Shock absorber damping force attenuation self-learning method, controller and storage medium

Abstract

The invention provides a shock absorber damping force attenuation self-learning method, a suspension controller and a readable storage medium. The method comprises the steps that current driving condition information, current shock absorber speed information and current shock absorber height information of a target vehicle are acquired; according to the current driving condition information, standard shock absorber speed information and standard shock absorber height information under the corresponding driving condition are searched in a pre-created standard shock absorber database; according to the current shock absorber speed information, the current shock absorber height information, the standard shock absorber speed information and the standard shock absorber height information, whether the damping force of the shock absorber is attenuated or not is judged; if yes, the current compensation value of the shock absorber electromagnetic valve is calculated according to the current shock absorber height information and the standard shock absorber height information. The problems of poor vehicle body control and reduced riding comfort caused by performance attenuation of the shock absorber can be effectively relieved, and the smoothness of a vehicle in the running process is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a shock absorber damping force attenuation self-learning method, a suspension controller and a readable storage medium. Background Art

[0002] Automobile shock absorbers are an important part of the automobile suspension system. They can reduce the vibration and bumps caused by uneven roads during driving, improve driving comfort and vehicle stability. With the continuous development of the automobile industry and the increasing requirements of people for driving comfort and safety, automobile shock absorbers are also constantly evolving and improving. Automobile shock absorbers usually need to be replaced after a cumulative mileage of about 100,000 kilometers. Taking a family car with an average annual mileage of 20,000 kilometers as an example, the service life of the shock absorber is about 5 years. However, if the vehicle is mainly driven on roads with good road conditions, the service life of the shock absorber may be extended. Shock absorbers are key wearing parts, and their performance will gradually decrease with the increase of mileage. When the performance of the shock absorber decreases, it will cause the damping force to decay, which may lead to poor chassis feel, reduced ride comfort, reduced handling performance, and insufficient lateral support.

[0003] It should be noted that the information disclosed in the background technology section of the invention is only intended to deepen the understanding of the general background technology of the invention, and should not be regarded as an admission or suggestion in any form that the information constitutes prior art already known to those skilled in the art. Summary of the invention

[0004] The purpose of the present invention is to provide a self-learning method for shock absorber damping force attenuation, a suspension controller and a readable storage medium, which can not only effectively alleviate the problems of poor vehicle body control and reduced ride comfort caused by shock absorber performance attenuation, improve the smoothness of the vehicle during driving, but also effectively extend the service life of the shock absorber.

[0005] To achieve the above object, the present invention provides a shock absorber damping force attenuation self-learning method, the method comprising:

[0006] Acquire current driving condition information, current shock absorber speed information, and current shock absorber height information of the target vehicle, wherein the current driving condition information includes current road condition information and current vehicle condition information;

[0007] According to the current driving condition information, searching for standard shock absorber speed information and standard shock absorber height information under the corresponding driving condition in a pre-created standard shock absorber database, wherein the standard shock absorber speed information and standard shock absorber height information under different driving conditions are stored in the standard shock absorber database;

[0008] Determining whether the damping force of the shock absorber is attenuated according to the current shock absorber speed information, the current shock absorber height information, the standard shock absorber speed information and the standard shock absorber height information;

[0009] If so, a current compensation value of the shock absorber solenoid valve is calculated according to the current shock absorber height information and the standard shock absorber height information.

[0010] Optionally, the current vehicle condition information includes at least two of current vehicle speed information, current vehicle mode information, current driver operation action information and current tire pressure information.

[0011] Optionally, judging whether the damping force of the shock absorber is attenuated according to the current shock absorber speed information, the current shock absorber height information, the standard shock absorber speed information and the standard shock absorber height information includes:

[0012] Calculating a speed deviation value according to the current shock absorber speed information and the standard shock absorber speed information;

[0013] Calculating a height deviation value according to the current shock absorber height information and the standard shock absorber height information;

[0014] If the absolute value of the speed deviation value is greater than the preset speed deviation threshold, and the absolute value of the height deviation value is greater than the preset height deviation threshold, it is determined that the damping force of the shock absorber is attenuated; otherwise, it is determined that the damping force of the shock absorber is not attenuated.

[0015] Optionally, the standard shock absorber database is created by the following steps:

[0016] Obtaining shock absorber speed data and shock absorber height data of the target vehicle under different driving conditions within a preset factory time, or obtaining shock absorber speed data and shock absorber height data of multiple test vehicles of the same model as the target vehicle and within a preset factory time under different driving conditions;

[0017] For each driving situation:

[0018] Preprocessing the shock absorber speed data and the shock absorber height data under the driving condition respectively;

[0019] Acquire standard shock absorber speed information under the driving condition according to the preprocessed shock absorber speed data under the driving condition;

[0020] Acquiring standard shock absorber height information under the driving condition according to the preprocessed shock absorber height data under the driving condition;

[0021] The road condition information and vehicle condition information of different driving conditions are bound with the standard shock absorber speed information and the standard shock absorber height information under the driving conditions, and stored in a pre-created database, thereby creating the standard shock absorber database.

[0022] Optionally, the preprocessing of the shock absorber speed data and the shock absorber height data under the driving condition respectively includes:

[0023] Deleting the shock absorber speed values ​​greater than the first preset speed threshold or less than the second preset speed threshold in the shock absorber speed data under the driving condition;

[0024] The shock absorber height values ​​greater than the first preset height threshold or less than the second preset height threshold in the shock absorber height data under the driving condition are deleted.

[0025] Optionally, obtaining standard shock absorber speed information under the driving condition according to the preprocessed shock absorber speed data under the driving condition includes:

[0026] Obtaining standard shock absorber speed information under the driving condition according to an average value of all shock absorber speed values ​​in the preprocessed shock absorber speed data under the driving condition;

[0027] The step of obtaining standard shock absorber height information under the driving condition according to the preprocessed shock absorber height data under the driving condition comprises:

[0028] According to an average value of all shock absorber height values ​​in the preprocessed shock absorber height data under the driving condition, standard shock absorber height information under the driving condition is obtained.

[0029] Optionally, the standard shock absorber database is stored in a cloud server.

[0030] Optionally, the shock absorber damping force attenuation self-learning method further includes:

[0031] The current flowing through the shock absorber solenoid valve is adjusted according to the current compensation value to adjust the damping force of the shock absorber.

[0032] To achieve the above-mentioned object, the present invention also provides a suspension controller, including a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the shock absorber damping force attenuation self-learning method described above is implemented.

[0033] To achieve the above-mentioned object, the present invention further provides a readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the shock absorber damping force attenuation self-learning method described above is implemented.

[0034] Compared with the prior art, the shock absorber damping force attenuation self-learning method, suspension controller and readable storage medium provided by the present invention have the following beneficial effects:

[0035] The damping force attenuation self-learning method of the shock absorber provided by the present invention first obtains the current driving condition information, the current shock absorber speed information and the current shock absorber height information of the target vehicle; then, according to the current driving condition information, finds the standard shock absorber speed information and the standard shock absorber height information under the corresponding driving condition in the pre-created standard shock absorber database; then, according to the current shock absorber speed information, the current shock absorber height information, the standard shock absorber speed information and the standard shock absorber height information, judges whether the damping force of the shock absorber is attenuated; finally, when judging that the damping force of the shock absorber is attenuated, calculates the current compensation value of the shock absorber solenoid valve according to the current shock absorber height information and the standard shock absorber height information. It can be seen that the damping force attenuation self-learning method of the shock absorber provided by the present invention can effectively alleviate the problems of poor body control and reduced ride comfort caused by the attenuation of shock absorber performance by adopting the shock absorber attenuation self-learning compensation strategy based on big data, improve the smoothness of the vehicle during driving, and can effectively extend the service life of the shock absorber after the vehicle has traveled a long mileage or a long time. In addition, since the current driving condition information, current shock absorber speed information and current shock absorber height information of the target vehicle all come from the vehicle CAN bus, no additional sensors are required. Therefore, the shock absorber damping force attenuation self-learning method provided by the present invention has a wide range of applications and strong feasibility, and can be applied to most models on the market.

[0036] Since the suspension controller and the readable storage medium provided by the present invention belong to the same inventive concept as the shock absorber damping force attenuation self-learning method provided by the present invention, the suspension controller and the readable storage medium provided by the present invention at least have all the beneficial effects of the shock absorber damping force attenuation self-learning method provided by the present invention. Therefore, the relevant description of the beneficial effects of the suspension controller and the readable storage medium provided by the present invention can refer to the relevant description of the beneficial effects of the shock absorber damping force attenuation self-learning method provided by the present invention in the above text, and will not be repeated here one by one. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a flow chart of a self-learning method for damping force attenuation of a shock absorber in one embodiment of the present invention;

[0038] Figure 2 An overall flow chart of a self-learning method for damping force attenuation of a shock absorber provided in one embodiment of the present invention;

[0039] Figure 3It is a schematic diagram of the block structure of a suspension controller in one embodiment of the present invention. DETAILED DESCRIPTION

[0040] The following is a further detailed description of the shock absorber damping force attenuation self-learning method, suspension controller and readable storage medium proposed in the present invention in combination with the accompanying drawings and specific embodiments. According to the following description, the advantages and features of the present invention will be clearer. It should be noted that the drawings are in a very simplified form and use non-precise proportions, which are only used to conveniently and clearly assist in explaining the purpose provided by the present invention. In order to make the purposes, features and advantages of the present invention more obvious and easy to understand, please refer to the accompanying drawings. It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Any structural modification, change in proportional relationship or adjustment of size, under the same or similar conditions as the effects that can be produced by the present invention and the purposes that can be achieved, should still fall within the scope of the technical content disclosed by the present invention.

[0041] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements. The singular forms "a", "an" and "the" include plural objects, the term "or" is generally used in a sense including "and / or", the term "several" is generally used in a sense including "at least one", and the term "at least two" is generally used in a sense including "two or more". In addition, the terms "first", "second" and "third" are used for descriptive purposes only and are not to be understood as indicating or suggesting relative importance or implicitly indicating the number of the indicated technical features.

[0042] In addition, in the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0043] The core idea of ​​the present invention is to provide a self-learning method for shock absorber damping force attenuation, a suspension controller and a readable storage medium, which can not only effectively alleviate the problems of poor vehicle body control and reduced ride comfort caused by shock absorber performance attenuation, improve the smoothness of the vehicle during driving, but also effectively extend the service life of the shock absorber.

[0044] It should be noted that the shock absorber damping force attenuation self-learning method provided by the present invention can be applied to the suspension controller provided by the present invention, and the suspension controller can be configured on a vehicle, wherein the vehicle can include a general motor vehicle, such as a passenger vehicle including a sports utility vehicle (SUV), a bus, a truck, and various commercial vehicles, and includes a hybrid vehicle, an electric vehicle, a plug-in hybrid electric vehicle, etc. In addition, it should be noted that, as can be understood by those skilled in the art, the shock absorber damping force attenuation self-learning method provided by the present invention can be applied to other types of damping adjustable shock absorbers in addition to the compression-tension dual-valve hydraulic adjustable shock absorber.

[0045] To realize the above idea, the present invention provides a self-learning method for damping force attenuation of a shock absorber, please refer to Figure 1 , which is a flow chart of a shock absorber damping force attenuation self-learning method provided by one embodiment of the present invention. Figure 1 As shown, the shock absorber damping force attenuation self-learning method provided by the present invention comprises the following steps:

[0046] Step S100, obtaining current driving condition information, current shock absorber speed information and current shock absorber height information of the target vehicle, wherein the current driving condition information includes current road condition information and current vehicle condition information.

[0047] Step S200: according to the current driving condition information, searching for standard shock absorber speed information and standard shock absorber height information under corresponding driving conditions in a pre-created standard shock absorber database, wherein the standard shock absorber speed information and standard shock absorber height information under different driving conditions are stored in the standard shock absorber database.

[0048] Step S300: judging whether the damping force of the shock absorber is attenuated according to the current shock absorber speed information, the current shock absorber height information, the standard shock absorber speed information and the standard shock absorber height information.

[0049] If yes, step S400 is executed to calculate the current compensation value of the shock absorber solenoid valve according to the current shock absorber height information and the standard shock absorber height information.

[0050] It can be seen that the shock absorber damping force attenuation self-learning method provided by the present invention can not only effectively alleviate the problems of poor vehicle body control and reduced ride comfort caused by shock absorber performance attenuation and improve the smoothness of the vehicle during driving, but also effectively extend the service life of the shock absorber after the vehicle has traveled a long mileage or for a long time by adopting a shock absorber attenuation self-learning compensation strategy based on big data. In addition, since the current driving condition information, current shock absorber speed information and current shock absorber height information of the target vehicle are all from the vehicle CAN bus, no additional sensors are needed, so the shock absorber damping force attenuation self-learning method provided by the present invention has a wide range of applications and strong feasibility, and can be applied to most models on the market.

[0051] It should be noted that, as those skilled in the art can understand, the execution subject of the shock absorber damping force attenuation self-learning method provided by the present invention is a suspension controller. It should also be noted that, as those skilled in the art can understand, the driving condition information, shock absorber speed information and shock absorber height information of the vehicle can be collected through the signal provided on the vehicle CAN line. Specifically, the shock absorber height information can be collected through the vehicle's own height sensor, and the shock absorber speed information can be collected through the vehicle's own acceleration sensor. In addition, it should be noted that, as those skilled in the art can understand, the current road condition information can be obtained based on which of the long wave road, short wave road, washboard road, speed bump and pit the road section currently passed by the target vehicle belongs to. In addition, it should be noted that, as those skilled in the art can understand, the standard shock absorber speed information refers to the speed information of the shock absorber when the performance is not attenuated; the standard shock absorber height information refers to the height information of the shock absorber when the performance is not attenuated.

[0052] In some exemplary embodiments, the current vehicle status information includes at least two of the current vehicle speed information, the current vehicle mode information, the current driver operation action information, and the current tire pressure information. Specifically, the vehicle mode includes an economy mode, a normal mode, and a sports mode. The driver operation includes an accelerator pedal operation, a steering wheel operation, etc.

[0053] Preferably, in step S100, current driving condition information such as current road condition information, current vehicle speed information, current vehicle mode information, current driver operation action information, and current tire pressure information are obtained at the same time. After obtaining current driving condition information such as current road condition information, current vehicle speed information, current vehicle mode information, current driver operation action information, and current tire pressure information, standard shock absorber speed information and standard shock absorber height information under corresponding driving conditions (same road condition, same speed range, same vehicle mode, same driver operation action, same tire pressure range) can be found in a pre-created standard shock absorber database.

[0054] In some exemplary embodiments, judging whether the damping force of the shock absorber is attenuated according to the current shock absorber speed information, the current shock absorber height information, the standard shock absorber speed information and the standard shock absorber height information includes:

[0055] Calculating a speed deviation value according to the current shock absorber speed information and the standard shock absorber speed information;

[0056] Calculating a height deviation value according to the current shock absorber height information and the standard shock absorber height information;

[0057] If the absolute value of the speed deviation value is greater than the preset speed deviation threshold, and the absolute value of the height deviation value is greater than the preset height deviation threshold, it is determined that the damping force of the shock absorber is attenuated; otherwise, it is determined that the damping force of the shock absorber is not attenuated.

[0058] Therefore, by determining that the damping force attenuation of the shock absorber is large only when the deviations between the current shock absorber speed and the standard shock absorber speed and between the current shock absorber height and the standard shock absorber height are large, misjudgment can be effectively avoided, and the accuracy of the shock absorber damping force attenuation self-learning method provided by the present invention can be effectively improved.

[0059] It should be noted that, as can be understood by those skilled in the art, the present invention does not limit the specific values ​​of the preset speed deviation threshold and the preset height deviation threshold, and the specific values ​​of the preset speed deviation threshold and the preset height deviation threshold can be obtained through actual vehicle calibration.

[0060] In some exemplary embodiments, the shock absorber damping force attenuation self-learning method provided by the present invention further includes:

[0061] Step S500: adjusting the current flowing through the shock absorber solenoid valve according to the current compensation value to adjust the damping force of the shock absorber.

[0062] Specifically, the current compensation value may be added to the original current to adjust the current flowing through the shock absorber solenoid valve, thereby adjusting the damping force of the shock absorber.

[0063] Furthermore, after adjusting the current flowing through the shock absorber solenoid valve according to the current compensation value to adjust the damping force of the shock absorber, under the same driving condition, the current shock absorber speed information and the current shock absorber height information of the target vehicle are reacquired, and step S300 is executed to determine whether the damping force of the shock absorber is attenuated according to the current shock absorber speed information, the current shock absorber height information, the standard shock absorber speed information and the standard shock absorber height information; if it is determined that the damping force of the shock absorber is still attenuated, step S400 is executed to calculate the current compensation value of the shock absorber solenoid valve according to the current shock absorber height information and the standard shock absorber height information, and steps S300 to S500 are repeated until the damping force of the shock absorber is no longer attenuated.

[0064] In some exemplary embodiments, the standard shock absorber database is stored in a cloud server. Since the cloud server has the advantages of being simple, efficient, safe, reliable, and having elastically scalable processing capabilities, by storing the standard shock absorber database in the cloud server, not only can the security of the data stored in the standard shock absorber database be effectively improved, but also the suspension controller can quickly find the standard shock absorber speed information and standard shock absorber height information under the driving condition corresponding to the current driving condition in the standard shock absorber database.

[0065] In some exemplary embodiments, the standard shock absorber database is created by the following steps:

[0066] Obtaining shock absorber speed data and shock absorber height data of the target vehicle under different driving conditions within a preset factory time, or obtaining shock absorber speed data and shock absorber height data of multiple test vehicles of the same model as the target vehicle and within a preset factory time under different driving conditions;

[0067] For each driving situation:

[0068] Preprocessing the shock absorber speed data and the shock absorber height data under the driving condition respectively;

[0069] Acquire standard shock absorber speed information under the driving condition according to the preprocessed shock absorber speed data under the driving condition;

[0070] Acquiring standard shock absorber height information under the driving condition according to the preprocessed shock absorber height data under the driving condition;

[0071] The road condition information and vehicle condition information of different driving conditions are bound with the standard shock absorber speed information and the standard shock absorber height information under the driving conditions, and stored in a pre-created database, thereby creating the standard shock absorber database.

[0072] Thus, by obtaining the shock absorber speed data and shock absorber height data of the target vehicle under different driving conditions within the preset factory time, or obtaining the shock absorber speed data and shock absorber height data of multiple test vehicles of the same model as the target vehicle and within the preset factory time under different driving conditions, it can be effectively ensured that the standard shock absorber database is created based on a large amount of real vehicle data, thereby effectively ensuring the accuracy of the standard shock absorber speed information and standard shock absorber height information under each driving condition stored in the standard shock absorber database. For each driving condition, by first pre-processing the shock absorber speed data and shock absorber height data under the driving condition, respectively, then obtaining the standard shock absorber speed information under the driving condition according to the pre-processed shock absorber speed data under the driving condition, and obtaining the standard shock absorber height information under the driving condition according to the pre-processed shock absorber height data under the driving condition, thereby further effectively ensuring the accuracy of the standard shock absorber speed information and standard shock absorber height information under each driving condition stored in the standard shock absorber database.

[0073] Specifically, the shock absorber speed data and shock absorber height data of the target vehicle under different driving conditions for multiple times within a preset factory time (for example, within half a year after leaving the factory) can be collected through the target vehicle's own acceleration sensor and height sensor, and uploaded to the cloud server through the suspension controller, or multiple (for example, 100) test vehicles of the same model as the target vehicle and within a preset factory time (for example, within half a year after leaving the factory) can be selected to travel under each driving condition, and the shock absorber speed data and shock absorber height data of the vehicle can be collected through the vehicle's own acceleration sensor and height sensor, and uploaded to the cloud server through the vehicle's own suspension controller.

[0074] After receiving the shock absorber speed data and shock absorber height data under different driving conditions, the cloud server will first pre-process the shock absorber speed data and shock absorber height data under each driving condition respectively; then calculate the standard shock absorber speed information under the driving condition based on the pre-processed shock absorber speed data under the driving condition; and calculate the standard shock absorber height information under the driving condition based on the pre-processed shock absorber height data under the driving condition. Finally, the road condition information and vehicle condition information of different driving conditions are bound to the standard shock absorber speed information and standard shock absorber height information under the driving condition, and stored in a pre-created database, so as to create the standard shock absorber database.

[0075] It should be noted that, as can be understood by those skilled in the art, the present invention does not limit the specific value of the preset factory time. The preset factory time can be other values ​​in addition to 6 months. The specific value of the preset factory time can be set according to actual needs.

[0076] In some exemplary embodiments, the preprocessing of the shock absorber speed data and the shock absorber height data under the driving condition includes:

[0077] Deleting the shock absorber speed values ​​greater than the first preset speed threshold or less than the second preset speed threshold in the shock absorber speed data under the driving condition;

[0078] The shock absorber height values ​​greater than the first preset height threshold or less than the second preset height threshold in the shock absorber height data under the driving condition are deleted.

[0079] Therefore, for each driving condition, by deleting the shock absorber speed values ​​greater than the first preset speed threshold or less than the second preset speed threshold in the shock absorber speed data under the driving condition, the shock absorber speed values ​​that are too high or too low can be effectively removed, thereby effectively ensuring the accuracy of the standard shock absorber speed information under the driving condition subsequently obtained; by deleting the shock absorber height values ​​greater than the first preset height threshold or less than the second preset height threshold in the shock absorber height data under the driving condition, the shock absorber height values ​​that are too high or too low can be effectively removed, thereby effectively ensuring the accuracy of the standard shock absorber height information under the driving condition obtained.

[0080] It should be noted that, as those skilled in the art can understand, the present invention does not limit the specific values ​​of the first preset speed threshold, the second preset speed threshold, the first preset height threshold and the second preset height threshold, and the specific values ​​of the first preset speed threshold, the second preset speed threshold, the first preset height threshold and the second preset height threshold can be set according to actual needs.

[0081] In some exemplary embodiments, obtaining standard shock absorber speed information under the driving condition according to the preprocessed shock absorber speed data under the driving condition includes:

[0082] Obtaining standard shock absorber speed information under the driving condition according to an average value of all shock absorber speed values ​​in the preprocessed shock absorber speed data under the driving condition;

[0083] The step of obtaining standard shock absorber height information under the driving condition according to the preprocessed shock absorber height data under the driving condition comprises:

[0084] According to an average value of all shock absorber height values ​​in the preprocessed shock absorber height data under the driving condition, standard shock absorber height information under the driving condition is obtained.

[0085] Therefore, for each driving condition, by taking the average of all shock absorber speed values ​​in the preprocessed shock absorber speed data under the driving condition to obtain the standard shock absorber speed information under the driving condition, the accuracy of the standard shock absorber speed information obtained under the driving condition can be effectively guaranteed; by taking the average of all shock absorber height values ​​in the preprocessed shock absorber height data under the driving condition to obtain the standard shock absorber height information under the driving condition, the accuracy of the standard shock absorber height information obtained under the driving condition can be effectively guaranteed.

[0086] Please continue to refer to Figure 2 , which is an overall flow chart of the damping force attenuation self-learning method of the shock absorber provided by one embodiment of the present invention. Figure 2 As shown, the shock absorber damping force attenuation self-learning method provided by the present invention mainly includes the following steps:

[0087] 1) Select 100 vehicles that have been manufactured within six months and have them pass through the same road conditions (e.g., long wave road, short wave road, washboard road, deceleration, potholes, etc.) at the same speed, same vehicle mode, same driver operation action, and same tire pressure, repeatedly for multiple times, and collect data such as the vehicle's shock absorber height and shock absorber speed through the vehicle's own height sensor and acceleration sensor, and upload the data to the cloud server through the vehicle's suspension controller; or collect data such as the shock absorber height and shock absorber speed of the vehicle that has been manufactured for multiple times within six months and has been manufactured at different speeds, different vehicle modes, different driver operation actions, and different tire pressures, and upload the data to the cloud server through the suspension controller.

[0088] 2) The cloud server pre-processes the received shock absorber height and shock absorber speed data, removes values ​​of height that is too large or too low and speed that is too high or too low, and selects shock absorber height data and shock absorber speed data in a suitable range for subsequent processing.

[0089] 3) The cloud server post-processes the pre-processed shock absorber height data and shock absorber speed data in a suitable range by taking an average value to obtain a standard shock absorber height value and a standard shock absorber speed value.

[0090] 4) The cloud server binds the road condition information and vehicle condition information of different driving conditions with the standard shock absorber speed value and the standard shock absorber height value under the driving condition, and stores them in a pre-created database, thereby creating a standard shock absorber database.

[0091] 5) When the user subsequently drives the vehicle, the suspension controller collects information such as the shock absorber speed value and the shock absorber height value, and compares them with the standard shock absorber speed value and the standard shock absorber height value under the same driving condition in the standard shock absorber database stored in the cloud server. If the deviations between the actual collected shock absorber speed value and the standard shock absorber speed value under the corresponding driving condition and between the actual collected shock absorber height value and the corresponding standard shock absorber height value are large, it is determined that the shock absorber damping force is attenuated, and the solenoid valve current compensation value needs to be calculated: specifically, the difference between the actual collected shock absorber height value and the standard shock absorber height value under the corresponding driving condition can be used as input to calculate the current compensation value of the solenoid valve.

[0092] 6) The suspension controller records the calculated current compensation value, and adjusts the current flowing through the shock absorber solenoid valve according to the current compensation value to adjust the damping force of the shock absorber. At the same time, the vehicle maintains the current driving condition unchanged, and repeats step 5) 2 to 3 times until it is determined that the damping force of the shock absorber is no longer attenuated.

[0093] Based on the same inventive concept, the present invention also provides a suspension controller, please refer to Figure 3 , which is a schematic diagram of the block structure of a suspension controller provided by one embodiment of the present invention. Figure 3 As shown, the suspension controller includes a processor 101 and a memory 103, and a computer program is stored in the memory 103. When the computer program is executed by the processor 101, the shock absorber damping force attenuation self-learning method described above is implemented. Since the suspension controller provided by the present invention and the shock absorber damping force attenuation self-learning method provided by the present invention belong to the same inventive concept, the suspension controller provided by the present invention at least has all the beneficial effects of the shock absorber damping force attenuation self-learning method provided by the present invention. Therefore, the relevant description of the beneficial effects of the suspension controller provided by the present invention can refer to the relevant description of the beneficial effects of the shock absorber damping force attenuation self-learning method provided by the present invention, and will not be repeated here one by one.

[0094] Please continue to refer to Figure 3 ,like Figure 3 As shown, the suspension controller also includes a communication interface 102 and a communication bus 104, wherein the processor 101, the communication interface 102, and the memory 103 communicate with each other through the communication bus 104. The communication bus 104 includes but is not limited to a CAN bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The communication interface 102 is used for communication between the above-mentioned suspension controller and other vehicle controllers (such as a vehicle controller, a motor controller, etc., not shown in the figure). The communication bus 104 connects the above-mentioned suspension controller and other vehicle controllers (such as a vehicle controller, a motor controller, etc., not shown in the figure) and other dispersed nodes into a closed-loop system, so that each vehicle controller can perform multiple working states (parking state, charging state, starting state, running state, vehicle forward and backward state, feedback braking state, mechanical braking state, general fault state, major fault state) Communication and data transmission, thereby realizing the control function of the vehicle.

[0095] The processor 101 referred to in the present invention may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor 101 is the control center of the suspension controller, and various parts of the entire suspension controller are connected using various interfaces and lines.

[0096] The memory 103 can be used to store the computer program. The processor 101 implements various functions of the suspension controller by running or executing the computer program stored in the memory 103 and calling the data stored in the memory 103. The memory 103 may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable memory (PROM), electrically programmable memory (EPROM), electrically erasable programmable memory (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, random access memory is available in a variety of forms, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous random access memory (SDRAM), double data rate synchronous random access memory (DDRSDRAM), enhanced synchronous random access memory (ESDRAM), synchronous link (Synchlink) dynamic random access memory (SLDRAM), memory bus (Rambus) direct random access memory (RDRAM), direct memory bus dynamic random access memory (DRDRAM), and memory bus dynamic random access memory (RDRAM), etc.

[0097] The present invention also provides a readable storage medium, wherein a computer program is stored in the readable storage medium, and when the computer program is executed by a processor, the shock absorber damping force attenuation self-learning method described above can be implemented. Since the readable storage medium provided by the present invention and the shock absorber damping force attenuation self-learning method provided by the present invention belong to the same inventive concept, the readable storage medium provided by the present invention at least has all the beneficial effects of the shock absorber damping force attenuation self-learning method provided by the present invention, so the relevant description of the beneficial effects of the readable storage medium provided by the present invention can refer to the relevant description of the beneficial effects of the shock absorber damping force attenuation self-learning method provided by the present invention above, and will not be repeated here one by one.

[0098] The readable storage medium provided by the present invention can adopt any combination of one or more computer-readable media. The readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, a system, device or component of electricity, magnetism, light, electromagnetic, infrared or semiconductor, or any combination of the above. More specific examples (non-exhaustive enumeration) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer hard disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this article, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, a device or a device or used in combination with it.

[0099] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program codes. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0100] In summary, compared with the prior art, the shock absorber damping force attenuation self-learning method, suspension controller and readable storage medium provided by the present invention have the following beneficial effects:

[0101] The present invention first obtains the current driving condition information, current shock absorber speed information and current shock absorber height information of the target vehicle; then, according to the current driving condition information, searches for the standard shock absorber speed information and standard shock absorber height information under the corresponding driving condition in a pre-created standard shock absorber database; then, according to the current shock absorber speed information, the current shock absorber height information, the standard shock absorber speed information and the standard shock absorber height information, determines whether the damping force of the shock absorber is attenuated; finally, when determining that the damping force of the shock absorber is attenuated, calculates the current compensation value of the shock absorber solenoid valve according to the current shock absorber height information and the standard shock absorber height information. It can be seen that the present invention adopts a shock absorber attenuation self-learning compensation strategy based on big data, which can not only effectively alleviate the problems of poor vehicle body control and reduced ride comfort caused by the attenuation of shock absorber performance, improve the smoothness of the vehicle during driving, but also effectively extend the service life of the shock absorber after the vehicle has traveled a long mileage or for a long time. In addition, since the current driving condition information, current shock absorber speed information and current shock absorber height information of the target vehicle all come from the vehicle CAN bus, no additional sensors are needed. Therefore, the present invention has a wide range of applications and strong feasibility, and can be applied to most models on the market.

[0102] It should be noted that the computer program code for performing the operation of the present invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages-such as Java, Smalltalk, C++, and also conventional procedural programming languages-such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network-including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0103] It should be noted that the devices and methods disclosed in the embodiments of this article can also be implemented in other ways. The device implementation described above is only schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of this article. In this regard, each box in the flowchart or block diagram can represent a part of a module, program or code, and the module, program segment or part of the code contains one or more executable instructions for implementing the specified logical function, and the module, program segment or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented by a dedicated hardware-based system for performing a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of this document may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0104] It should also be noted that the above description is only a description of the preferred embodiment of the present invention, and is not any limitation on the scope of the present invention. Any changes and modifications made by a person skilled in the art in the field of the present invention based on the above disclosure are within the scope of protection of the present invention. Obviously, a person skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations fall within the scope of the present invention and its equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A self-learning method for damping force attenuation of a shock absorber, characterized in that: include: Acquire current driving condition information, current shock absorber speed information, and current shock absorber height information of the target vehicle, wherein the current driving condition information includes current road condition information and current vehicle condition information; According to the current driving condition information, searching for standard shock absorber speed information and standard shock absorber height information under the corresponding driving condition in a pre-created standard shock absorber database, wherein the standard shock absorber speed information and standard shock absorber height information under different driving conditions are stored in the standard shock absorber database; Determining whether the damping force of the shock absorber is attenuated according to the current shock absorber speed information, the current shock absorber height information, the standard shock absorber speed information and the standard shock absorber height information; If so, a current compensation value of the shock absorber solenoid valve is calculated according to the current shock absorber height information and the standard shock absorber height information.

2. The shock absorber damping force attenuation self-learning method according to claim 1, characterized in that: The current vehicle status information includes at least two of current vehicle speed information, current vehicle mode information, current driver operation action information and current tire pressure information.

3. The shock absorber damping force attenuation self-learning method according to claim 1, characterized in that: The determining whether the damping force of the shock absorber is attenuated according to the current shock absorber speed information, the current shock absorber height information, the standard shock absorber speed information and the standard shock absorber height information comprises: Calculating a speed deviation value according to the current shock absorber speed information and the standard shock absorber speed information; Calculating a height deviation value according to the current shock absorber height information and the standard shock absorber height information; If the absolute value of the speed deviation value is greater than the preset speed deviation threshold, and the absolute value of the height deviation value is greater than the preset height deviation threshold, it is determined that the damping force of the shock absorber is attenuated; otherwise, it is determined that the damping force of the shock absorber is not attenuated.

4. The shock absorber damping force attenuation self-learning method according to claim 1, characterized in that: Create the standard shock absorber database by following the steps below: Obtaining shock absorber speed data and shock absorber height data of the target vehicle under different driving conditions within a preset factory time, or obtaining shock absorber speed data and shock absorber height data of multiple test vehicles of the same model as the target vehicle and within a preset factory time under different driving conditions; For each driving situation: Preprocessing the shock absorber speed data and the shock absorber height data under the driving condition respectively; Acquire standard shock absorber speed information under the driving condition according to the preprocessed shock absorber speed data under the driving condition; Acquiring standard shock absorber height information under the driving condition according to the preprocessed shock absorber height data under the driving condition; The road condition information and vehicle condition information of different driving conditions are bound with the standard shock absorber speed information and the standard shock absorber height information under the driving conditions, and stored in a pre-created database, thereby creating the standard shock absorber database.

5. The shock absorber damping force attenuation self-learning method according to claim 4, characterized in that: The preprocessing of the shock absorber speed data and the shock absorber height data under the driving condition comprises: Deleting the shock absorber speed values ​​greater than the first preset speed threshold or less than the second preset speed threshold in the shock absorber speed data under the driving condition; The shock absorber height values ​​greater than the first preset height threshold or less than the second preset height threshold in the shock absorber height data under the driving condition are deleted.

6. The shock absorber damping force attenuation self-learning method according to claim 4, characterized in that: The step of obtaining standard shock absorber speed information under the driving condition according to the preprocessed shock absorber speed data under the driving condition comprises: Obtaining standard shock absorber speed information under the driving condition according to an average value of all shock absorber speed values ​​in the preprocessed shock absorber speed data under the driving condition; The step of obtaining standard shock absorber height information under the driving condition according to the preprocessed shock absorber height data under the driving condition comprises: According to an average value of all shock absorber height values ​​in the preprocessed shock absorber height data under the driving condition, standard shock absorber height information under the driving condition is obtained.

7. The shock absorber damping force attenuation self-learning method according to claim 1, characterized in that: The standard shock absorber database is stored in a cloud server.

8. The shock absorber damping force attenuation self-learning method according to claim 1, characterized in that: Also includes: The current flowing through the shock absorber solenoid valve is adjusted according to the current compensation value to adjust the damping force of the shock absorber.

9. A suspension controller, characterized in that: The invention comprises a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the shock absorber damping force attenuation self-learning method according to any one of claims 1 to 8 is implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a computer program, and when the computer program is executed by a processor, the shock absorber damping force attenuation self-learning method according to any one of claims 1 to 8 is implemented.

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