Vehicle control method and device, vehicle and storage medium

Abstract

The application provides a vehicle control method and device, a vehicle and a storage medium. The method comprises: if it is detected that a vehicle has a suspension lifting demand, obtaining a current state of a vehicle body and a wheel in the vehicle; when the current state indicates that the vehicle body and the wheel are in a separated state, controlling a target electromagnetic valve of an electric control shock absorber in the vehicle to open; when the current state indicates that the vehicle body and the wheel are in a close state, controlling the target electromagnetic valve to close, so that a piston rod of the electric control shock absorber drives the suspension of the vehicle to lift; wherein the target electromagnetic valve is used to control the flow of liquid in an oil storage cavity of the electric control shock absorber. The method can adjust the height of the suspension of the vehicle without increasing the cost, so as to avoid the chassis of the vehicle from being bumped.

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, 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; 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, resulting in the chassis of the vehicle suspension being prone to bumps.

[0003] Therefore, how to adjust the suspension height of the vehicle without increasing the cost to avoid collisions 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 requirement, it controls the solenoid valve of the electronically controlled shock absorber in the vehicle to open or close according to the current status of the vehicle body and wheels; so that the piston rod of the electronically controlled shock absorber drives the vehicle's suspension to rise; thereby adjusting the vehicle's suspension height without increasing costs to avoid collisions 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 vehicle's suspension 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 a target solenoid valve of an electronically controlled shock absorber in a vehicle is opened, the liquid in the oil reservoir flows in one direction through a bypass valve in the electronically controlled shock absorber, and the piston rod of the electronically controlled shock absorber moves upward, thereby causing the piston rod of the electronically controlled shock absorber to drive the vehicle's suspension to rise to a 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 vehicle's suspension remains in the target position.

[0011] In an embodiment of the present application, if a vehicle requires suspension raise, the current state of the vehicle body and wheels is obtained. When the vehicle body and wheels are separated, the solenoid valve controlling the electronically controlled shock absorber is opened. Since the solenoid valve is open when the wheels are separated from the vehicle body, the fluid in the oil reservoir can move unidirectionally through the bypass valve, causing the piston in the electronically controlled shock absorber to move upward within the shock absorber. In other words, the vehicle's suspension is raised, driven and supported by the piston rod. When the vehicle body and the wheels 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 this solution uses the existing electronically controlled shock absorber to raise the suspension of the vehicle, 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 collisions with the vehicle chassis.

[0012] In conjunction with the first aspect, in certain implementations of the first aspect, obtaining the current status of the vehicle body and wheels 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 is 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 certain implementations of the first aspect, determining the current state of the vehicle body and wheels 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 separation 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 method 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 represent the driving mode of the vehicle when driving off-road;

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

[0023] In an embodiment of the present application, if it is detected that the vehicle is in the target driving mode, it is determined whether the vehicle has a need to raise the suspension based on the current vehicle 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 method 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 the target opening so that the electronically controlled shock absorber can reduce the vibration of the vehicle.

[0027] In an embodiment of the present application, if it is detected that the vehicle does not require suspension lift, the target solenoid valve is controlled to adjust to the target opening. When the target solenoid valve is at the target opening, the fluid in the oil reservoir of the electronically controlled shock absorber can flow in both directions. When there is relative motion between the vehicle body and the wheels, the piston moves up and down within the shock absorber, and the fluid in the oil reservoir repeatedly flows from one chamber to the other through the bypass valve. At this time, the friction between the inner wall of the bypass valve and the fluid, as well as the internal friction between the fluid molecules, creates a damping force on the vibration, converting the vehicle's vibration energy into heat energy, which is then absorbed by the shock absorber and distributed to the atmosphere, thereby achieving vehicle vibration reduction.

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

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

[0030] If the difference between the maximum height and the minimum height of 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 an embodiment 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 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 at the corresponding position of each electronically controlled shock absorber remains 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 certain implementations of the first aspect, after controlling the solenoid valve of the electronically controlled shock absorber 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 vehicle's current suspension height 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 collision risk with the vehicle chassis.

[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 from 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. 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 collisions between the chassis and obstacles.

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

[0037] An acquisition module, configured to acquire the current status of the vehicle body and wheels if a suspension raising requirement is detected for the vehicle;

[0038] The 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 certain implementations of the second aspect, the method further includes a determining module, wherein the acquiring module is specifically configured to: acquire a first displacement of a 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;

[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 vehicle body and the wheel are in a separated state; if the target displacement is less than the first displacement, determine that the vehicle 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 further 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 suspension raising requirement.

[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 configured to: if it is detected that there is no suspension lifting requirement for the vehicle, acquire a target opening of the target solenoid valve;

[0044] The control module is further configured to control the target solenoid valve to adjust to a target opening, so that the electronically controlled shock absorber can reduce the vibration of the vehicle.

[0045] In combination with the second aspect and the above implementations, in certain implementations of the second aspect, the vehicle is configured with at least two electronically controlled shock absorbers, and the acquisition module is further configured to: after the suspension of the vehicle is raised, acquire the suspension height at a corresponding position of each electronically controlled shock absorber via 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: obtain 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: output a prompt message if the suspension height is less than the obstacle height; wherein the prompt message is used to indicate that there is a collision risk with the vehicle chassis.

[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 structural diagram of a shock absorber provided in an embodiment of the present application;

[0053] Figure 2 is a structural schematic 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 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 following will clearly and thoroughly describe the technical solutions in this application in conjunction with the accompanying drawings. In the description of the embodiments of this 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 this application, "multiple" means two or more than two.

[0060] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Therefore, 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 described, and the working principle and function of the shock absorber are explained.

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

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

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

[0065] For example, Figure 1The conventional shock absorber shown in (a) of FIG. When a vehicle vibrates during driving, the elastic elements (e.g., springs) of the suspension system vibrate under impact, causing the damping valve piston 103 to move up and down within the shock absorber's oil reservoir 102 and working chamber 104. The oil within the shock absorber cavity (including the oil reservoir 102 and working chamber 104) repeatedly flows from one chamber to another through the various pores in the damping valve piston 103. For example, when the damping valve piston 103 moves upward, the oil flows from the oil reservoir 102 to the working chamber 104 under the action of hydraulic pressure; when the damping valve piston moves downward, the oil flows from the working chamber 104 to the oil reservoir 102 under the action of hydraulic pressure. During this oil flow, friction between the pore walls of the damping valve piston 103 and the oil, as well as internal friction between the oil molecules, creates a damping force on the vibration, converting the vehicle's vibration energy into oil heat energy, which is then absorbed by the shock absorber and distributed to the atmosphere.

[0066] It should be noted that in the compression stroke (when the car body and the wheel are close to each other), the damping force of the shock absorber 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 car body and the wheel are separated), the damping force of the shock absorber 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 of 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 can be reduced during cornering, acceleration and braking, 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 the figure is a conventional shock absorber with the addition of a bypass valve 107, a solenoid valve 108, and a valve core push rod 109. The working principle of the first type of electronically controlled shock absorber is similar to that of a conventional shock absorber; it will not be described in detail 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 fluid 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 absorption effect of the shock absorber is better; and when the opening of the solenoid valve 108 is smaller, the fluid flow of the first type of shock absorber is more blocked, that is, the damping coefficient is larger, and the shock absorption effect of the shock absorber is worse.

[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 structural schematic diagram 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 FIG, 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 circulate 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 the same as that of the second type. 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 this application does not limit it.

[0074] As can be seen, when a vehicle is equipped with ordinary springs and shock absorbers, the vehicle's suspension height cannot be adjusted. This inability to adjust the suspension height can easily cause the vehicle's chassis to bump into other vehicles during off-roading or mountain climbing. While vehicles equipped with air springs can adjust the suspension height, this is done at a higher cost and involves higher maintenance costs. Therefore, how to adjust the vehicle's suspension height without increasing costs to prevent bumps and bumps is a technical issue that needs to be addressed.

[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 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] The following combination 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 the electronically controlled shock absorber. Figure 2 The second type of electronically controlled shock absorber is shown in .

[0078] Figure 3 This is a schematic flowchart 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 by Figure 2 The vehicle of 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 has a suspension raising requirement, 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 body and wheels are separated, and a state in which the body and wheels are close; the state in which the body and wheels are separated means that the distance between the body and the wheels becomes larger, that is, the wheels move downward, and the suspension of the vehicle is extended; the state in which the body and wheels are close means that the distance between the body and the wheels becomes smaller, that is, the wheels move upward, and the suspension of the vehicle is compressed.

[0083] For example, 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 represent 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 suspension raising requirement.

[0085] For example, the target driving mode represents the vehicle's off-road driving mode, including but not limited to rock mode, off-road mode, grass / gravel mode, and climbing mode. This means the target driving mode requires the vehicle to travel with a higher suspension. When the vehicle is detected to be in the target driving mode, a determination is made as to whether the vehicle's current speed is less than a preset threshold. If the vehicle's speed is less than the threshold, this indicates that the vehicle's current suspension height is insufficient for normal travel and does not meet the vehicle's driving requirements; in other words, the vehicle requires a higher suspension height.

[0086] For example, the preset threshold value of vehicle speed is 15km / h. When the vehicle is detected 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 indicates that the vehicle needs to travel at a higher suspension height; this does not necessarily mean that the vehicle needs to raise the suspension. This is determined based on the vehicle's current speed. When the vehicle's speed is less than a preset threshold, it indicates that the vehicle's current suspension height is low, thus determining that the vehicle needs to raise the suspension. If the vehicle's speed is greater than the preset threshold, it indicates that the vehicle can currently travel at a normal speed, which means that the vehicle's current suspension height meets the vehicle's driving requirements. Therefore, it is determined that the vehicle does not need to raise the suspension.

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

[0089] In an embodiment of the present application, if it is detected that the vehicle is in the target driving mode, it is determined whether the vehicle has a need to raise the suspension based on the current speed of the vehicle; since the target driving mode represents the driving mode of the vehicle when driving off-road, 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; that is, the chassis of the vehicle 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 may be that the vehicle automatically turns 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] For example, taking the target driving mode as rock mode, the vehicle obtains 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 the target driving mode for a vehicle. Please refer to the existing method of activating a specific driving mode for a vehicle. This application does not limit this.

[0093] In one implementation, if a suspension raising requirement is detected for the vehicle, obtaining the current status 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 obtained by a displacement sensor in the vehicle; wherein the displacement sensor can be installed 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 can be installed on a control arm or a swing arm to facilitate more direct measurement of the vertical movement of the wheel relative to the vehicle body chassis; or the displacement sensor can be installed on the top of the suspension tower, that is, the part where the suspension system is connected to the vehicle body.

[0097] Exemplarily, a first displacement of the vehicle body and wheel at a first moment and a target displacement of the vehicle body and 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 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 by 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 an indication that the wheel is separated from the vehicle body; since the vehicle can obtain the target displacement of the vehicle body and wheel through the displacement sensor, the current state of the wheel and 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 wheels 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] For example, 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 through the target displacement.

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

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

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

[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 be adjusted to the target opening so that the electronically controlled shock absorber can absorb shock on the vehicle.

[0105] For example, when the target solenoid valve is at the target opening, the fluid in the electronically controlled shock absorber's oil reservoir can flow in both directions. When there is relative motion between the vehicle body and wheels, the piston moves up and down within the shock absorber, and the fluid in the reservoir repeatedly flows from one chamber to the other through the bypass valve. At this point, friction between the bypass valve's inner wall and the fluid, as well as internal friction between the fluid molecules, creates a damping force, converting the vehicle's vibration energy into heat, which is then absorbed by the shock absorber and distributed to the atmosphere, achieving vibration reduction for the vehicle.

[0106] For example, if the target opening is 30%, and if the vehicle detects no need to raise the suspension, the target solenoid valve controlling the electronically controlled shock absorber opens at 30%. At this point, if the road surface is uneven, the vehicle will bob and vibrate. When the vehicle body and wheels are separated, fluid flows downward through the bypass valve, causing the piston to move upward. When the vehicle body and wheels are close, fluid flows upward through the bypass valve, causing the piston to move downward. By adjusting the target solenoid valve opening, the damping coefficient of the electronically controlled shock absorber is adjusted, thereby adjusting the vehicle's shock absorption effect.

[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] For example, 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 open, 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 moves upward, driving and supporting the vehicle's suspension to the target position. When the vehicle body and wheel are in close proximity, the target solenoid valve closes, preventing fluid from flowing between the reservoir and the working chamber. At this point, the hydraulic pressure in the reservoir and the working chamber equalizes, preventing the piston rod from moving downward and maintaining its position at the target.

[0112] For example, 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, with the help of the impact during the climbing process of the wheels, the vehicle's suspension is passively raised, that is, each time the vehicle is subjected to an impact, the vehicle's suspension height is raised during the process of the vehicle being lifted.

[0113] In one implementation, a vehicle is equipped with at least two electronically controlled shock absorbers. After the vehicle's suspension is raised, a height sensor in the vehicle is used to obtain the suspension height at a corresponding position of each electronically controlled shock absorber.

[0114] If the difference between the maximum height and the minimum height of 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 can be one or more height sensors in the vehicle; the vehicle can 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 vehicle is equipped with multiple electronically controlled shock absorbers; for example, a vehicle is usually equipped with four electronically controlled shock absorbers, which are located at the contact positions of the four wheels of the vehicle and 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 this solution passively achieves the raising of the vehicle suspension by means of the impact of the wheels during climbing; therefore, the heights of the support rods of different electronically controlled shock absorbers may be different; that is, the suspension heights corresponding to different electronically controlled shock absorbers are different, which affects 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 a 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 corresponding to each shock absorber position 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] With reference to Table 1, for example, the preset difference is 2 cm; the difference between the maximum height and the minimum height of 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 so that the suspension height at the corresponding position of shock absorber 4 is reduced 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 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 remains consistent; and the adjustment effect of the vehicle suspension height adjustment is improved.

[0126] In one implementation, after controlling the solenoid valve of the electronically controlled shock absorber 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 vehicle's current suspension height 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 collision risk with the vehicle chassis.

[0129] Exemplarily, after the vehicle's suspension is raised, the current suspension height of the vehicle and the height of obstacles 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 driven to rise; 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 22cm; an obstacle (e.g., a stone) is detected at a preset distance in front of the vehicle, and the obstacle height is 25cm; 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 collision risk with the vehicle chassis; 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 requires suspension raise, the current state of the vehicle body and wheels is obtained. When the vehicle body and wheels are separated, the solenoid valve of the electronically controlled shock absorber is opened. Since the solenoid valve is open when the wheels are separated from the vehicle body, the fluid in the oil reservoir can move unidirectionally through the bypass valve, causing the piston in the electronically controlled shock absorber to move upward due to inertia. In other words, the vehicle's suspension is raised, driven and supported by the piston rod. When the vehicle body and the wheels 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 this solution uses the existing electronically controlled shock absorber to raise the suspension of the vehicle, 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 collisions 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 by Figure 2 The vehicle of 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 central processing unit and set according to the driver's selection; different driving modes will adjust the vehicle's performance parameters to suit 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 of the vehicle speed sensor through the bus system to determine the vehicle's current speed.

[0138] S402: Is the driving mode the target driving mode? If so, execute S403; if not, execute S404.

[0139] Exemplarily, it is determined whether the driving mode of the vehicle is the target driving mode; if so, it is determined whether the current vehicle speed is less than a preset threshold; if not, the target solenoid valve is controlled 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] For example, 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 does not have a need to raise the suspension, so the target solenoid valve is controlled to adjust to the target opening to realize the shock absorption 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 the target opening.

[0143] For example, when the vehicle's speed is less than a preset threshold, it indicates that the vehicle's current suspension height is low, thereby determining that the vehicle requires a suspension raise. If the vehicle's speed is greater than the preset threshold, it indicates that the vehicle's current suspension height meets the vehicle's driving requirements, and therefore, the vehicle does not require a suspension raise.

[0144] S404, controlling the target solenoid valve to adjust to the 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 speed of the vehicle 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] Alternatively, 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 the portion where the suspension system is connected to the vehicle body.

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

[0152] For example, 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.

[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] For example, 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 vehicle's suspension to rise to the target position.

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

[0156] For example, 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 be found in Figure 3 The relevant description of S320 is omitted here.

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

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

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

[0161] For example, since the vehicle's suspension is raised by the vehicle passively, the vehicle's suspension is driven to rise; therefore, after the vehicle's suspension is raised, there is still a possibility of a vehicle chassis collision; 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 omitted 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 open; 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 close; 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, whether the chassis of the vehicle is at risk of collision is determined based on the current suspension height and the height of the obstacle within a preset distance; if the current suspension height is less than the obstacle height, it indicates that the chassis of the vehicle is at risk of collision; output a prompt message; thereby improving the safety of the vehicle during driving; and avoiding collision between the chassis and obstacles.

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

[0165] Figure 5 The method 500 shown may be configured by Figure 2 The vehicle of 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 is not described here.

[0169] S502: Is the current driving mode the rock mode? If so, execute S503; if not, execute S505.

[0170] For example, it is determined whether the current driving mode of the vehicle is 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 with the help 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, is the current vehicle speed less than 15 km / h? If so, execute S506; if not, execute S505.

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

[0178] When it is determined that the vehicle's current driving mode is not 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: Is the vehicle suspension in an extended state? If so, execute S507; if not, execute S508.

[0180] For example, it is determined whether the vehicle suspension is in an extended state; if the vehicle suspension is in an extended state, the solenoid valve of the electronically controlled shock absorber is controlled to open so that the liquid in the oil storage chamber flows in one direction; if the vehicle suspension is not in an extended state, the solenoid valve of the electronically controlled shock absorber is controlled 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: Control 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 embodiments of this application, a special control function is developed by combining the changing characteristics of the suspension under rock mode and the characteristics of the electronically controlled shock absorber to achieve the effect of lifting the vehicle. When the suspension is extended, the control solenoid valve opens to raise the suspension; when the suspension is not extended, the control solenoid valve closes to prevent the suspension from lowering. This is achieved using only the electronically controlled shock absorber, ordinary springs, and corresponding control algorithms. Without excessively increasing costs, the vehicle can be passively lifted in off-road climbing scenarios, increasing ground clearance and avoiding the problem of vehicle chassis collision.

[0186] Combined with 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 devices 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] An acquisition module 610 is configured to acquire the current state of the vehicle body and wheels if a suspension raising requirement is detected for the vehicle;

[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, further comprising a determination module, the acquisition module 610 is specifically configured 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 configured 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 represent 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 suspension raising requirement.

[0195] Optionally, as an embodiment, further comprising a determination module, the acquisition module 610 is further configured to: if it is detected that the vehicle does not have a suspension lifting requirement, acquire a target opening of the target solenoid valve;

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

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

[0198] The control module 620 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.

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

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

[0201] It should be noted that the above-mentioned 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 aforementioned functionality. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (e.g., a shared processor, a dedicated processor, or a group of processors) and memory for executing one or more software or firmware programs, combined logic circuits, and / or other suitable components that support the described functionality.

[0203] Therefore, the units of each example described in the embodiments of this 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. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this 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 in implementing 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] For example, the processor 710 can be used to control the vehicle 700, execute software programs, and process data of the software programs. The vehicle 700 can also include a communication unit to implement signal input (reception) and output (transmission).

[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. The data 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 there is a need to raise the suspension of the vehicle, 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 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.

[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 Video Discs (DVDs), Compact Disc Read-Only Memory (CD-ROMs), microdrives and magneto-optical disks, Read-Only Memory (ROMs), Random Access Memory (RAMs), Erasable Programmable Read-Only Memory (EPROMs), Electrically Erasable Programmable Read-Only Memory (EEPROMs), Dynamic Random Access Memory (DRAMs), Video Random Access Memory (VRAMs), flash memory devices, magnetic 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, it enables the computer 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 can 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 can call and execute instructions to enable the chip to execute a vehicle control method in the above embodiment.

[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 distributed and completed by 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 this 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 merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, 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 content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection 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 raising requirement, obtaining the current status of the vehicle body and wheels; 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; wherein the electronically controlled shock absorber includes an oil storage chamber and a working chamber, and liquid in the oil storage chamber and the working chamber flows only through the target solenoid valve; 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.

2. The method according to claim 1, characterized in that The obtaining of the current state of the vehicle body and wheels includes: 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; 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, based on the first displacement and the target displacement, a current state of a vehicle body and a wheel in the vehicle 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, wherein 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, wherein Also includes: If it is detected that the vehicle does not have the suspension lifting requirement, 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 absorbs vibrations of the vehicle.

6. The method according to any one of claims 1 to 5, characterized in that The vehicle is equipped with at least two electronically controlled shock absorbers, and the method further comprises: After the suspension of the vehicle is raised, obtaining the suspension height of each corresponding position of the electronically controlled shock absorber through 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 vehicle's current suspension height 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 if a suspension raising requirement is detected for the vehicle; A control module, configured 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; wherein the electronically controlled shock absorber includes an oil storage chamber and a working chamber, and the liquid in the oil storage chamber and the working chamber circulates only through the target solenoid valve; and when the current state indicates that the vehicle body and the wheel are in a close state, control the target solenoid valve 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.

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

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

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