Vehicle control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle control method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining the current states of a vehicle body and wheels in the vehicle if it is detected that the vehicle has a suspension lifting demand; when the current state indicates that the vehicle body and the wheels are in the separated state, a target electromagnetic valve of an electric control shock absorber in the vehicle is controlled to be opened; when the current state indicates that the vehicle body is close to the wheels, the target electromagnetic valve is controlled to be closed, so that a piston rod of the electric control shock absorber drives a suspension of the vehicle to rise; wherein the target electromagnetic valve is used for controlling liquid flow in an oil storage cavity of the electric control shock absorber. According to the method, the height of the suspension of the vehicle can be adjusted on the premise that the cost is not increased, so that collision of a chassis of the vehicle is avoided.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically, to a vehicle control method, device, vehicle and storage medium in the field of vehicles. Background Art

[0002] In the prior art, due to the high cost of air suspension, ordinary springs and shock absorbers are usually configured in vehicles; ordinary springs and shock absorbers are used to achieve the shock absorbing function of the vehicle; but the shock absorbers cannot adjust the suspension height of the vehicle; and when the vehicle is climbing or off-roading, the suspension height cannot be adjusted, which makes the chassis of the vehicle suspension prone to bumps.

[0003] Therefore, how to adjust the suspension height of the vehicle without increasing the cost to avoid collision with the vehicle chassis is a technical problem that needs to be solved at present. Summary of the invention

[0004] The present application provides a vehicle control method, device, vehicle and storage medium. When the method detects that the vehicle has a suspension raising demand, the method controls the solenoid valve of the electronically controlled shock absorber in the vehicle to open or close according to the current state of the vehicle body and the wheels, so that the piston rod of the electronically controlled shock absorber drives the suspension of the vehicle to be raised; thereby adjusting the suspension height of the vehicle without increasing the cost to avoid collision with the vehicle chassis.

[0005] In a first aspect, a vehicle control method is provided, the method comprising:

[0006] If it is detected that the vehicle needs to raise its suspension, the current status of the vehicle body and wheels is obtained;

[0007] When the current state indicates that the vehicle body and the wheel are in a separated state, a target solenoid valve of an electronically controlled shock absorber in the vehicle is controlled to open;

[0008] When the current state indicates that the vehicle body and the wheel are in a close state, the target solenoid valve is controlled to close so that the piston rod of the electronically controlled shock absorber drives the suspension of the vehicle to rise; wherein, the target solenoid valve is used to control the flow of liquid in the oil storage chamber of the electronically controlled shock absorber.

[0009] In one implementation, when the target solenoid valve of the electronically controlled shock absorber in the vehicle is opened, the liquid in the oil storage chamber flows in one direction through the bypass valve in the electronically controlled shock absorber, and the piston rod of the electronically controlled shock absorber moves upward, so that the piston rod of the electronically controlled shock absorber drives the suspension of the vehicle to rise to the target position;

[0010] When the target solenoid valve is closed, the liquid in the oil storage chamber cannot flow so that the position of the piston rod of the electronically controlled shock absorber remains unchanged, so that the suspension of the vehicle remains in the target position.

[0011] In the embodiment of the present application, if the vehicle has a suspension lifting demand, the current state of the vehicle body and the wheel is obtained, and when the vehicle body and the wheel are in a separated state, the solenoid valve of the electronically controlled shock absorber is controlled to open. Since the solenoid valve is in an open state when the wheel and the vehicle body are in a separated state, the liquid in the oil storage chamber can move unidirectionally through the bypass valve, so that the piston in the electronically controlled shock absorber moves upward inside the electronically controlled shock absorber, that is, the suspension of the vehicle is lifted under the driving support of the piston rod. When the vehicle body and the wheel are close to each other, the piston of the electronically controlled shock absorber will be subjected to a downward force; but since the target solenoid valve is in a closed state at this time, the liquid in the oil storage chamber of the electronically controlled shock absorber cannot flow, so that the position of the piston remains unchanged; that is, under the support of the piston rod, the suspension of the vehicle will not be lowered; thereby, when it is detected that the vehicle has a suspension raising requirement, the suspension of the vehicle is raised; since the present solution realizes the suspension raising of the vehicle through the existing electronically controlled shock absorber, compared with the use of air springs or air suspension in the prior art, there is no need to replace vehicle components, and the suspension height can be adjusted using the existing electronically controlled shock absorber; therefore, the suspension height of the vehicle can be adjusted without increasing the cost to avoid collision with the vehicle chassis.

[0012] In conjunction with the first aspect, in certain implementations of the first aspect, obtaining the current state of the vehicle body and wheels in the vehicle includes:

[0013] Obtaining a first displacement of the vehicle body and wheels at a first moment, and a target displacement of the vehicle body and wheels at a current moment; wherein the first moment is a moment before the current moment;

[0014] Based on the first displacement and the target displacement, current states of a body and wheels in the vehicle are determined.

[0015] In an embodiment of the present application, a first displacement at a first moment and a target displacement at a current moment are obtained; and based on the first displacement and the target displacement, the current state of the vehicle body and the wheels are determined; since the vehicle can obtain the displacement of the vehicle body and the wheels at different moments, it is ensured that the vehicle can accurately determine the current state of the wheels and the vehicle body based on the displacement data.

[0016] In combination with the first aspect and the above implementations, in some implementations of the first aspect, determining the current state of the vehicle body and wheels in the vehicle based on the target displacement includes:

[0017] If the target displacement is greater than the first displacement, it is determined that the vehicle body and the wheel are in a separated state;

[0018] If the target displacement is smaller than the first displacement, it is determined that the vehicle body and the wheel are in a close state.

[0019] In an embodiment of the present application, if the target displacement is greater than the first displacement, it indicates that the distance between the vehicle body and the wheels is increasing, that is, the vehicle body and the wheels are in a separated state; if the target displacement is less than the first displacement, it indicates that the distance between the vehicle body and the wheels is decreasing, that is, the vehicle body and the wheels are in a close state; ensuring that the current state of the vehicle body and the wheels can be determined through the target displacement.

[0020] In combination with the first aspect and the above implementations, in some implementations of the first aspect, the following further includes:

[0021] If it is detected that the vehicle is in a target driving mode, determining whether the current speed of the vehicle is less than a preset threshold; wherein the target driving mode is used to indicate a driving mode when the vehicle is off-road driving;

[0022] If the vehicle speed is less than a preset threshold, it is determined that the vehicle needs to raise its suspension.

[0023] In an embodiment of the present application, if it is detected that the vehicle is in the target driving mode, whether the vehicle has a need to raise the suspension is determined by the vehicle's current speed; since the target driving mode represents the driving mode of the vehicle when off-road driving, when the vehicle is in the target driving mode and the current speed is less than a preset threshold, it indicates that the current road condition is highly bumpy and the vehicle cannot travel at a normal speed; therefore, it is determined that the vehicle has a need to raise the suspension.

[0024] In combination with the first aspect and the above implementations, in some implementations of the first aspect, the following further includes:

[0025] If it is detected that there is no suspension lifting demand for the vehicle, a target opening of the target solenoid valve is obtained;

[0026] The target solenoid valve is controlled to be adjusted to a target opening so that the electronically controlled shock absorber can reduce the vibration of the vehicle.

[0027] In the embodiment of the present application, if it is detected that there is no need to raise the suspension of the vehicle, the target solenoid valve is controlled to adjust to the target opening; when the target solenoid valve is at the target opening, the liquid in the oil storage chamber of the electronically controlled shock absorber can flow in both directions; when there is a relative vibration between the vehicle body and the wheel, the piston moves up and down inside the shock absorber, and the liquid in the oil storage chamber repeatedly flows from one chamber to another through the bypass valve. At this time, the friction between the inner wall of the bypass valve and the liquid and the internal friction between the liquid molecules form a damping force on the vibration, so that the vibration energy of the car is converted into heat energy, which is then absorbed by the shock absorber and distributed into the atmosphere; so as to achieve shock absorption of the vehicle.

[0028] In combination with the first aspect and the above implementations, in some implementations of the first aspect, at least two electronically controlled shock absorbers are configured in the vehicle, and the method further includes:

[0029] After the suspension of the vehicle is raised, the suspension height of each electronically controlled shock absorber at a corresponding position is obtained through a height sensor in the vehicle;

[0030] If the difference between the maximum height and the minimum height in the suspension height is greater than the preset difference, the opening of the solenoid valve of the target shock absorber in the electronically controlled shock absorber is adjusted based on the preset difference, and the piston rod of the target shock absorber drives the vehicle's suspension to rise or fall, so that the suspension height of the corresponding position of each electronically controlled shock absorber remains consistent.

[0031] In the embodiments of the present application, since there are usually multiple electronically controlled shock absorbers in a vehicle, after the vehicle suspension is raised by the electronically controlled shock absorbers, the suspension heights at different positions may be different; therefore, the vehicle obtains the suspension height at the corresponding position of each electronically controlled shock absorber through a height sensor; when the difference between the maximum height and the minimum height is greater than the preset difference, the solenoid valve opening of the target shock absorber in the electronically controlled shock absorber is adjusted; so as to adjust the position of the piston rod in the target shock absorber; thereby, the suspension height at the corresponding position of each electronically controlled shock absorber is kept consistent; and the adjustment effect of the vehicle suspension height adjustment is improved.

[0032] In combination with the first aspect and the above implementations, in some implementations of the first aspect, after the solenoid valve of the electronically controlled shock absorber is controlled to open so that the piston rod of the electronically controlled shock absorber drives the suspension of the vehicle to rise, the method further includes:

[0033] Get the current suspension height of the vehicle and the height of obstacles within a preset distance from the vehicle;

[0034] If the suspension height is less than the obstacle height, a prompt message is output; wherein the prompt message is used to indicate that there is a risk of collision with the chassis of the vehicle.

[0035] In an embodiment of the present application, after the suspension of the vehicle is raised, the current suspension height of the vehicle and the height of the obstacle within a preset distance of the vehicle are obtained; since the suspension of the vehicle is raised when the vehicle is passively lifted, the suspension of the vehicle is driven to rise; therefore, after the suspension of the vehicle is raised, the collision risk of the vehicle chassis can be reduced; on this basis, a judgment is made based on the current suspension height of the vehicle and the obstacle height, and when the suspension height is less than the obstacle height, a prompt message is output to indicate that there is a collision risk with the vehicle chassis; so as to improve the safety of the vehicle during driving; and avoid collision between the chassis and obstacles.

[0036] In a second aspect, a vehicle control device is provided, the device comprising:

[0037] An acquisition module, used for acquiring the current state of the vehicle body and wheels if it is detected that the vehicle has a suspension lifting requirement;

[0038] A control module is used to control the target solenoid valve of the electronically controlled shock absorber in the vehicle to open when the current state indicates that the vehicle body and the wheel are in a separated state; and to control the target solenoid valve to close when the current state indicates that the vehicle body and the wheel are in a close state, so that the piston rod of the electronically controlled shock absorber drives the suspension of the vehicle to rise; wherein the target solenoid valve is used to control the flow of liquid in the oil storage chamber of the electronically controlled shock absorber.

[0039] In conjunction with the second aspect, in some implementations of the second aspect, a determination module is further included, and the acquisition module is specifically used to: acquire a first displacement of a vehicle body and a wheel at a first moment, and a target displacement of the vehicle body and the wheel at a current moment; wherein the first moment is a moment before the current moment;

[0040] The determination module is used to determine the current state of the vehicle body and wheels in the vehicle based on the first displacement and the target displacement.

[0041] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the determination module is specifically used to: if the target displacement is greater than the first displacement, determine that the body and the wheel are in a separated state; if the target displacement is less than the first displacement, determine that the body and the wheel are in a close state.

[0042] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the determination module is also used to: if it is detected that the vehicle is in a target driving mode, determine whether the current speed of the vehicle is less than a preset threshold; wherein the target driving mode is used to indicate the driving mode of the vehicle during off-road driving; if the vehicle speed is less than the preset threshold, determine that the vehicle has a need to raise the suspension.

[0043] In combination with the second aspect and the above implementations, in some implementations of the second aspect, a determination module is further included, and the acquisition module is further used to: if it is detected that there is no suspension lifting demand for the vehicle, obtain a target opening of the target solenoid valve;

[0044] The control module is also used to control the target solenoid valve to adjust to a target opening so that the electronically controlled shock absorber can reduce shock on the vehicle.

[0045] In combination with the second aspect and the above implementations, in some implementations of the second aspect, at least two electronically controlled shock absorbers are configured in the vehicle, and the acquisition module is further used to: after the suspension of the vehicle is raised, acquire the suspension height of each electronically controlled shock absorber at a corresponding position through a height sensor in the vehicle;

[0046] The control module is also used to: if the difference between the maximum height and the minimum height in the suspension height is greater than the preset difference, adjust the opening of the solenoid valve of the target shock absorber in the electronically controlled shock absorber based on the preset difference, and the piston rod of the target shock absorber drives the vehicle's suspension to rise or fall, so that the suspension height of the corresponding position of each electronically controlled shock absorber remains consistent.

[0047] In combination with the second aspect and the above implementations, in some implementations of the second aspect, an output module is further included, and the acquisition module is further used to: acquire the current suspension height of the vehicle and the height of the obstacle within a preset distance from the vehicle;

[0048] The output module is used to: if the suspension height is less than the obstacle height, output a prompt message; wherein the prompt message is used to indicate that there is a risk of collision with the chassis of the vehicle.

[0049] In a third aspect, a vehicle is provided, comprising a memory and a processor, wherein the memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0050] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0051] In a fifth aspect, a computer-readable storage medium is provided, which stores instructions. When the instructions are executed on a vehicle, the vehicle executes the method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 is a schematic diagram of the structure of the shock absorber provided in an embodiment of the present application;

[0053] Figure 2 is a schematic structural diagram of another shock absorber provided in an embodiment of the present application;

[0054] Figure 3 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0055] Figure 4 is a schematic flow chart of another vehicle control method provided in an embodiment of the present application;

[0056] Figure 5 is a schematic flow chart of another vehicle control method provided in an embodiment of the present application;

[0057] Figure 6 is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0058] Figure 7 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0059] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0060] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0061] In the prior art, due to the high cost of air suspension, vehicles are usually equipped with ordinary springs and shock absorbers; ordinary springs and shock absorbers are used to achieve the shock absorption function of the vehicle, for example, ordinary springs and ordinary shock absorbers, or ordinary springs and electronically controlled shock absorbers. Figure 1 and Figure 2 The structure of the shock absorber is introduced, and the working principle and function of the shock absorber are explained.

[0062] Figure 1 It is a schematic diagram of the structure of the shock absorber provided in the embodiment of the present application.

[0063] For example, Figure 1 The structures of two common shock absorbers shown in 100; wherein, Figure 1 (a) is a schematic diagram of the structure of a common shock absorber. Figure 1 (b) is a schematic diagram of the structure of the first type of electronically controlled shock absorber.

[0064] For example, Figure 1 As shown in (a), 101 is a piston rod, 102 is an oil storage chamber, 103 is a damping valve piston, 104 is a working chamber, 105 is an isolation piston, and 106 is an air chamber.

[0065] For example, Figure 1The common shock absorber shown in (a) of FIG. 1 is a conventional shock absorber; when the vehicle is running and the vehicle vibrates, the elastic element (e.g., spring) of the suspension system vibrates under impact, and the damping valve piston 103 moves up and down inside the shock absorber oil storage chamber 102 and the working chamber 104, and the oil in the shock absorber chamber (including the oil storage chamber 102 and the working chamber 104) repeatedly flows from one chamber to another through different pores in the damping valve piston 103. For example, when the damping valve piston 103 moves upward, under the action of hydraulic pressure, the oil flows from the oil storage chamber 102 to the working chamber 104; when the damping valve piston moves downward, under the action of hydraulic pressure, the oil flows from the working chamber 104 to the oil storage chamber 102. During the flow of the oil, the friction between the pore wall of the pore in the damping valve piston 103 and the oil and the internal friction between the oil molecules form a damping force on the vibration, so that the vibration energy of the vehicle is converted into oil heat energy, which is then absorbed by the shock absorber and distributed into the atmosphere.

[0066] It should be noted that in the compression stroke (when the body and wheels are close to each other), the shock absorber damping force is relatively small, so as to give full play to the elastic effect of the elastic element and alleviate the impact; at this time, the elastic element plays a major role; while in the extension stroke of the suspension (when the body and wheels are separated), the shock absorber damping force should be large and the shock should be absorbed quickly.

[0067] It should be understood that Figure 1 After the structure and damping valve of the ordinary shock absorber shown in (a) are determined, the damping coefficient of the shock absorber is determined and cannot be changed. The damping coefficient refers to a parameter that describes the damping properties in the vibration system, which refers to the rate at which the amplitude decays exponentially with time. When the damping coefficient is large, the roll and pitch of the vehicle body during cornering, acceleration and braking can be reduced, making the vehicle more stable and improving the handling performance. However, the vehicle's shock absorber's ability to absorb uneven road surfaces is weakened, that is, the vehicle's shock absorption effect is weaker. When the damping coefficient is small, the shock absorber's ability to absorb uneven road surfaces is stronger, that is, the vehicle's shock absorption effect is better, but the vehicle body has more roll and pitch during cornering, acceleration and braking, affecting the vehicle's stability.

[0068] For example, Figure 2 The structure of the first type of electronically controlled shock absorber shown in (b) in FIG. 1 is a structure of the first type of electronically controlled shock absorber; on the basis of the ordinary shock absorber, a bypass valve 107, a solenoid valve 108 and a valve core push rod 109 are added. The working principle of the first type of electronically controlled shock absorber is similar to that of the ordinary shock absorber; it will not be repeated here. The difference is that the first type of electronically controlled shock absorber can adjust the opening of the solenoid valve through the solenoid valve, thereby adjusting the damping coefficient of the first type of shock absorber. When the opening of the solenoid valve 108 is larger, the liquid flow of the first type of shock absorber is smoother, the damping coefficient of the first type of shock absorber is smaller, and the shock absorbing effect of the shock absorber is better; and when the opening of the solenoid valve 108 is smaller, the liquid flow of the first type of shock absorber is more blocked, that is, the larger the damping coefficient, the worse the shock absorbing effect of the shock absorber.

[0069] It should be noted that when the damping valve piston 103 moves up and down inside the shock absorber oil storage chamber 102 and the working chamber 104, the oil in the shock absorber chamber can flow through different pores in the damping valve piston 103 and can also flow through the bypass valve 107; therefore, the speed of the liquid flow in the bypass valve can be adjusted by the opening of the solenoid valve 108, thereby adjusting the damping coefficient of the first type of shock absorber.

[0070] Figure 2 It is a schematic diagram of the structure of another shock absorber provided in an embodiment of the present application.

[0071] For example, Figure 2 The structure of the second type of electronically controlled shock absorber provided by the present application as shown in 200; Figure 1 On the basis of the first type of electronically controlled shock absorber shown in (b) in the figure, the pores in the damping valve piston are eliminated, so that the oil in the oil storage chamber 102 and the working chamber 104 can only flow through the bypass valve 107.

[0072] Specifically, when the solenoid valve 108 is opened, the oil in the second type shock absorber cavity (including the oil storage cavity 102 and the working chamber 104) can flow through the bypass valve; for example, when the damping valve piston 103 moves upward, under the action of hydraulic pressure, the oil flows from the oil storage cavity 102 to the working chamber 104 through the bypass valve 107; when the damping valve piston moves downward, under the action of hydraulic pressure, the oil flows from the working chamber 104 to the oil storage cavity 102 through the bypass valve 107. The speed of the liquid flow in the bypass valve is adjusted by the opening of the solenoid valve 108, thereby adjusting the damping coefficient of the second type shock absorber. In addition, the working principle of the second type of electronically controlled shock absorber is similar to that of the second type of electronically controlled shock absorber. Figure 1 The working principle of the middle shock absorber is similar and will not be described here.

[0073] It should be noted that the above is a schematic description of the structure of the shock absorber, and the present application does not limit this.

[0074] It can be seen that when ordinary springs and shock absorbers are configured in a vehicle, the vehicle's suspension height cannot be adjusted; and when the vehicle is climbing or off-roading, the suspension height cannot be adjusted, which causes the chassis of the vehicle's suspension to easily bump. Although vehicles equipped with air springs can adjust the suspension height, the cost is high and the subsequent maintenance cost is also high. Therefore, how to adjust the vehicle's suspension height without increasing the cost to avoid bumping the vehicle chassis is a technical problem that needs to be solved at present.

[0075] In view of this, the present application provides a vehicle control method, device, vehicle and storage medium. Through the embodiments of the present application, when it is detected that the vehicle has a suspension raising demand, the solenoid valve of the electronically controlled shock absorber in the vehicle is controlled to open or close according to the current state of the vehicle body and the wheels; so that the piston rod of the electronically controlled shock absorber drives the suspension of the vehicle to rise; thereby adjusting the suspension height of the vehicle without increasing the cost to avoid collision with the vehicle chassis.

[0076] Combine the following Figure 2 The structure of the shock absorber shown is Figure 3 The vehicle control method in is described in detail.

[0077] It should be noted that, for the sake of convenience, the second type of shock absorber is referred to as an electronically controlled shock absorber. Figure 2 The second type of electronically controlled shock absorber is shown in .

[0078] Figure 3 It is a schematic flow chart of a vehicle control method provided in an embodiment of the present application.

[0079] For example, Figure 3 The method 300 shown may be configured with Figure 2 The vehicle with the shock absorber shown is executed; or it can be executed by a processor or chip in the vehicle.

[0080] like Figure 3 As shown, the vehicle control method 300 includes S310 to S320, and S310 to S320 are described in detail below.

[0081] S310: If it is detected that the vehicle needs to raise its suspension, the current status of the vehicle body and wheels is obtained.

[0082] Among them, the current states of the vehicle body and wheels include a state in which the vehicle body and wheels are separated, and a state in which the vehicle body and wheels are close; a state in which the vehicle body and wheels are separated means that the distance between the vehicle body and the wheels becomes larger, that is, the wheels move downward, and the suspension of the vehicle is extended; a state in which the vehicle body and wheels are close means that the distance between the vehicle body and the wheels becomes smaller, that is, the wheels move upward, and the suspension of the vehicle is compressed.

[0083] Exemplarily, if it is detected that the current suspension height of the vehicle is too low and there is a risk of collision with the chassis of the vehicle, it is determined that the vehicle needs to raise the suspension. An embodiment of detecting the need to raise the suspension of the vehicle is described below.

[0084] In one implementation, if it is detected that the vehicle is in a target driving mode, it is determined whether the current speed of the vehicle is less than a preset threshold; wherein the target driving mode is used to indicate the driving mode of the vehicle during off-road driving; if the speed is less than the preset threshold, it is determined that the vehicle has a need to raise the suspension.

[0085] For example, the target driving mode indicates the driving mode of the vehicle when driving off-road, and the target driving includes but is not limited to: rock mode, off-road mode, grass / gravel mode and climbing mode, etc.; that is, the target driving mode can be understood as a driving mode in which the vehicle needs to travel with a higher suspension. When it is detected that the vehicle is in the target driving mode, it is determined whether the current speed of the vehicle is less than a preset threshold. When the vehicle speed is less than the preset threshold, it means that the current suspension height of the vehicle is not enough for the vehicle to travel at a normal speed, and the current suspension height of the vehicle does not meet the driving requirements of the vehicle; that is, the vehicle has a suspension increase requirement.

[0086] For example, the preset threshold of vehicle speed is 15km / h. When it is detected that the vehicle is in rock mode, the current speed of the vehicle is obtained; if the current speed of the vehicle is less than 15km / h, it means that the current suspension height of the vehicle does not meet the driving requirements of the vehicle, which means that the vehicle needs to raise the suspension.

[0087] It should be understood that when the vehicle is in the target driving mode, it means that the vehicle needs to travel at a higher suspension height; it does not mean that the vehicle has a suspension lift requirement, and it needs to be judged in combination with the vehicle's current speed. When the vehicle's speed is less than the preset threshold, it means that the vehicle's current suspension height is low; thus, it is determined that the vehicle has a suspension lift requirement. If the vehicle's speed is greater than the preset threshold, it means that the vehicle can currently travel at a normal speed, that is, the vehicle's current suspension height meets the vehicle's driving requirements, and therefore, it is determined that the vehicle does not have a suspension lift requirement.

[0088] It should be noted that the above is an example of the preset threshold value of the vehicle speed, and this application does not limit this.

[0089] In an embodiment of the present application, if it is detected that the vehicle is in the target driving mode, whether the vehicle has a need to raise the suspension is determined by the vehicle's current speed; since the target driving mode represents the driving mode of the vehicle when off-road driving, when the vehicle is in the target driving mode and the current speed is less than a preset threshold, it indicates that the current road conditions are highly bumpy and the vehicle cannot travel at a normal speed; that is, the vehicle's chassis is prone to bumps; therefore, it is determined that the vehicle has a need to raise the suspension.

[0090] Optionally, the vehicle turning on the target driving mode can be the vehicle automatically turning on the target driving mode; or the user manually switches the vehicle's driving mode, and in response to the user's operation, the vehicle's driving mode is switched to the target driving mode.

[0091] Exemplarily, taking the target driving mode as the rock mode as an example, the vehicle obtains the current environmental information and road condition information; if the environmental information and road condition information indicate that the road type on which the vehicle is currently traveling is rocky terrain, the target driving mode is turned on.

[0092] It should be noted that the above is an example of how to activate a target driving mode for a vehicle. Please refer to the existing method of activating a specific driving mode for a vehicle, and this application does not limit this.

[0093] In one implementation, if it is detected that the vehicle has a suspension lifting requirement, obtaining the current state of the vehicle body and wheels includes:

[0094] Obtaining a first displacement of the vehicle body and wheels at a first moment, and a target displacement of the vehicle body and wheels at a current moment; wherein the first moment is a moment before the current moment;

[0095] Based on the first displacement and the target displacement, current states of a body and wheels in the vehicle are determined.

[0096] Exemplarily, the first displacement and the target displacement are acquired by a displacement sensor in the vehicle; wherein the displacement sensor may be mounted on top of a spring or an electronically controlled shock absorber to measure the compression and extension of the spring or shock absorber, thereby reflecting the current state of the vehicle body and the wheel; or the displacement sensor may be mounted on a control arm or a swing arm to more directly measure the vertical movement of the wheel relative to the vehicle body chassis; or the displacement sensor may be mounted on top of a suspension tower, i.e., the portion where the suspension system is connected to the vehicle body.

[0097] Exemplarily, a first displacement of the vehicle body and the wheel at a first moment and a target displacement of the vehicle body and the wheel at a current moment are obtained by using a displacement sensor installed in the vehicle; since the first moment is the moment before the current moment, the displacement change of the wheel and the vehicle body can be determined based on the first displacement and the target displacement; that is, the displacement change of the vehicle suspension is determined through the target displacement and the first displacement, that is, the displacement relationship between the control arm under the suspension and the subframe / frame, and when the suspension system is extended, it is indicated that the wheel is separated from the vehicle body; since the vehicle can obtain the target displacement of the vehicle body and the wheel through the displacement sensor, the current state of the wheel and the vehicle body can be accurately determined based on the data of the displacement sensor.

[0098] In one implementation, determining the current state of the vehicle body and the wheels in the vehicle based on the first displacement and the target displacement includes:

[0099] If the target displacement is greater than the first displacement, it is determined that the vehicle body and the wheel are in a separated state; if the target displacement is less than the first displacement, it is determined that the vehicle body and the wheel are in a close state.

[0100] Exemplarily, if the target displacement is greater than the first displacement, it means that the distance between the vehicle body and the wheels is increasing, that is, the vehicle body and the wheels are in a separated state; if the target displacement is less than the first displacement, it means that the distance between the vehicle body and the wheels is decreasing, that is, the vehicle body and the wheels are in a close state; ensuring that the current state of the vehicle body and the wheels can be determined by the target displacement.

[0101] In one implementation, the method further includes: if it is detected that there is no suspension lifting demand for the vehicle, obtaining a target opening of the target solenoid valve;

[0102] The target solenoid valve is controlled to be adjusted to a target opening so that the electronically controlled shock absorber can reduce the vibration of the vehicle.

[0103] The opening of the solenoid valve refers to the position of the valve core (or valve plate) when the valve core (or valve plate) changes the throttling area of ​​the flow channel during adjustment. It is usually expressed as a percentage, with 0% being the closed state and 100% being the fully open state.

[0104] Exemplarily, when it is detected that the vehicle is not in the target driving mode, and / or the vehicle speed is greater than a preset threshold, it is determined that the vehicle does not need to raise the suspension; if it is detected that the vehicle does not need to raise the suspension, the target opening of the target solenoid valve is obtained, and the target solenoid valve is controlled to adjust to the target opening, so that the electronically controlled shock absorber can dampen the vehicle.

[0105] For example, when the target solenoid valve is at the target opening, the liquid in the oil storage chamber of the electronically controlled shock absorber can flow in both directions; when there is a relative vibration between the vehicle body and the wheel, the piston moves up and down inside the shock absorber, and the liquid in the oil storage chamber repeatedly flows from one chamber to another through the bypass valve. At this time, the friction between the inner wall of the bypass valve and the liquid and the internal friction between the liquid molecules form a damping force on the vibration, so that the vibration energy of the car is converted into heat energy, which is then absorbed by the shock absorber and distributed into the atmosphere; so as to achieve shock absorption of the vehicle.

[0106] For example, the target opening is 30%. When it is detected that there is no need to raise the suspension of the vehicle, the opening of the target solenoid valve that controls the electronically controlled shock absorber is 30%. At this time, if the road surface is uneven, the vehicle will vibrate up and down. When the vehicle body and wheels are far away, the liquid flows downward through the bypass valve and the piston moves upward. When the vehicle body and wheels are close, the liquid flows upward through the bypass valve and the piston moves downward. By adjusting the opening of the target solenoid valve, the damping coefficient of the electronically controlled shock absorber can be adjusted, thereby adjusting the shock absorption effect of the vehicle.

[0107] It should be noted that the working principle of the electronically controlled shock absorber in absorbing the shock of the vehicle can be found in Figure 1 and Figure 2 The description of the corresponding embodiments will not be repeated here.

[0108] S320, when the current state indicates that the vehicle body and the wheel are in a separated state, the target solenoid valve of the electronically controlled shock absorber in the vehicle is controlled to be opened; when the current state indicates that the vehicle body and the wheel are in a close state, the target solenoid valve is controlled to be closed so that the piston rod of the electronically controlled shock absorber drives the suspension of the vehicle to rise.

[0109] The target solenoid valve is used to control the flow of liquid in the oil storage chamber of the electronically controlled shock absorber.

[0110] Exemplarily, when the target solenoid valve of the electronically controlled shock absorber in the vehicle is opened, the liquid in the oil storage chamber flows unidirectionally through the bypass valve in the electronically controlled shock absorber, and the piston rod of the electronically controlled shock absorber moves upward, so that the piston rod of the electronically controlled shock absorber drives the suspension of the vehicle to rise to the target position; when the target solenoid valve is closed, the liquid in the oil storage chamber cannot flow so that the position of the piston rod of the electronically controlled shock absorber remains unchanged, so that the suspension of the vehicle remains at the target position.

[0111] It should be noted that when the vehicle body and the wheel are in a separated state, the target solenoid valve is opened, and the liquid in the oil storage chamber and the working chamber can flow downward through the bypass valve (see Figure 2 The piston rod will move upward, driving and supporting the vehicle's suspension to the target position. When the vehicle body and the wheel are close, the target solenoid valve is closed, and the liquid in the oil storage chamber and the working chamber cannot flow; at this time, the hydraulic pressure in the oil storage chamber is the same as the hydraulic pressure in the working chamber, so that the piston rod cannot move downward, that is, the position of the piston rod remains unchanged and maintained at the target position.

[0112] Exemplarily, when the vehicle body and the wheels are in a separated state, the solenoid valve is controlled to open so that the vehicle's suspension can be raised; when the vehicle body and the wheels are in a close state, the solenoid valve is controlled to close so that the vehicle's suspension cannot be lowered; thereby, the vehicle's suspension is passively raised by taking advantage of the impact during the climbing process of the wheels, that is, each time the vehicle is subjected to an impact, the height of the vehicle's suspension is raised during the process of the vehicle being lifted.

[0113] In one implementation, at least two electronically controlled shock absorbers are configured in the vehicle, and after the suspension of the vehicle is raised, the suspension height at the corresponding position of each electronically controlled shock absorber is obtained through a height sensor in the vehicle;

[0114] If the difference between the maximum height and the minimum height in the suspension height is greater than the preset difference, the opening of the solenoid valve of the target shock absorber in the electronically controlled shock absorber is adjusted based on the preset difference, and the piston rod of the target shock absorber drives the vehicle's suspension to rise or fall, so that the suspension height of the corresponding position of each electronically controlled shock absorber remains consistent.

[0115] Among them, there may be one or more height sensors in the vehicle; the vehicle may obtain the suspension height of the corresponding position of the electronically controlled shock absorber through one height sensor, or obtain the suspension height of the corresponding position of the electronically controlled shock absorber through multiple height sensors.

[0116] Optionally, if there are multiple height sensors in the vehicle, each height sensor in the vehicle corresponds one-to-one to each electronically controlled shock absorber; and each height sensor in the vehicle is installed at the position where the electronically controlled shock absorber corresponding to the height sensor is located; each height sensor is used to detect the suspension height at the position where each electronically controlled shock absorber is located.

[0117] In one implementation, a plurality of electronically controlled shock absorbers are disposed in a vehicle; for example, a vehicle is usually equipped with four electronically controlled shock absorbers, which are respectively located at the positions where the four wheels of the vehicle contact the vehicle suspension; during the driving of the vehicle, due to the complexity of the road conditions, the vibration amplitudes received by the electronically controlled shock absorbers at different positions are different; and since the present solution passively achieves the raising of the vehicle suspension by means of the impact during the climbing process of the wheels; therefore, the heights of the support rods of different electronically controlled shock absorbers may be different; that is, the suspension heights at the corresponding positions of different electronically controlled shock absorbers are different; affecting the driving experience of the vehicle.

[0118] Exemplarily, the suspension height of each electronically controlled shock absorber is obtained through each height sensor in the vehicle; and the difference between the maximum height and the minimum height in the suspension height is determined; if the difference is greater than a preset difference, the solenoid valve opening of the target shock absorber in the electronically controlled shock absorber is adjusted; wherein the target shock absorber is the electronically controlled shock absorber corresponding to the maximum height, or the electronically controlled shock absorber corresponding to the minimum height.

[0119] For example, if there are four electronically controlled shock absorbers in the vehicle, namely shock absorber 1, shock absorber 2, shock absorber 3 and shock absorber 4; each electronically controlled shock absorber corresponds to a height sensor, namely height sensor 1, height sensor 2, height sensor 3 and height sensor 4; the suspension height at the corresponding position of each shock absorber obtained by each height sensor is shown in Table 1:

[0120] Table 1

[0121] Electronically controlled shock absorbers Height sensor Suspension height Shock absorber 1 Height sensor 1 20cm Shock absorber 2 Height sensor 2 20cm Shock absorber 3 Height sensor 3 21cm Shock absorber 4 Height sensor 4 23cm

[0122] For example, as shown in Table 1, the suspension height at the position corresponding to shock absorber 1 is 20 cm; the suspension height at the position corresponding to shock absorber 2 is 20 cm; the suspension height at the position corresponding to shock absorber 3 is 21 cm; and the suspension height at the position corresponding to shock absorber 4 is 23 cm.

[0123] Take Table 1 as an example, for example, the preset difference is 2 cm; the difference between the maximum height and the minimum height in the suspension height corresponding to each electronically controlled shock absorber is 3 cm, which is greater than the preset difference; therefore, the opening of the solenoid valve of the target shock absorber in the electronically controlled shock absorber is adjusted; for example, the opening of the solenoid valve of shock absorber 4 is adjusted to reduce the suspension height of the corresponding position of shock absorber 4 to 20 cm.

[0124] It should be noted that the above is an example of the preset difference, the number of electronically controlled shock absorbers and the suspension height; this application does not limit this.

[0125] In an embodiment of the present application, the vehicle obtains the suspension height of the corresponding position of each electronically controlled shock absorber through a height sensor; when the difference between the maximum height and the minimum height is greater than a preset difference, the solenoid valve opening of the target shock absorber in the electronically controlled shock absorber is adjusted; so as to adjust the position of the piston rod in the target shock absorber; thereby, the suspension height of the corresponding position of each electronically controlled shock absorber is kept consistent; and the adjustment effect of the vehicle suspension height adjustment is improved.

[0126] In one implementation, after the solenoid valve of the electronically controlled shock absorber is controlled to open so that the piston rod of the electronically controlled shock absorber drives the suspension of the vehicle to rise, the method further includes:

[0127] Get the current suspension height of the vehicle and the height of obstacles within a preset distance from the vehicle;

[0128] If the suspension height is less than the obstacle height, a prompt message is output; wherein the prompt message is used to indicate that there is a risk of collision with the chassis of the vehicle.

[0129] Exemplarily, after the vehicle's suspension is raised, the current suspension height of the vehicle and the height of the obstacle within a preset distance from the vehicle are obtained; since the vehicle's suspension is raised by passively lifting the vehicle, the vehicle's suspension is raised; therefore, after the vehicle's suspension is raised, the collision risk of the vehicle's chassis can be reduced, but there is still a possibility of a collision of the vehicle's chassis; for example, after the vehicle's suspension is raised, the current suspension height of the vehicle is obtained to be 22 cm; an obstacle (e.g., a stone) is detected at a preset distance in front of the vehicle, and the obstacle height is 25 cm; the vehicle's suspension height is less than the obstacle height; the vehicle cannot pass the obstacle at the current suspension height; therefore, a prompt message is output to remind the user that there is a collision risk with the vehicle's chassis.

[0130] It should be noted that the above is an example of the suspension height and the obstacle height; this application does not limit this.

[0131] In an embodiment of the present application, a judgment is made based on the current suspension height of the vehicle and the obstacle height. When the suspension height is less than the obstacle height, a prompt message is output to indicate that there is a risk of collision with the chassis of the vehicle, so as to improve the safety of the vehicle during driving and avoid collision between the chassis and the obstacle.

[0132] In the above embodiment, if the vehicle has a suspension lifting demand, the current state of the vehicle body and the wheel is obtained, and when the vehicle body and the wheel are in a separated state, the solenoid valve of the electronically controlled shock absorber is controlled to open. Since the solenoid valve is in an open state when the wheel and the vehicle body are in a separated state, the liquid in the oil storage chamber can move unidirectionally through the bypass valve, so that the piston in the electronically controlled shock absorber moves upward inside the electronically controlled shock absorber due to inertia, that is, the suspension of the vehicle is lifted under the support of the piston rod. When the vehicle body and the wheel are close to each other, the piston of the electronically controlled shock absorber will be subjected to a downward force; but since the target solenoid valve is in a closed state at this time, the liquid in the oil storage chamber of the electronically controlled shock absorber cannot flow, so that the position of the piston remains unchanged; that is, under the support of the piston rod, the suspension of the vehicle will not be lowered; thereby, when it is detected that the vehicle has a suspension raising requirement, the suspension of the vehicle is raised; since the present solution realizes the suspension raising of the vehicle through the existing electronically controlled shock absorber, compared with the use of air springs or air suspension in the prior art, there is no need to replace vehicle components, and the suspension height can be adjusted using the existing electronically controlled shock absorber; therefore, the suspension height of the vehicle can be adjusted without increasing the cost to avoid collision with the vehicle chassis.

[0133] Figure 4 It is a schematic flow chart of another vehicle control method provided in an embodiment of the present application.

[0134] Figure 4 The method 400 shown may be configured with Figure 2 The vehicle with the shock absorber shown is executed; or it can be executed by a processor or chip in the vehicle.

[0135] like Figure 4 As shown, the vehicle control method 400 includes S401 to S411, and S401 to S411 are described in detail below.

[0136] S401, obtaining the current driving mode and current speed of the vehicle.

[0137] For example, the vehicle's driving mode is typically managed by a vehicle control unit or a central processing unit and is set according to the driver's choice; different driving modes will adjust the vehicle's performance parameters to accommodate different driving needs; the vehicle can read data frames from the vehicle control unit or controller through the vehicle's internal bus system to extract information about the current driving mode; similarly, the vehicle can read the sensor signal from the vehicle speed sensor through the bus system to determine the vehicle's current speed.

[0138] S402, whether the driving mode is the target driving mode; if so, execute S403; if not, execute S404.

[0139] Exemplarily, determine whether the vehicle's driving mode is the target driving mode; if so, determine whether the current vehicle speed is less than a preset threshold; if not, control the target solenoid valve to adjust to the target opening; wherein the target driving mode represents the driving mode of the vehicle during off-road driving, and the target driving includes but is not limited to: rock mode, off-road mode, grass / gravel mode and climbing mode, etc.; that is, the target driving mode can be understood as a driving mode that requires the vehicle to travel with a higher suspension.

[0140] Exemplarily, when the vehicle's driving mode is the target driving mode, the vehicle speed is combined to determine whether the vehicle has a need to raise the suspension; if the vehicle's driving mode is not the target driving mode, it means that the vehicle has no need to raise the suspension, and therefore, the target solenoid valve is controlled to adjust to the target opening to realize the shock absorbing function of the electronically controlled shock absorber.

[0141] S403, whether the current vehicle speed is less than a preset threshold; if so, execute S405; if not, execute S404.

[0142] Exemplarily, it is determined whether the current vehicle speed is less than a preset threshold; if so, it is determined that the vehicle has a suspension lifting requirement; if not, the target solenoid valve is controlled to adjust to a target opening.

[0143] For example, when the vehicle speed is less than a preset threshold, it indicates that the current suspension height of the vehicle is low, thereby determining that the vehicle has a suspension raising requirement. If the vehicle speed is greater than the preset threshold, it indicates that the current suspension height of the vehicle meets the vehicle driving requirements, therefore, the vehicle does not have a suspension raising requirement.

[0144] S404, controlling the target solenoid valve to adjust to a target opening.

[0145] Optionally, the implementation of S404 can refer to Figure 3 The description of controlling the target solenoid valve to adjust to the target opening in S310 will not be repeated here.

[0146] S405: Determine whether the vehicle needs to raise its suspension.

[0147] Exemplarily, when the driving mode of the vehicle is the target driving mode and the current vehicle speed is less than a preset threshold, it is determined that the vehicle has a suspension lifting demand.

[0148] S406, obtaining a first displacement of the vehicle body and the wheel at a first moment and a target displacement at a current moment.

[0149] Exemplarily, a first displacement at a first moment and a target displacement at a current moment are acquired through a displacement sensor installed in the vehicle.

[0150] Optionally, the displacement sensor may be mounted on top of a spring or an electronically controlled shock absorber; or the displacement sensor may be mounted on a control arm or a swing arm; or the displacement sensor may be mounted at a portion where the suspension system is connected to the vehicle body.

[0151] S407, determining the current state of the vehicle body and the wheel based on the target displacement and the first displacement.

[0152] Exemplarily, if the target displacement is greater than the first displacement, it indicates that the distance between the vehicle body and the wheels is increasing, that is, the vehicle body and the wheels are in a separated state; if the target displacement is less than the first displacement, it indicates that the distance between the vehicle body and the wheels is decreasing, that is, the vehicle body and the wheels are in a close state.

[0153] S408, when the vehicle body and the wheel are in a separated state, the target solenoid valve of the electronically controlled shock absorber is controlled to open.

[0154] Exemplarily, when the vehicle body and the wheels are in a separated state, the target solenoid valve is opened, and the liquid in the oil storage chamber and the working chamber can flow downward through the bypass valve; the piston rod will move upward; driving and supporting the suspension of the vehicle to rise to the target position.

[0155] S409, when the vehicle body and the wheel are in a close state, the target solenoid valve of the electronically controlled shock absorber is closed.

[0156] Exemplarily, when the target solenoid valve is closed, the liquid in the oil storage chamber cannot flow so that the position of the piston rod of the electronically controlled shock absorber remains unchanged, so that the suspension of the vehicle remains at the target position.

[0157] Optionally, the implementation of S408 and S409 can refer to Figure 3 The relevant description of S320 is not repeated here.

[0158] S410, obtaining the current suspension height of the vehicle and the height of obstacles within a preset distance.

[0159] Exemplarily, after the suspension of the vehicle is raised, the current suspension height of the vehicle is acquired through a height sensor in the vehicle; and the height of obstacles within a preset distance in front of the vehicle is acquired through image information collected by a camera of the vehicle.

[0160] S411: If the suspension height is less than the obstacle height, output a prompt message.

[0161] Exemplarily, since the vehicle's suspension is raised by passive lifting of the vehicle, the vehicle's suspension is also raised; therefore, after the vehicle's suspension is raised, there is still a possibility of a collision with the vehicle chassis; therefore, by obtaining the suspension height and the obstacle height; if the suspension height is less than the obstacle height, a prompt message is output.

[0162] Optionally, the implementation of S410 to S411 can refer to Figure 3 The relevant description of S320 is not repeated here.

[0163] In an embodiment of the present application, whether the vehicle needs to raise the suspension is determined based on the vehicle's current driving mode and the vehicle's current speed; if the vehicle needs to raise the suspension, the current state of the vehicle body and the wheel is determined based on the target displacement of the vehicle body and the wheel; ensure that the current state of the vehicle body and the wheel can be accurately determined based on the target displacement; when the vehicle body and the wheel are in a separated state, the target solenoid valve of the electronically controlled shock absorber is controlled to be opened; when the vehicle body and the wheel are in a close state, the target solenoid valve of the electronically controlled shock absorber is controlled to be closed; ensure that the vehicle's suspension is raised under the support of the piston rod; thereby, the suspension height of the vehicle is raised with the help of the impact during the climbing process of the wheel; in addition, after the suspension height of the vehicle is raised, it is determined whether the chassis of the vehicle has a collision risk based on the current suspension height and the obstacle height within a preset distance; if the current suspension height is less than the obstacle height, it indicates that the chassis of the vehicle has a collision risk; output a prompt message; thereby improving the safety of the vehicle during driving; and avoiding collisions between the chassis and obstacles.

[0164] Figure 5 It is a schematic flow chart of another vehicle control method provided in an embodiment of the present application.

[0165] Figure 5 The method 500 shown may be configured with Figure 2 The vehicle with the shock absorber shown is executed; or it can be executed by a processor or chip in the vehicle.

[0166] like Figure 5 As shown, the vehicle control method 500 includes S501 to S508, and S501 to S508 are described in detail below.

[0167] S501, obtaining the current driving mode of the vehicle.

[0168] Optionally, the implementation of S501 can refer to Figure 4 The implementation method of S401 in FIG. 4 is not described in detail here.

[0169] S502, whether the current driving mode is rock mode; if so, execute S503; if not, execute S505.

[0170] Exemplarily, it is determined whether the current driving mode of the vehicle is the rock mode; if so, it is determined whether the current vehicle speed is less than 15 km / h; if not, the suspension lifting function is turned off.

[0171] Among them, the suspension raising function refers to controlling the opening or closing of the solenoid valve of the electronically controlled shock absorber according to the state of the vehicle's suspension, so that the vehicle's suspension height can be raised by taking advantage of the impact of the wheels during climbing.

[0172] Optionally, the vehicle's suspension raising function can be automatically turned on when it is detected that the vehicle's driving mode and speed meet preset conditions; or the vehicle's suspension raising function can be turned on in response to a user's selection operation on the vehicle's central control screen.

[0173] S503, whether the current vehicle speed is less than 15 km / h; if so, execute S506; if not, execute S505.

[0174] Exemplarily, it is determined whether the current speed of the vehicle is less than 15 km / h; if so, the suspension lifting function is turned on; if not, the suspension lifting function is turned off.

[0175] S504, the suspension raising function is turned on.

[0176] For example, when the vehicle's driving mode is rock mode and the vehicle's speed is less than 15km / h, it means that the vehicle currently needs to travel at a higher suspension height, and the current vehicle's suspension height is not enough for the vehicle to travel at a normal speed, that is, the current vehicle's suspension height does not meet the vehicle's driving requirements; therefore, the suspension raising function is turned on to raise the vehicle's suspension height.

[0177] S505, suspension lifting function is turned off.

[0178] When it is determined that the vehicle's current driving mode is not the rock mode, or the vehicle's current speed is less than 15km / h, it means that the vehicle does not need to travel at a higher suspension height, or the vehicle's current suspension height meets the vehicle's driving requirements; therefore, the suspension raising function is turned off.

[0179] S506, whether the vehicle suspension is in an extended state; if so, execute S507; if not, execute S508.

[0180] Exemplarily, determine whether the vehicle suspension is in an extended state; if the vehicle suspension is in an extended state, control the solenoid valve of the electronically controlled shock absorber to open so that the liquid in the oil storage chamber can flow in one direction; if the vehicle suspension is not in an extended state, control the solenoid valve of the electronically controlled shock absorber to close so that the liquid in the oil storage chamber cannot flow.

[0181] S507, controlling the solenoid valve of the electronically controlled shock absorber to open so that the liquid in the oil storage chamber flows in one direction.

[0182] For example, if the vehicle suspension is in an extended state, it means that the vehicle body and wheels are in a state of being separated; therefore, the solenoid valve that controls the electronically controlled shock absorber is opened to allow the liquid in the oil storage chamber to flow in one direction; the piston rod in the solenoid valve moves upward, driving and supporting the vehicle suspension to rise.

[0183] S508, controlling the solenoid valve of the electronically controlled shock absorber to close so that the liquid in the oil storage chamber cannot flow.

[0184] For example, if the vehicle suspension is not in an extended state, the solenoid valve that controls the electronically controlled shock absorber is closed so that the liquid in the oil storage chamber cannot flow; the piston rod in the solenoid valve cannot move, so that the vehicle suspension cannot be lowered.

[0185] In the embodiment of the present application, by combining the changing characteristics of the suspension when the vehicle faces impact in the rock mode scenario, and the characteristics of the electronically controlled shock absorber, a special control function is developed to achieve the effect of lifting the vehicle. When the suspension is extended, the control solenoid valve is opened to raise the suspension; when the suspension is not in the extended state, the control solenoid valve is closed so that the suspension cannot be lowered; thus, it can be achieved only with the help of electronically controlled shock absorbers, ordinary springs and corresponding control algorithms; under the premise of not increasing costs too much, the vehicle can be passively lifted in the off-road climbing scenario, the ground clearance of the vehicle is increased, and the problem of vehicle chassis collision is avoided.

[0186] Combination of the above Figures 1 to 5 The vehicle control method provided by the embodiment of the present application is described in detail; Figure 6 and Figure 7 The device embodiments of the present application are described in detail. It should be understood that the device in the embodiments of the present application can execute the various methods of the aforementioned embodiments of the present application, that is, the specific working processes of the following various products can refer to the corresponding processes in the aforementioned method embodiments.

[0187] Figure 6 It is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application.

[0188] For example, Figure 6 As shown, the vehicle control device 600 includes:

[0189] The acquisition module 610 is used to acquire the current state of the vehicle body and wheels in the vehicle if it is detected that the vehicle has a suspension lifting demand;

[0190] The control module 620 is used to control the target solenoid valve of the electronically controlled shock absorber in the vehicle to open when the current state indicates that the vehicle body and the wheel are in a separated state; and to control the target solenoid valve to close when the current state indicates that the vehicle body and the wheel are in a close state, so that the piston rod of the electronically controlled shock absorber drives the suspension of the vehicle to rise; wherein the target solenoid valve is used to control the flow of liquid in the oil storage chamber of the electronically controlled shock absorber.

[0191] Optionally, as an embodiment, a determination module is further included, and the acquisition module 610 is specifically used to: acquire a first displacement of the vehicle body and wheels at a first moment, and a target displacement of the vehicle body and wheels at a current moment; wherein the first moment is a moment before the current moment;

[0192] The determination module is used to determine the current state of the vehicle body and wheels in the vehicle based on the first displacement and the target displacement.

[0193] Optionally, as an embodiment, the determination module is specifically used to: determine that the vehicle body and the wheel are in a separated state if the target displacement is greater than the first displacement; and determine that the vehicle body and the wheel are in a close state if the target displacement is less than the first displacement.

[0194] Optionally, as an embodiment, the determination module is also used to: if it is detected that the vehicle is in a target driving mode, determine whether the current speed of the vehicle is less than a preset threshold; wherein the target driving mode is used to indicate the driving mode of the vehicle during off-road driving; if the speed is less than the preset threshold, determine that the vehicle has a need to raise the suspension.

[0195] Optionally, as an embodiment, a determination module is further included, and the acquisition module 610 is further used to: if it is detected that there is no suspension lifting demand for the vehicle, acquire the target opening of the target solenoid valve;

[0196] The control module 620 is further used to control the target solenoid valve to adjust to a target opening, so that the electronically controlled shock absorber can reduce shock on the vehicle.

[0197] Optionally, as an embodiment, at least two electronically controlled shock absorbers are configured in the vehicle, and the acquisition module 610 is further used to: after the suspension of the vehicle is raised, acquire the suspension height of each electronically controlled shock absorber at a corresponding position through a height sensor in the vehicle;

[0198] The control module 620 is also used for: if the difference between the maximum height and the minimum height in the suspension height is greater than the preset difference, the opening of the solenoid valve of the target shock absorber in the electronically controlled shock absorber is adjusted based on the preset difference, and the piston rod of the target shock absorber drives the vehicle's suspension to rise or fall, so that the suspension height of the corresponding position of each electronically controlled shock absorber remains consistent.

[0199] Optionally, as an embodiment, an output module is further included, and the acquisition module 610 is further used to: acquire the current suspension height of the vehicle and the height of obstacles within a preset distance of the vehicle;

[0200] The output module is used to: if the suspension height is less than the obstacle height, output a prompt message; wherein the prompt message is used to indicate that there is a risk of collision with the chassis of the vehicle.

[0201] It should be noted that the above vehicle control device is embodied in the form of a functional unit. The term "module" here can be implemented in the form of software and / or hardware, and is not specifically limited to this.

[0202] For example, a "module" may be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combined logic circuit, and / or other suitable components that support the described functions.

[0203] Therefore, the units of each example described in the embodiments of the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0204] Figure 7 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0205] Exemplarily, vehicle 700 includes: a processor 710 , a memory 720 , and executable program code 730 .

[0206] Exemplarily, the vehicle 700 includes one or more processors 710, which can support the vehicle 700 to implement the vehicle control method in the method embodiment. The processor 710 can be a general-purpose processor or a special-purpose processor. For example, the processor 710 can be a central processing unit (CPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, such as discrete gates, transistor logic devices, or discrete hardware components.

[0207] Exemplarily, the processor 710 may be used to control the vehicle 700, execute software programs, and process data of the software programs. The vehicle 700 may also include a communication unit to implement input (reception) and output (transmission) of signals.

[0208] Exemplarily, the vehicle 700 may include one or more memories 720 on which executable program code 730 is stored. The executable program code 730 can be executed by the processor 710 to generate instructions so that the processor 710 executes the vehicle control method described in the above method embodiment according to the instructions.

[0209] Optionally, data may be stored in the memory 720. Optionally, the processor 710 may read data stored in the memory 720, which may be stored at the same storage address as the executable program code 730, or may be stored at a different storage address from the executable program code 730.

[0210] Exemplarily, the processor 710 and the memory 720 may be provided separately or integrated together, for example, integrated on a system on chip (SOC) of the terminal device.

[0211] Exemplarily, the memory 720 can be used to store relevant programs of the vehicle control method provided in the embodiment of the present application, and the processor 720 can be used to call the executable program code 730 stored in the memory 720 when controlling the vehicle to execute the vehicle control method of the embodiment of the present application; for example, if it is detected that the vehicle has a suspension lifting demand, the current state of the vehicle body and wheels in the vehicle is obtained; when the current state indicates that the vehicle body and wheels are in a separated state, the target solenoid valve of the electronically controlled shock absorber in the vehicle is controlled to open; when the current state indicates that the vehicle body and wheels are in a close state, the target solenoid valve is controlled to close, so that the piston rod of the electronically controlled shock absorber drives the suspension of the vehicle to lift; wherein, the target solenoid valve is used to control the flow of liquid in the oil storage chamber of the electronically controlled shock absorber.

[0212] The present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle control method of any of the aforementioned embodiments.

[0213] Among them, computer-readable storage media may include but are not limited to any type of disk, including floppy disks, optical disks, digital versatile disks (Digital Video Disc, DVD), compact disc read-only memory (Compact Disc Read-Only Memory, CD-ROM), microdrives and magneto-optical disks, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable programmable read only memory (Electrically Erasable Programmable read only memory, EEPROM), dynamic random access memory (Dynamic Random Access Memory, DRAM), video random access memory (Video Random Access Memory, VRAM), flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0214] The present application also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a vehicle control method in the above-mentioned embodiment.

[0215] In addition, the vehicle provided in the embodiments of the present application may specifically be a chip, component or module, and the vehicle may include a connected processor and memory; wherein the memory is used to store instructions, and when the vehicle is running, the processor may call and execute instructions so that the chip executes a vehicle control method in the above embodiments.

[0216] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this application are all used to execute the corresponding vehicle control method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding vehicle control method provided above, and will not be repeated here.

[0217] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0218] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0219] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: If it is detected that the vehicle has a suspension lifting requirement, obtaining the current state of the vehicle body and wheels in the vehicle; When the current state indicates that the vehicle body and the wheel are in a separated state, controlling a target solenoid valve of an electronically controlled shock absorber in the vehicle to open; When the current state indicates that the vehicle body and the wheel are in a close state, the target solenoid valve is controlled to be closed so that the piston rod of the electronically controlled shock absorber drives the suspension of the vehicle to rise; wherein, the target solenoid valve is used to control the flow of liquid in the oil storage chamber of the electronically controlled shock absorber.

2. The method according to claim 1, characterized in that The obtaining of the current state of the vehicle body and wheels in the vehicle includes: Acquire a first displacement of the vehicle body and wheels at a first moment, and a target displacement of the vehicle body and wheels at a current moment; wherein the first moment is a moment before the current moment; Based on the first displacement and the target displacement, current states of a body and wheels in the vehicle are determined.

3. The method according to claim 2, characterized in that The determining the current state of the vehicle body and the wheels in the vehicle based on the first displacement and the target displacement includes: If the target displacement is greater than the first displacement, determining that the vehicle body and the wheel are in the separation state; If the target displacement is smaller than the first displacement, it is determined that the vehicle body and the wheel are in the close state.

4. The method according to claim 1, characterized in that: Also includes: If it is detected that the vehicle is in a target driving mode, determining whether the current speed of the vehicle is less than a preset threshold; wherein the target driving mode is used to represent a driving mode when the vehicle is off-road driving; If the vehicle speed is less than the preset threshold, it is determined that the vehicle has the suspension lifting requirement.

5. The method according to claim 1, characterized in that Also includes: If it is detected that the vehicle does not have the suspension lifting demand, obtaining the target opening of the target solenoid valve; The target solenoid valve is controlled to be adjusted to the target opening, so that the electronically controlled shock absorber performs shock absorption on the vehicle.

6. The method according to any one of claims 1 to 5, characterized in that At least two electronically controlled shock absorbers are configured in the vehicle, and the method further comprises: After the suspension of the vehicle is raised, the suspension height of each corresponding position of the electronically controlled shock absorber is obtained by a height sensor in the vehicle; If the difference between the maximum height and the minimum height of the suspension height is greater than a preset difference, the opening of the solenoid valve of the target shock absorber in the electronically controlled shock absorber is adjusted based on the preset difference, and the piston rod of the target shock absorber drives the suspension of the vehicle to rise or fall, so that the suspension height at the corresponding position of each electronically controlled shock absorber remains consistent.

7. The method according to any one of claims 1 to 5, characterized in that After the solenoid valve of the electronically controlled shock absorber is controlled to open so that the piston rod of the electronically controlled shock absorber drives the suspension of the vehicle to rise, the method further includes: Get the current suspension height of the vehicle and the height of obstacles within a preset distance from the vehicle; If the suspension height is less than the obstacle height, a prompt message is output; wherein the prompt message is used to prompt that there is a collision risk with the chassis of the vehicle.

8. A vehicle control device, characterized in that: The device comprises: An acquisition module, configured to acquire the current state of the vehicle body and wheels in the vehicle if it is detected that the vehicle has a suspension lifting requirement; A control module, used to control the target solenoid valve of the electronically controlled shock absorber in the vehicle to open when the current state indicates that the vehicle body and the wheel are in a separated state; and to control the target solenoid valve to close when the current state indicates that the vehicle body and the wheel are in a close state, so that the piston rod of the electronically controlled shock absorber drives the suspension of the vehicle to rise; wherein the target solenoid valve is used to control the flow of liquid in the oil storage chamber of the electronically controlled shock absorber.

9. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor is used to call and run the executable program code from the memory so that the vehicle executes the method as claimed in any one of claims 1 to 7.

10. A computer storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a vehicle, the vehicle is caused to perform the method according to any one of claims 1 to 7.

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