Load compensation control method, device and equipment for vehicle suspension and storage medium

Abstract

A load compensation control method, apparatus and device for a vehicle suspension, and a storage medium, relating to the field of vehicle integrated design and vehicle control, comprising: acquiring a load of a cabin according to received target detection data and / or seat pressure, the target detection data comprising a weight of a passenger; obtaining ideal ceiling damping according to the load of the cabin and a preset strategy; according to the ideal ceiling damping, the obtained driving parameters, the obtained vehicle body parameters and a preset ceiling damping equation set, compensation parameters are obtained so as to compensate the load of the suspension, and the technical problems that in the related technology, performance optimization when the load changes cannot be completely considered in the calibration process of the electronic control suspension, and the control cost is too high are solved. According to the method provided by the invention, the influence of the whole vehicle mass difference and the cabin load distribution change on the suspension performance can be considered in the suspension control process, and the control cost is relatively low, so that the riding comfort of passengers is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle integrated design and vehicle control, and specifically to a load compensation control method, device, equipment and computer-readable storage medium for a vehicle suspension. Background Art

[0002] At present, in the automotive electronic suspension control system, it is necessary to consider the impact of different operating scenarios such as different road conditions and driving behaviors on the control effect. In the related technology, the driving intention and suspension state are mainly judged by IMU (inertial measurement unit), wheel displacement, vehicle height, steering wheel angle, throttle brake and other signals, so as to optimize the performance of the vehicle body pitch, roll, comfort and so on. However, simply optimizing the control through the above information does not consider the impact of vehicle mass differences and cabin load distribution changes on suspension performance, resulting in the inability of the electronic suspension to fully take into account the performance optimization when the load changes during the calibration process. Active suspension can realize load perception through suspension load sensors, such as adding an intracavity air pressure sensor to the air spring, but the cost increases; semi-active suspension load perception requires major structural improvements to the suspension hardware and the addition of corresponding devices. Therefore, how to optimize the performance of the electronic suspension by sensing the cabin load and distribution differences without increasing costs and changing the existing structure has become an urgent problem to be solved. Summary of the invention

[0003] The present application provides a load compensation control method, device / system, equipment and computer-readable storage medium for a vehicle suspension, which can solve the technical problems existing in the prior art that the electronically controlled suspension cannot fully take into account the performance optimization when the load changes during the calibration process and the control cost is too high.

[0004] In a first aspect, an embodiment of the present application provides a load compensation control method for a vehicle suspension, the load compensation control method for a vehicle suspension comprising:

[0005] Acquiring a cabin load according to received target detection data and / or seat pressure, wherein the target detection data includes a passenger's weight;

[0006] Obtaining an ideal ceiling damping according to the cabin load and a preset strategy;

[0007] According to the ideal skyhook damping, the acquired driving parameters and vehicle body parameters and the preset skyhook damping equation group, compensation parameters are acquired to compensate the load of the suspension.

[0008] In combination with the first aspect, in one implementation, the preset strategy includes a first preset strategy, and obtaining an ideal ceiling damping according to the cabin load and the first preset strategy includes:

[0009] Calculate the load on each suspension spring according to the load of the cabin, the acquired vehicle parameters and the preset wheel side simplified system equation;

[0010] The ideal ceiling damping is calculated according to the loads on the suspension springs and the ideal state equation in the preset ceiling damping equation group.

[0011] In combination with the first aspect, in one implementation, obtaining compensation parameters according to the ideal skyhook damping, the acquired driving parameters and vehicle body parameters and the preset skyhook damping equation group includes:

[0012] Acquiring driving parameters and vehicle body parameters, wherein the driving parameters include a first displacement, a second displacement, and a third displacement, and the vehicle body parameters include a tire mass and a suspension mass;

[0013] Substitute the driving parameters, the vehicle body parameters and the ideal skyhook damping into a preset skyhook damping equation group to obtain compensation parameters.

[0014] In combination with the first aspect, in one implementation, the calculating the load on each suspension spring according to the load of the cabin, the acquired vehicle parameters and the preset wheel side simplified system equation includes:

[0015] Acquiring vehicle parameters, wherein the vehicle parameters include the distance from the center of the cabin to the longitudinal center lines of the left and right tires and the distance from the center of the cabin to the transverse center lines of the front and rear axles;

[0016] Based on the lever principle, the cabin load and the vehicle's own parameters are substituted into the wheel-side simplified system equation to calculate the load on the suspension spring.

[0017] In combination with the first aspect, in one implementation, determining the load of the cabin according to the acquired target detection data and / or seat pressure includes:

[0018] If the passenger's weight is obtained, the passenger's weight is used as the cabin load;

[0019] If the seat pressure is obtained, the seat pressure is used as the load of the cabin;

[0020] If the passenger's weight is obtained as the cabin load and the seat pressure is obtained as the cabin load, an average value is calculated and the average value is used as the cabin load.

[0021] In combination with the first aspect, in one implementation, the preset strategy includes a second preset strategy, and obtaining an ideal ceiling damping according to the load of each cabin and the second preset strategy includes:

[0022] Obtaining a preset table, wherein the preset table contains calibrated loads of multiple cabins and corresponding ideal ceiling damping;

[0023] The ideal ceiling damping in the preset table is obtained by taking the cabin load as a query condition.

[0024] In combination with the first aspect, in one implementation, the preset strategy includes a third preset strategy, and obtaining an ideal ceiling damping according to the load of each cabin and the third preset strategy includes:

[0025] Set the default value to ideal ceiling damping.

[0026] In a second aspect, an embodiment of the present application provides a load compensation control device for a vehicle suspension, characterized in that the load compensation control device for the vehicle suspension comprises:

[0027] A first acquisition module, configured to acquire a load of the cabin according to received target detection data and / or seat pressure, wherein the target detection data includes a passenger's weight;

[0028] A second acquisition module, configured to acquire an ideal ceiling damping according to the cabin load and a preset strategy;

[0029] The compensation module is used to obtain compensation parameters according to the ideal skyhook damping, the obtained driving parameters and vehicle body parameters and the preset skyhook damping equation group to compensate for the load of the suspension.

[0030] In the third aspect, an embodiment of the present application provides a load compensation control device for a vehicle suspension, characterized in that the load compensation control device for the vehicle suspension comprises a processor, a memory, and a load compensation control program for the vehicle suspension stored in the memory and executable by the processor, wherein when the load compensation control program for the vehicle suspension is executed by the processor, the steps of the load compensation control method for the vehicle suspension as described above are implemented.

[0031] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, characterized in that a load compensation control program for a vehicle suspension is stored on the computer-readable storage medium, wherein when the load compensation control program for the vehicle suspension is executed by a processor, the steps of the load compensation control method for the vehicle suspension as described in the claims are implemented.

[0032] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0033] By obtaining the load of the cabin according to the received target detection data and / or seat pressure, wherein the target detection data includes the weight of the passenger; obtaining the ideal ceiling damping according to the cabin load and the preset strategy; obtaining the compensation parameters according to the ideal ceiling damping, the obtained driving parameters and body parameters and the preset ceiling damping equation group to compensate for the load of the suspension, the problem that the related art simply optimizes and controls by the aforementioned information without considering the influence of the difference in vehicle mass and the change in cabin load distribution on the suspension performance is solved, resulting in the inability of the electronically controlled suspension to fully take into account the performance optimization when the load changes during the calibration process. Active suspension can realize load sensing through suspension load sensors, such as adding an intracavity air pressure sensor to an air spring, but the cost increases; semi-active suspension sensing load requires major structural improvements to the suspension hardware and the addition of corresponding devices. The present application provides a suspension control method that can take into account the influence of the difference in vehicle mass and the change in cabin load distribution on the suspension performance without increasing the cost or changing the existing structure, thereby improving the riding comfort of passengers. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic flow chart of an embodiment of a load compensation control method for a vehicle suspension of the present application;

[0035] Figure 2 For this application Figure 1 Detailed flow chart of step S20;

[0036] Figure 3 A schematic diagram of functional modules of an embodiment of a load compensation control device for a vehicle suspension of the present application;

[0037] Figure 4 This is a schematic diagram of the hardware structure of the load compensation control device of the vehicle suspension involved in the embodiment of the present application. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0039] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0040] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0041] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, 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” refers to two or more than two.

[0042] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0043] First, some technical terms in the present application are explained to facilitate those skilled in the art to understand the present application.

[0044] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0045] In a first aspect, an embodiment of the present application provides a load compensation control method for a vehicle suspension.

[0046] In one embodiment, referring to Figure 1, Figure 1 This is a flow chart of the first embodiment of the load compensation control method for the vehicle suspension of the present application. Figure 1 As shown, the load compensation control method of the vehicle suspension includes:

[0047] Step S10: acquiring the load of the cabin according to the received target detection data and / or seat pressure, wherein the target detection data includes the weight of the passenger;

[0048] Exemplarily, the in-car image is captured by the vehicle's built-in camera, and the in-car image is input into the preset cockpit large model to obtain target detection data, wherein the target detection data includes the detection position frame, weight, height, gender, and age of the passenger. The overlap ratio between the detection frame position frame and the obtained cockpit position frame is calculated according to the IOU algorithm. If the overlap ratio is greater than the preset ratio threshold, it is determined that there is a passenger in the target cockpit, and then the weight of the passenger in the target detection data is used as the load of the cockpit and the cockpit load is output; if the overlap ratio is less than the preset threshold, it is determined that there is no passenger in the target cockpit, and then the information that the cockpit is empty is output, wherein the preset ratio threshold is greater than 0.6. At the same time, the seat belt reminder system collects seat pressure. If the seat pressure is less than the preset seat pressure threshold, it is determined that there is no passenger in the target cockpit, and then the information that the cockpit is empty is output; if the seat pressure is greater than the preset seat pressure, it is determined that there is a passenger in the target cockpit, and then the seat pressure is used as the load of the cockpit and the cockpit load is output.

[0049] Check whether the output cabin load is valid, and obtain the cabin load value range according to the age, gender, and age of the passenger. If the cabin load obtained is within the value range, it is determined that the cabin load obtained is valid; if the cabin load obtained is not within the value range, it is determined that the cabin load obtained is invalid.

[0050] Specifically, the method of determining the load of the cabin based on the acquired target detection data and / or seat pressure includes: if the weight of the passenger is acquired, using the weight of the passenger as the load of the cabin; if the seat pressure is acquired, using the seat pressure as the load of the cabin; if the weight of the passenger is acquired as the load of the cabin and the seat pressure is acquired as the load of the cabin, calculating the average value and using the average value as the load of the cabin.

[0051] Exemplarily, it is detected whether a cabin camera and / or a cabin pressure acquisition device are configured; if a cabin camera is configured, the cabin camera is used to acquire the in-vehicle image, and then the in-vehicle image is input into the preset cabin large model to obtain target detection data, wherein the target detection data includes the weight of the passenger, and then the passenger's weight is output as the cabin load. If a cabin pressure acquisition device is configured, the cabin pressure is acquired through the cabin pressure acquisition device, and then the cabin pressure is output as the cabin load. If both a cabin camera and a cabin pressure acquisition device are configured, the average value of the cabin load output by the cabin large model and the cabin load output by the cabin pressure acquisition device is taken as the cabin load. If only a cabin camera is configured, the cabin load output by the cabin large model is taken as the cabin load. If only a cabin pressure acquisition device is configured, the cabin load output by the cabin pressure acquisition device is taken as the cabin load.

[0052] Step S20: obtaining an ideal ceiling damping according to the cabin load and preset strategy;

[0053] Exemplarily, one of the following preset strategies or a combination of multiple preset strategies is used to obtain ideal ceiling damping according to the cabin load to compensate for the suspension load. The first preset strategy is to obtain the ideal ceiling damping according to different calibrated cabin loads. The second preset strategy is to obtain the ideal ceiling damping according to the simplified wheel-side system state equation and the calculated load on the suspension spring. The third preset strategy is to set the default value to the ideal ceiling damping when there is no valid cabin load information.

[0054] If it is determined that the obtained cabin load is valid, the first preset strategy or the second preset strategy is used to obtain the ideal ceiling damping; if it is determined that the obtained cabin load is invalid, the third preset strategy is used to obtain the ideal ceiling damping.

[0055] Specifically, the preset strategy includes a second preset strategy, and obtaining the ideal ceiling damping according to the load of each cabin and the second preset strategy includes: obtaining a preset table, wherein the preset table contains calibrated loads of multiple cabins and corresponding ideal ceiling damping; and obtaining the ideal ceiling damping in the preset table by taking the load of the cabin as a query condition.

[0056] Exemplarily, the preset table is as follows:

[0057]

[0058] For example, the cabin closest to suspension spring No. 1 is cabin No. 1, and the load of cabin No. 1 is 40 kg. The ideal ceiling damping value is c sky2 .

[0059] Specifically, the preset strategy includes a third preset strategy, and according to the load of each cabin and the third preset strategy, obtaining the ideal ceiling damping includes: setting a default value to the ideal ceiling damping.

[0060] Exemplarily, the default value includes the original ceiling damping in the preset strategy one and any calibrated ideal ceiling damping in the strategy two.

[0061] Step S30: Obtain compensation parameters according to the ideal skyhook damping, the acquired driving parameters and vehicle body parameters, and the preset skyhook damping equation group to compensate for the load of the suspension.

[0062] Exemplarily, the ideal ceiling damping, the obtained driving parameters and the vehicle body parameters are substituted into the preset ceiling damping equation group for calculation, and then the actual ceiling damping is obtained. The compensation parameters are set according to the actual ceiling damping to compensate for the load of the suspension.

[0063] Specifically, obtaining compensation parameters according to the ideal ceiling damping, the acquired driving parameters and vehicle body parameters and the preset ceiling damping equation group includes: obtaining driving parameters and vehicle body parameters, wherein the driving parameters include a first displacement, a second displacement, and a third displacement, and the vehicle body parameters include a tire mass and a suspension mass; substituting the driving parameters, the vehicle body parameters and the ideal ceiling damping into the preset ceiling damping equation group to obtain compensation parameters.

[0064] For example, the first displacement z0, the second displacement z1, the third displacement z2, the mass m1 of the tire, and the mass m2 of the suspension are substituted into the skyhook control algorithm equation group: Calculate the actual ceiling damping in, is the ideal state equation, is the actual state equation, where the first displacement is the upward displacement of the wheel surface input by the ground, the second displacement is the upward displacement of the tire center, and the third displacement is the upward displacement of the vehicle body. z1' is the first-order derivative of the second displacement, i.e., the upward movement speed of the wheel center; z1" is the second-order derivative of the second displacement, i.e., the acceleration of the wheel center moving upward; z'2 is the first-order derivative of the third displacement, i.e., the upward movement speed of the vehicle body; z'2' is the second-order derivative of the third displacement, i.e., the upward movement acceleration of the vehicle body; c sky is the ideal ceiling damping, k1 is the elastic coefficient of the tire, and k2 is the elastic coefficient of the suspension spring. Afterwards, the compensation parameters are obtained according to the actual ceiling damping. According to the compensation parameters, a compensation damping based on the default ceiling damping can be applied to the suspension to reduce the vibration felt by the passengers in the cabin and improve the riding experience of the passengers.

[0065] In this embodiment, the load of the cabin is obtained according to the received target detection data and / or seat pressure, wherein the target detection data includes the weight of the passenger; the ideal ceiling damping is obtained according to the cabin load and the preset strategy; the compensation parameters are obtained according to the ideal ceiling damping, the obtained driving parameters and body parameters, and the preset ceiling damping equation group to compensate for the load of the suspension, which solves the problem that the related technology does not consider the influence of the whole vehicle mass difference and the cabin load distribution change on the suspension performance, resulting in the inability of the electronic control suspension to fully consider the performance optimization when the load changes during the calibration process; the active suspension can realize load perception through the suspension load sensor, such as adding an intracavity air pressure sensor to the air spring, but the cost increases; the semi-active suspension sensing load requires a major structural improvement of the suspension hardware and the addition of corresponding devices. This embodiment provides a suspension control method that can consider the influence of the whole vehicle mass difference and the cabin load distribution change on the suspension performance without increasing the cost and changing the existing structure, thereby improving the riding comfort of passengers.

[0066] Further, in one embodiment, referring to Figure 2 , Figure 2 For this application Figure 1 Detailed flow chart of step S20 in FIG. Figure 2 As shown, the preset strategy includes a first preset strategy, and obtaining an ideal ceiling damping according to the cabin load and the first preset strategy includes:

[0067] Step S21: Calculate the load on each suspension spring according to the load of the cabin, the acquired vehicle parameters and the preset wheel side simplified system equation;

[0068] Exemplarily, the components of the load of each cabin on each suspension spring are calculated based on the lever principle and the vehicle's own parameters, where the vehicle's own parameters include the distance from each cabin to the body frame. Then, the components of the load of all cabins borne by one suspension spring are added together to calculate the load on one suspension spring, and the loads on the remaining suspension springs are calculated in the same way.

[0069] Specifically, according to the load of the cabin, the acquired vehicle parameters and the preset wheel-side simplified system equation, the load on each suspension spring is calculated, which includes: acquiring the vehicle parameters, wherein the vehicle parameters include the distance from the center of the cabin to the longitudinal center lines of the left and right tires and the distance from the center of the cabin to the transverse center lines of the front and rear axles; based on the lever principle, substituting the cabin load and the vehicle parameters into a first preset formula to calculate the load on the suspension spring.

[0070] For example, the distance a from the center of the No. 1 cabin to the longitudinal centerline of the left tire, the distance b to the longitudinal centerline of the right tire, the distance c to the transverse centerline of the front axle, and the distance d to the transverse centerline of the rear axle are obtained. Then, the load components of the load of the left front cabin on each suspension spring are calculated based on the lever principle. Where m 轮11 is the load of cabin No. 1 on suspension spring No. 1, m 轮21 is the load of cabin No. 1 on suspension spring No. 2, m 轮31 is the load of cabin No. 1 on suspension spring No. 3, m 轮41 is the load of cabin No. 1 on suspension spring No. 4, m 座1 is the load of cabin No. 1. Then, the components of the loads of the remaining cabins on each suspension spring are calculated in the same way, and then the components of the loads of the cabins on one suspension spring are added together to obtain the load on the suspension spring. For example, the load on suspension spring No. 1 is Where j represents the seat number. The load on each suspension spring is Where j represents the cabin number, i represents the suspension spring number, n represents the total number of suspension springs in the vehicle, and k represents the total number of cabins in the vehicle.

[0071] Step S22: Calculate the ideal ceiling damping according to the loads on the suspension springs and the ideal state equation in the preset ceiling damping equation group.

[0072] As an example, the load on the suspension spring is substituted into the ideal state equation in the preset skyhook control algorithm, To calculate the ideal ceiling damping in is the correction value of the ideal ceiling damping, c skyi To preset the original ceiling damping.

[0073] In this embodiment, the load on each suspension spring is calculated according to the load on the cabin, the obtained vehicle's own parameters and the preset wheel-side simplified system equation; the ideal ceiling damping is calculated according to the load on each suspension spring and the ideal state equation in the preset ceiling damping equation group. This embodiment provides a method for calculating the ideal ceiling damping, which provides the necessary conditions for obtaining compensation parameters.

[0074] In a second aspect, an embodiment of the present application also provides a load compensation control device for a vehicle suspension.

[0075] In one embodiment, referring to Figure 3 , Figure 3 This is a functional module diagram of an embodiment of a load compensation control device for a vehicle suspension of the present application. Figure 3As shown, the load compensation control device of the vehicle suspension includes:

[0076] A first acquisition module 01 is used to acquire the load of the cabin according to the received target detection data and / or seat pressure, wherein the target detection data includes the weight of the passenger;

[0077] A second acquisition module 02 is used to acquire an ideal ceiling damping according to the cabin load and a preset strategy;

[0078] The compensation module 03 is used to obtain compensation parameters according to the ideal skyhook damping, the obtained driving parameters and vehicle body parameters and the preset skyhook damping equation group, so as to compensate the load of the suspension.

[0079] Furthermore, in one embodiment, the first acquisition module 01 is further used for:

[0080] If the passenger's weight is obtained, the passenger's weight is used as the cabin load;

[0081] If the seat pressure is obtained, the seat pressure is used as the load of the cabin;

[0082] If the passenger's weight is obtained as the cabin load and the seat pressure is obtained as the cabin load, an average value is calculated and the average value is used as the cabin load.

[0083] Furthermore, in one embodiment, the second acquisition module 02 is further used for:

[0084] Calculate the load on each suspension spring according to the load of the cabin, the acquired vehicle parameters and the preset wheel side simplified system equation;

[0085] The ideal ceiling damping is calculated according to the loads on the suspension springs and the ideal state equation in the preset ceiling damping equation group.

[0086] Furthermore, in one embodiment, the compensation module 03 is also used for:

[0087] Acquiring driving parameters and vehicle body parameters, wherein the driving parameters include a first displacement, a second displacement, and a third displacement, and the vehicle body parameters include a tire mass and a suspension mass;

[0088] Substitute the driving parameters, the vehicle body parameters and the ideal skyhook damping into a preset skyhook damping equation group to obtain compensation parameters.

[0089] Among them, the functional implementation of each module in the above-mentioned load compensation control device for vehicle suspension corresponds to the various steps in the above-mentioned embodiment of the load compensation control method for vehicle suspension, and its functions and implementation processes will not be repeated here one by one.

[0090] In a third aspect, an embodiment of the present application provides a load compensation control device for a vehicle suspension. The load compensation control device for a vehicle suspension may be a personal computer (PC), a laptop computer, a server, or other device having a data processing function.

[0091] Reference Figure 4 , Figure 4 The hardware structure diagram of the load compensation control device of the vehicle suspension involved in the embodiment of the present application is shown in FIG. In the embodiment of the present application, the load compensation control device of the vehicle suspension may include a processor, a memory, a communication interface and a communication bus.

[0092] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0093] The communication interface includes an input / output (I / O) interface, a physical interface, and a logical interface, etc., which are used to interconnect the components inside the load compensation control device of the vehicle suspension, and an interface used to interconnect the load compensation control device of the vehicle suspension with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, an optical fiber interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0094] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0095] The processor may be a general-purpose processor, which may call the load compensation control program of the vehicle suspension stored in the memory and execute the load compensation control method of the vehicle suspension provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the load compensation control program of the vehicle suspension is called may refer to the various embodiments of the load compensation control method of the vehicle suspension of the present application, which will not be described in detail here.

[0096] Those skilled in the art will understand that Figure 4The hardware structure shown in the figure does not constitute a limitation on the present application, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0097] In a fourth aspect, an embodiment of the present application also provides a readable storage medium.

[0098] The readable storage medium of the present application stores a load compensation control program for a vehicle suspension, wherein when the load compensation control program for the vehicle suspension is executed by a processor, the steps of the load compensation control method for the vehicle suspension as described above are implemented.

[0099] Among them, the method implemented when the load compensation control program of the vehicle suspension is executed can refer to the various embodiments of the load compensation control method of the vehicle suspension of the present application, and will not be repeated here.

[0100] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0101] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0102] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A load compensation control method for a vehicle suspension, characterized in that: The load compensation control method of the vehicle suspension comprises: Acquiring a cabin load according to received target detection data and / or seat pressure, wherein the target detection data includes a passenger's weight; Obtaining an ideal ceiling damping according to the cabin load and a preset strategy; According to the ideal skyhook damping, the acquired driving parameters and vehicle body parameters and the preset skyhook damping equation group, compensation parameters are acquired to compensate the load of the suspension.

2. The load compensation control method for a vehicle suspension according to claim 1, characterized in that: The preset strategy includes a first preset strategy, and obtaining an ideal ceiling damping according to the cabin load and the first preset strategy includes: Calculate the load on each suspension spring according to the load of the cabin, the acquired vehicle parameters and the preset wheel side simplified system equation; The ideal ceiling damping is calculated according to the loads on the suspension springs and the ideal state equation in the preset ceiling damping equation group.

3. The load compensation control method for a vehicle suspension according to claim 1, characterized in that: The step of obtaining compensation parameters according to the ideal skyhook damping, the obtained driving parameters and vehicle body parameters, and the preset skyhook damping equation group includes: Acquiring driving parameters and vehicle body parameters, wherein the driving parameters include a first displacement, a second displacement, and a third displacement, and the vehicle body parameters include a tire mass and a suspension mass; Substitute the driving parameters, the vehicle body parameters and the ideal skyhook damping into a preset skyhook damping equation group to obtain compensation parameters.

4. The load compensation control method for a vehicle suspension according to claim 2, characterized in that: The step of calculating the load on each suspension spring according to the cabin load, the acquired vehicle parameters and the preset wheel simplified system equation includes: Acquiring vehicle parameters, wherein the vehicle parameters include the distance from the center of the cabin to the longitudinal center lines of the left and right tires and the distance from the center of the cabin to the transverse center lines of the front and rear axles; Based on the lever principle, the cabin load and the vehicle's own parameters are substituted into the wheel-side simplified system equation to calculate the load on the suspension spring.

5. The load compensation control method for a vehicle suspension according to claim 1, characterized in that: Determining the cabin load according to the acquired target detection data and / or seat pressure includes: If the passenger's weight is obtained, the passenger's weight is used as the cabin load; If the seat pressure is obtained, the seat pressure is used as the load of the cabin; If the passenger's weight is obtained as the cabin load and the seat pressure is obtained as the cabin load, an average value is calculated and used as the cabin load.

6. The load compensation control method for a vehicle suspension according to claim 1, characterized in that: The preset strategy includes a second preset strategy, and obtaining an ideal ceiling damping according to the load of each cabin and the second preset strategy includes: Obtaining a preset table, wherein the preset table contains calibrated loads of multiple cabins and corresponding ideal ceiling damping; The ideal ceiling damping in the preset table is obtained by taking the cabin load as a query condition.

7. The load compensation control method for a vehicle suspension according to claim 1, characterized in that: The preset strategy includes a third preset strategy, and obtaining an ideal ceiling damping according to the load of each cabin and the third preset strategy includes: Set the default value to ideal ceiling damping.

8. A load compensation control device for a vehicle suspension, characterized in that: The load compensation control device of the vehicle suspension comprises: A first acquisition module, configured to acquire a load of the cabin according to received target detection data and / or seat pressure, wherein the target detection data includes a passenger's weight; A second acquisition module, configured to acquire an ideal ceiling damping according to the cabin load and a preset strategy; The compensation module is used to obtain compensation parameters according to the ideal skyhook damping, the obtained driving parameters and vehicle body parameters and the preset skyhook damping equation group to compensate for the load of the suspension.

9. A load compensation control device for a vehicle suspension, characterized in that: The load compensation control device of the vehicle suspension includes a processor, a memory, and a load compensation control program of the vehicle suspension stored in the memory and executable by the processor, wherein when the load compensation control program of the vehicle suspension is executed by the processor, the steps of the load compensation control method of the vehicle suspension as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a load compensation control program for a vehicle suspension, wherein when the load compensation control program for a vehicle suspension is executed by a processor, the steps of the load compensation control method for a vehicle suspension as claimed in any one of claims 1 to 7 are implemented.

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