current points, and the damping force-shock absorber movement speed curve corresponding to each shock absorber at different current points.

10. A suspension controller, characterized in that: include: A memory, wherein the memory is used to store a control program; A processor, wherein when processing the control program, the processor executes the steps of the adaptive control method for an adjustable shock absorber according to any one of claims 1 to 6.

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