Control method of vehicle suspension

Abstract

The invention provides a vehicle suspension control method which comprises the steps that current driving parameters of a vehicle are obtained, a threshold value area to which the current driving parameters belong is determined, and the threshold value area has a preset numerical value range; determining a control instruction for adjusting the running state of the suspension according to the threshold region to which the driving parameter belongs; and adjusting the running state of the suspension according to the control instruction. Through the mode, the operation of the driving parameters is reduced, so that the controller can quickly respond to the threshold value regions to which the different driving parameters belong, the running mode of the suspension is adjusted in time and adapts to the road surface condition on which the vehicle runs, and the controller can simply and efficiently control the vehicle and quickly respond; for the driving parameters in the same threshold region, the running states of the suspension are the same, so that the fault tolerance of the driving parameters detected by the sensor is high, and the running states of the suspension are convenient to adjust.

Description

Technical Field

[0001] The present application relates to the field of vehicle control, and in particular to a method for controlling a vehicle suspension. Background Art

[0002] In related technologies, vehicles use a variety of sensors to collect road information and perform data analysis and calculation, and adjust the vehicle suspension or other operating parameters based on the calculation results. The vehicle's control system is complex, the data transmission chain is long, and there are problems such as long calculation and analysis time, slow response, and low fault tolerance. Summary of the invention

[0003] The present application provides a simple, efficient, fast-response, and high-fault-tolerance vehicle suspension control method.

[0004] The present application provides a vehicle suspension control method, comprising:

[0005] Acquiring a current driving parameter of the vehicle and determining a threshold region to which the current driving parameter belongs, wherein the threshold region has a preset value range;

[0006] determining a control instruction for adjusting the operating state of the suspension according to the threshold region to which the driving parameter belongs;

[0007] According to the control instruction, the operating state of the suspension is adjusted.

[0008] In the present application, the driving parameters of the vehicle are divided into multiple threshold areas, each threshold area has a preset numerical range, and the numerical ranges of the multiple threshold areas do not overlap. When the vehicle is under different road conditions and driving states, the driving parameters of the vehicle are different, and the driving parameters of the vehicle belong to different threshold areas. The operating states of the suspension corresponding to different threshold areas are different. The controller can issue corresponding control instructions according to the threshold area to which the driving parameters of the current vehicle belong; according to the control instructions, the operating state of the suspension is adjusted to be consistent with the operating state under the corresponding threshold area, so that the suspension adapts to the road conditions and driving state of the current vehicle. Through the above method, the calculation of the driving parameters is reduced, so that the controller can respond quickly to the threshold areas to which different driving parameters belong, so that the operating mode of the suspension is adjusted in time and adapted to the road conditions on which the vehicle is traveling, so that the controller controls the vehicle simply, efficiently and quickly; for the driving parameters in the same threshold area, the operating state of the suspension is the same, so the fault tolerance of the driving parameters detected by the sensor is high, which is convenient for adjusting the operating state of the suspension.

[0009] Optionally, the driving parameter is of a selected type;

[0010] Before obtaining the current driving parameters of the vehicle and determining the threshold region to which the current driving parameters belong, the method further includes:

[0011] Setting a plurality of threshold regions for dividing the numerical range of the driving parameter of this type, wherein the numerical ranges of the plurality of threshold regions are different;

[0012] Establishing a correspondence between each threshold region of the type of driving parameter and a control instruction for adjusting the operating state of the suspension;

[0013] Determining the control instruction for adjusting the operating state of the suspension according to the threshold region to which the driving parameter belongs includes: determining the control instruction corresponding to the threshold region to which the driving parameter belongs according to the corresponding relationship.

[0014] Optionally, the type of the driving parameter is vehicle speed;

[0015] The corresponding relationship includes:

[0016] When the vehicle speed belongs to the first vehicle speed threshold range, the corresponding control instruction is: adjust the suspension to a standard operating state; wherein the first vehicle speed threshold range is less than or equal to the first vehicle speed threshold;

[0017] When the vehicle speed belongs to a second vehicle speed threshold range, the corresponding control instruction is: adjusting the suspension to a high-speed operating state different from a standard operating state; wherein the second vehicle speed threshold range is greater than the first vehicle speed threshold.

[0018] Optionally, the type of the driving parameter is a height difference between different positions of the vehicle body and the ground;

[0019] The corresponding relationship includes:

[0020] When the height difference belongs to the first height difference threshold area, the corresponding control instruction is: adjust the suspension to a standard operating state; the first height difference threshold area is less than or equal to the height difference threshold;

[0021] When the height difference belongs to the second height difference threshold area, the corresponding control instruction is: adjust the suspension to an off-road operating state different from the standard operating state; the second height difference threshold area is greater than the height difference threshold.

[0022] Optionally, the heights between different positions of the vehicle body and the ground include: a first height between a left front portion of the vehicle and the ground, a second height between a right front portion of the vehicle and the ground, a third height between a right rear portion of the vehicle and the ground, and a fourth height between a left rear portion of the vehicle and the ground;

[0023] The height difference includes: a first difference between the first height and the third height, and a second difference between the second height and the fourth height;

[0024] The when the height difference belongs to the first height difference threshold area includes: when any one of the first difference and the second difference belongs to the first height difference threshold area;

[0025] The when the height difference belongs to a second height difference threshold area includes: when both the first difference and the second difference belong to a second height difference threshold area.

[0026] Optionally, the type of the driving parameter is the height of a road obstacle in the direction of vehicle travel;

[0027] The corresponding relationship includes:

[0028] When the road obstacle height belongs to the first obstacle height threshold area, the corresponding control instruction is: adjust the suspension to a standard operating state; the first obstacle height threshold area is less than or equal to the first obstacle height threshold;

[0029] When the road obstacle height belongs to the second obstacle height threshold area, the corresponding control instruction is: adjust the suspension to a high-pass operating state; the second obstacle height threshold area is greater than the first obstacle height threshold.

[0030] Optionally, the type of the driving parameter is the height of an obstacle above the vehicle in the direction of vehicle travel;

[0031] The corresponding relationship includes:

[0032] When the obstacle height belongs to the third obstacle height threshold area, the corresponding control instruction is: adjust the suspension to a standard operating state; the third obstacle height threshold area is greater than or equal to the second obstacle height threshold;

[0033] When the obstacle height belongs to the fourth obstacle height threshold area, the corresponding control instruction is: adjust the suspension to a low-lying operating state; the fourth obstacle height threshold area is smaller than the second obstacle height threshold.

[0034] Optionally, the driving parameters include selected multiple types;

[0035] The obtaining of the current driving parameters of the vehicle and determining the threshold region to which the current driving parameters belong includes: obtaining each type of driving parameter and determining the threshold region to which each type of driving parameter belongs;

[0036] Determining the control instruction for adjusting the operating state of the suspension according to the driving parameters and the threshold regions to which they belong includes: determining the control instruction for adjusting the operating state of the suspension according to a combination of the threshold regions to which the multiple types of driving parameters respectively belong.

[0037] Optionally, before obtaining each type of driving parameter, the method further includes:

[0038] For each type of driving parameter, a plurality of threshold regions for dividing the value range are respectively set, and the value ranges of the plurality of threshold regions for the same type of driving parameter are different;

[0039] Establishing a correspondence between a combination of threshold regions to which the plurality of types of driving parameters belong and a control instruction for adjusting an operating state of the suspension;

[0040] The method of determining the control instruction for adjusting the operating state of the suspension according to the combination of the threshold areas to which the multiple types of driving parameters respectively belong comprises: determining the control instruction corresponding to the combination of the threshold areas to which the multiple types of driving parameters respectively belong according to the corresponding relationship.

[0041] Optionally, the types of driving parameters include vehicle speed and height differences between different positions of the vehicle body and the ground;

[0042] The multiple threshold areas of vehicle speed include a first vehicle speed threshold area, a second vehicle speed threshold area and a third vehicle speed threshold area; wherein the first vehicle speed threshold area is less than the first vehicle speed threshold and greater than the second vehicle speed threshold, the second vehicle speed threshold area is greater than or equal to the first vehicle speed threshold, and the third vehicle speed threshold area is less than the second vehicle speed threshold;

[0043] The multiple height difference threshold areas include a first height difference threshold area and a second height difference threshold area, the first height difference threshold area is less than or equal to the height difference threshold, and the second height difference threshold area is greater than the height difference threshold;

[0044] The corresponding relationship includes:

[0045] When the vehicle speed belongs to the first vehicle speed threshold area or the third vehicle speed threshold area, and the height difference belongs to the first height difference threshold area, the corresponding control instruction is: adjusting the suspension to a standard operating state;

[0046] When the vehicle speed belongs to the second vehicle speed threshold range, and the height difference belongs to the first height difference threshold range, the corresponding control instruction is: adjusting the suspension to a high-speed operating state different from a standard operating state;

[0047] When the vehicle speed belongs to the third vehicle speed threshold region and the height difference belongs to the second height difference threshold region, the corresponding control instruction is: adjusting the suspension to an off-road operating state different from a standard operating state.

[0048] Optionally, the operating state of the suspension includes a plurality of preset states, and the suspension has a preset suspension height and a suspension balance state in each preset state;

[0049] The adjusting the operating state of the suspension according to the control instruction includes: adjusting at least one of the suspension height and the suspension balance state, so that the suspension reaches a corresponding preset state.

[0050] Optionally, the suspension comprises:

[0051] a first airbag at the left front portion of the vehicle, a second airbag at the right front portion of the vehicle, a third airbag at the right rear portion of the vehicle, and a fourth airbag at the left rear portion of the vehicle;

[0052] The adjusting the height of the suspension includes: adjusting the air pressure in the first airbag, the second airbag, the third airbag, and the fourth airbag;

[0053] The adjusting the balance state of the suspension includes: adjusting the on-off state between the first airbag and the second airbag and the on-off state between the third airbag and the fourth airbag.

[0054] Optionally, the suspension also has a preset stable state in each preset state;

[0055] The adjusting the operating state of the suspension includes: adjusting at least one of the suspension height, adjusting the suspension balance state and adjusting the suspension stability state, so that the suspension reaches a corresponding preset state.

[0056] Optionally, the suspension comprises:

[0057] a first shock absorber at a left front portion of the vehicle, a second shock absorber at a right front portion of the vehicle, a third shock absorber at a right rear portion of the vehicle, and a fourth shock absorber at a left rear portion of the vehicle;

[0058] The adjusting the stable state includes: adjusting the damping of the first shock absorber, the second shock absorber, the third shock absorber and the fourth shock absorber. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0060] Figure 1 Shown is a schematic diagram of an embodiment of a vehicle suspension control method of the present application.

[0061] Figure 2 Shown is a schematic diagram of another embodiment of a method for controlling a vehicle suspension of the present application.

[0062] Figure 3Shown is a schematic diagram of yet another embodiment of a method for controlling a vehicle suspension of the present application.

[0063] Figure 4 Shown is a schematic diagram of yet another embodiment of a method for controlling a vehicle suspension of the present application.

[0064] Figure 5 Shown is a schematic diagram of an embodiment of the suspension balance state of the present application.

[0065] Figure 6 Shown is a schematic diagram of another embodiment of the suspension balance state of the present application.

[0066] Figure 7 Shown is a schematic diagram of yet another embodiment of the suspension balance state of the present application.

[0067] Figure 8 Shown is a schematic diagram of yet another embodiment of the suspension balance state of the present application.

[0068] Fig. 9 Shown is a schematic diagram of yet another embodiment of a method for controlling a vehicle suspension of the present application.

[0069] Fig.10 Shown is a schematic diagram of yet another embodiment of a method for controlling a vehicle suspension of the present application.

[0070] Description of reference numerals:

[0071] Suspension 110 ; first airbag 111 ; second airbag 112 ; third airbag 113 ; fourth airbag 114 . DETAILED DESCRIPTION

[0072] Here, the technical solutions in the embodiments (or "implementations") of the present application will be described clearly and completely in conjunction with the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0073] If there are terms involving directional indications or positional relationships in the embodiments of the present application (such as up, down, left, right, front, back, inside, outside, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings); if the specific posture changes, the directional indication or positional relationship will also change accordingly. In addition, the terms "first", "second", etc. involved in the embodiments of the present application are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance.

[0074] The present application provides a method for controlling a vehicle suspension, such as Figure 1As shown, it includes step S10, step S20 and step S30.

[0075] In step S10, the current driving parameters of the vehicle are obtained, and the threshold region to which the current driving parameters belong is determined. The driving parameters of the vehicle are divided into multiple threshold regions, each of which has a preset value range, and the value ranges of the multiple threshold regions do not overlap with each other.

[0076] In step S20 , a control instruction for adjusting the operating state of the suspension 110 is determined according to the threshold region to which the driving parameter belongs.

[0077] In step S30 , the operating state of the suspension 110 is adjusted according to the control instruction.

[0078] Under different road conditions and driving states, the driving parameters measured by various sensors are different, and the driving parameters of the vehicle belong to different threshold areas. The operating states of the suspension 110 corresponding to different threshold areas are different. The controller can issue corresponding control instructions according to the threshold area to which the driving parameters of the current vehicle belong; according to the control instructions, the operating state of the suspension 110 is adjusted to be consistent with the operating state under the corresponding threshold area, so that the suspension 110 adapts to the road conditions and driving state of the current vehicle. Through the above method, the calculation of driving parameters is reduced, so that the controller can respond quickly to the threshold areas to which different driving parameters belong, so that the operating mode of the suspension 110 is adjusted in time and adapted to the road conditions on which the vehicle is traveling, so that the controller controls the vehicle simply, efficiently and quickly; for the driving parameters within the same threshold area, the operating state of the suspension 110 is the same, so the fault tolerance of the driving parameters detected by the sensor is high, which is convenient for adjusting the operating state of the suspension 110.

[0079] See also Figure 2 As shown, in an optional embodiment, the driving parameter is of a selected type.

[0080] Before obtaining the current driving parameters of the vehicle and determining the threshold region to which the current driving parameters belong in step S10, the method further includes:

[0081] In step S41, a plurality of threshold regions are set for dividing the numerical range of the driving parameter of this type. The numerical ranges of the plurality of threshold regions are different, and the numerical ranges of the plurality of threshold regions do not overlap with each other.

[0082] In step S42 , a correspondence between each threshold region of the type of driving parameter and a control instruction for adjusting the operating state of the suspension 110 is established.

[0083] Step S20, determining a control instruction for adjusting the operating state of the suspension 110 according to the threshold region to which the driving parameter belongs, includes step S21. In step S21, a control instruction corresponding to the threshold region to which the driving parameter belongs is determined according to the corresponding relationship.

[0084] For different types of vehicles, the threshold regions of the same type of driving parameters can be divided differently, or different types of driving parameters can be selected for division according to different vehicle usage scenarios. For different types of vehicles, different control instructions are corresponding to different road conditions, so that the operating state of the suspension 110 is adjusted accordingly according to the type of vehicle and the threshold region to which the driving parameter belongs. The control method of the vehicle suspension 110 is applicable to different types of vehicles and suspensions 110 of different structural types, which is beneficial to the adaptability of the vehicle suspension 110 under complex and changeable driving conditions.

[0085] The threshold areas of driving parameters of the above-mentioned different types of vehicles may be divided during vehicle testing, or may be set according to actual use requirements of the vehicle.

[0086] In an optional embodiment, the type of driving parameter is vehicle speed. The vehicle speed is divided into a first vehicle speed threshold area and a second vehicle speed threshold area. The first vehicle speed threshold area is less than or equal to the first vehicle speed threshold, and the second vehicle speed threshold area is greater than the first threshold. In some embodiments, the first threshold may be 60 km / h, 65 km / h, or 70 km / h, etc.

[0087] The corresponding relationship between the threshold region of the driving parameter and the control instruction for adjusting the operating state of the suspension 110 includes:

[0088] When the vehicle speed belongs to the first vehicle speed threshold area, the corresponding control instruction is: adjust the suspension 110 to the standard operating state. At this time, the vehicle speed is medium speed or low speed. When adjusting the operating mode of the vehicle suspension 110, the roll stiffness of the front and rear parts of the suspension 110 during the driving process of the vehicle can be coordinated and the risk prevention of the vehicle being suspended on one side on a twisted road section can be prevented.

[0089] When the vehicle speed belongs to the second vehicle speed threshold area, the corresponding control instruction is: adjust the suspension 110 to a high-speed operation state different from the standard operation state. At this time, the vehicle speed is high speed. When adjusting the operation mode of the vehicle suspension 110, it is necessary to increase the roll stiffness of the front and rear parts of the suspension 110, so that the vehicle can maintain the stability of the vehicle body when turning at high speed, reduce the roll amplitude, and be beneficial to the ride comfort of the vehicle; at the same time, it reduces the risk of the vehicle rolling over, which is beneficial to the driving safety of the vehicle.

[0090] In an optional embodiment, the type of driving parameter is the height difference between different positions of the vehicle body and the ground. The height difference can be achieved by installing distance sensors at different positions of the vehicle body to detect the distance between the vehicle body and the road on which the vehicle is traveling. The height difference is divided into a first height difference threshold area and a second height difference threshold area. The first height difference threshold area is less than or equal to the height difference threshold; the second height difference threshold area is greater than the height difference threshold. The height difference threshold can be 5 cm or 8 cm, etc.

[0091] The corresponding relationship between the threshold region of the driving parameter and the control instruction for adjusting the operating state of the suspension 110 includes:

[0092] When the height difference belongs to the first height difference threshold area, the corresponding control instruction is: adjust the suspension 110 to the standard operating state. At this time, the height difference between different positions of the vehicle body and the ground is small, and the road surface is relatively stable. When adjusting the operating mode of the vehicle suspension 110, the roll stiffness of the front and rear parts of the suspension 110 of the vehicle during driving can be coordinated, and the risk of the vehicle being suspended on one side on a twisted road section can be prevented.

[0093] When the height difference belongs to the second height difference threshold area, the corresponding control instruction is: adjust the suspension 110 to an off-road operating state different from the standard operating state. At this time, the height difference between different positions of the vehicle body and the ground is large, and the road surface is in poor condition. When adjusting the operating mode of the vehicle suspension 110, it is necessary to improve the vehicle balance when the vehicle is suspended on one side in a twisted road section, reduce the bumps of the vehicle body, and facilitate the ride comfort of the vehicle.

[0094] In an optional embodiment, the heights between different positions of the vehicle body and the ground include: a first height between the left front part of the vehicle and the ground, a second height between the right front part of the vehicle and the ground, a third height between the right rear part of the vehicle and the ground, and a fourth height between the left rear part of the vehicle and the ground.

[0095] In specific settings, corresponding distance sensors can be respectively arranged at the left front wheel position, the right front wheel position, the left rear wheel position and the right rear wheel position of the vehicle body to detect the road conditions that the wheels need to travel on. The height difference includes: a first difference between the first height and the third height, and a second difference between the second height and the fourth height. When the first difference between the first height and the third height is large, there is a risk that one of the left front wheel and the right rear wheel is suspended; when the second difference between the second height and the fourth height is large, there is a risk that one of the right front wheel and the left rear wheel is suspended.

[0096] The case where the height difference belongs to the first height difference threshold area includes: the case where any one of the first difference and the second difference belongs to the first height difference threshold area. That is, when any wheel of the vehicle is at risk of being suspended in the air, it is necessary to improve the vehicle balance when one side of the vehicle is suspended in the air on a twisted road section, reduce the bumps of the vehicle body, and facilitate the ride comfort of the vehicle.

[0097] The case where the height difference belongs to the second height difference threshold area includes: the case where both the first difference and the second difference belong to the second height difference threshold area. That is, when there is no risk of suspension of all wheels in the vehicle, the roll stiffness of the front and rear parts of the suspension 110 of the vehicle during driving and the risk prevention of unilateral suspension of the vehicle on a twisted road section can be coordinated.

[0098] In an optional embodiment, the type of driving parameter is the height of the road obstacle in the direction of vehicle travel, that is, the height of the obstacle on the road where the wheels travel. The road obstacle height is divided into a first obstacle height threshold area and a second obstacle height threshold area. The first obstacle height threshold area is less than or equal to the first obstacle height threshold; the second obstacle height threshold area is greater than the first obstacle height threshold. The first obstacle height threshold can be 5 cm or 8 cm, etc.

[0099] The corresponding relationship between the threshold region of the driving parameter and the control instruction for adjusting the operating state of the suspension 110 includes:

[0100] When the height of the road obstacle belongs to the first obstacle height threshold area, the corresponding control instruction is: adjust the suspension 110 to the standard operating state. At this time, there is no obstacle in the direction of wheel travel or the obstacle height is low, and normal driving can smoothly pass through the obstacle, and the obstacle will not collide or scratch the vehicle body.

[0101] When the height of the road obstacle belongs to the second obstacle height threshold area, the corresponding control instruction is: adjust the suspension 110 to the high-pass operation state. At this time, the height of the obstacle in the direction of wheel travel is high, and it is impossible to drive through the obstacle normally; or, there is a risk of collision or scratching between the obstacle and the vehicle body. At this time, by issuing an adjustment instruction to the suspension 110, such as raising the height of the suspension 110, the distance between the bottom of the vehicle body and the road surface can be increased, thereby avoiding the risk of collision or scratching between the vehicle body and the obstacle, which is conducive to the safe driving of the vehicle.

[0102] In an optional embodiment, the type of driving parameter is the obstacle height above the vehicle in the direction of vehicle travel, that is, the obstacle located above the vehicle in the direction of vehicle travel. The obstacle height is divided into a third obstacle height and a fourth obstacle height. The third obstacle height threshold area is greater than or equal to the second obstacle height threshold; the fourth obstacle height threshold area is less than the second obstacle height threshold.

[0103] The corresponding relationship between the threshold region of the driving parameter and the control instruction for adjusting the operating state of the suspension 110 includes:

[0104] When the obstacle height belongs to the third obstacle height threshold area, the corresponding control instruction is: adjust the suspension 110 to the standard operating state. At this time, there is no aerial obstacle in the direction of wheel travel or the obstacle height is high, and the obstacle will not collide or scratch the vehicle body.

[0105] When the obstacle height belongs to the fourth obstacle height threshold area, the corresponding control instruction is: adjust the suspension 110 to a low-lying running state. At this time, there is an aerial obstacle in the direction of wheel travel, and the height of the obstacle is relatively low, and there is a risk of collision or scratching between the obstacle and the vehicle body. At this time, by issuing an adjustment instruction to the suspension 110, such as lowering the height of the suspension 110, the distance between the bottom of the vehicle body and the lowest point of the obstacle can be increased, thereby avoiding the risk of collision or scratching between the vehicle body and the obstacle, which is conducive to the safe driving of the vehicle.

[0106] refer to Figure 3 As shown, in an optional embodiment, the driving parameters include a selected plurality of types.

[0107] Step S10, obtaining the current driving parameters of the vehicle and determining the threshold region to which the current driving parameters belong, includes step S11. In step S11, each type of driving parameter is obtained, and the threshold region to which each type of driving parameter belongs is determined.

[0108] Step S20, determining a control instruction for adjusting the operating state of the suspension 110 according to the driving parameters and the threshold regions to which they belong, includes step S22. In step S22, a control instruction for adjusting the operating state of the suspension 110 is determined according to a combination of the threshold regions to which the plurality of types of driving parameters belong.

[0109] During vehicle driving, it is necessary to judge the current driving state of the vehicle through various types of driving parameters, and adjust the operating state of the suspension 110 according to the threshold areas to which the various types of driving parameters belong, so that the operating state of the suspension 110 corresponds to the vehicle's driving conditions, road conditions, etc., thereby taking into account both the safety and ride comfort of the vehicle during driving.

[0110] In an optional embodiment, the types of driving parameters include vehicle speed and height differences between different positions of the vehicle body and the ground.

[0111] The multiple threshold areas of vehicle speed include a first vehicle speed threshold area, a second vehicle speed threshold area, and a third vehicle speed threshold area. The first vehicle speed threshold area is less than the first vehicle speed threshold and greater than the second vehicle speed threshold, the second vehicle speed threshold area is greater than or equal to the first vehicle speed threshold, and the third vehicle speed threshold area is less than the second vehicle speed threshold. The first vehicle speed threshold may be 65 km / h, and the second vehicle speed threshold may be 35 km / h.

[0112] The multiple threshold areas of height difference include a first height difference threshold area and a second height difference threshold area, the first height difference threshold area is less than or equal to the height difference threshold, and the second height difference threshold area is greater than the height difference threshold. The height difference threshold may be 5 cm.

[0113] The corresponding relationship between the threshold region of the driving parameter and the control instruction for adjusting the operating state of the suspension 110 includes:

[0114] When the vehicle speed belongs to the first vehicle speed threshold area or the third vehicle speed threshold area, and the height difference belongs to the second height difference threshold area, the corresponding control instruction is: adjust the suspension 110 to the standard operating state. At this time, the vehicle speed is medium or low, the height difference between different positions of the vehicle body and the ground is small, and the road surface is relatively smooth. When adjusting the operating mode of the vehicle suspension 110, the roll stiffness of the front and rear parts of the suspension 110 during driving and the risk prevention of the vehicle being suspended on one side on a twisted road section can be coordinated.

[0115] When the vehicle speed belongs to the first vehicle speed threshold area, and the height difference belongs to the second height difference threshold area, the corresponding control instruction is: adjust the suspension 110 to a height operation state different from the standard operation state. At this time, the vehicle speed is high speed. When adjusting the operation mode of the vehicle suspension 110, it is necessary to increase the roll stiffness of the front and rear parts of the suspension 110, so that the vehicle can maintain the stability of the vehicle body when turning at high speed, reduce the roll amplitude, and be beneficial to the ride comfort of the vehicle; at the same time, it reduces the risk of the vehicle rolling over, which is beneficial to the driving safety of the vehicle.

[0116] When the vehicle speed is in the third vehicle speed threshold region and the height difference is in the first height difference threshold region, the corresponding control instruction is: adjust the suspension 110 to an off-road operating state different from the standard operating state. At this time, the height difference between different positions of the vehicle body and the ground is large, and the road surface is in poor condition. When adjusting the operating mode of the vehicle suspension 110, it is necessary to improve the vehicle balance when the vehicle is suspended on one side in a twisted road section, reduce the bumps of the vehicle body, and facilitate the ride comfort of the vehicle.

[0117] Through the above settings, the operating state of the suspension 110 is adjusted according to the road conditions and driving parameters of the vehicle in different situations, so that it is consistent with the operating state under the corresponding threshold area, so that the suspension 110 adapts to the road conditions and driving state of the current vehicle. Through the above method, the calculation of driving parameters is reduced, so that the controller can quickly respond to the threshold areas to which different driving parameters belong, so that the operating mode of the suspension 110 is adjusted in time and adapted to the road conditions on which the vehicle is traveling, so that the controller controls the vehicle simply, efficiently and quickly; for the driving parameters within the same threshold area, the operating state of the suspension 110 is the same, so the fault tolerance of the driving parameters detected by the sensor is high, which facilitates the adjustment of the operating state of the suspension 110.

[0118] In some embodiments, different types of driving parameters may also have a priority order. For example, the priority of the height difference between different positions of the vehicle body and the ground is higher than the priority of the vehicle speed. When obtaining the current driving parameters of the vehicle, it is prioritized to determine whether the height difference belongs to the first height difference threshold area. When the height difference belongs to the second height difference threshold area, the operating state of the suspension 110 is adjusted to an off-road operating state; and if the vehicle speed does not belong to the third vehicle speed threshold area at this time, the vehicle controller needs to adjust the vehicle speed to reduce the vehicle speed to within the third vehicle speed threshold area to ensure the driving safety of the vehicle. When the height difference belongs to the first height difference threshold area, the vehicle speed is obtained, and the operating state of the suspension 110 is adjusted according to the vehicle speed threshold area to which the current vehicle speed belongs.

[0119] In other embodiments, the priority of the height of the road obstacle is higher than the priority of the height difference between different positions of the vehicle body and the ground, and the priority of the height difference between different positions of the vehicle body and the ground is higher than the priority of the vehicle speed. When there is an obstacle in the direction of vehicle travel, the height of the obstacle is detected. When the height of the road obstacle belongs to the second obstacle height threshold area, the operating state of the suspension 110 is preferentially adjusted to the high-pass operating state; when the height of the road obstacle belongs to the fourth obstacle height threshold area, the operating state of the suspension 110 is preferentially adjusted to the low-lying operating state; when the height of the road obstacle belongs to both the second obstacle height threshold area and the fourth obstacle height threshold area, that is, there are obstacles at the bottom and top of the vehicle body in the direction of vehicle travel, and there is a risk of collision between the obstacle and the vehicle body, the vehicle controller will control the vehicle to stop or let the driver determine whether to detour to avoid the obstacle. When the height of the road obstacle belongs to both the first obstacle height threshold area and the third obstacle height threshold area, it is determined whether the height difference belongs to the first height difference threshold area. When the height difference belongs to the second height difference threshold area, the operation state of the suspension 110 is adjusted to the off-road operation state; and if the vehicle speed does not belong to the third vehicle speed threshold area at this time, the vehicle controller needs to adjust the vehicle speed to reduce the vehicle speed to within the third vehicle speed threshold area to ensure the driving safety of the vehicle. When the height difference belongs to the first height difference threshold area, the vehicle speed is obtained, and the operation state of the suspension 110 is adjusted according to the vehicle speed threshold area to which the current vehicle speed belongs.

[0120] In an optional embodiment, the operating state of the suspension 110 includes a plurality of preset states, and the suspension 110 has a preset height of the suspension 110 and a balanced state of the suspension 110 in each preset state.

[0121] refer to Figure 4 As shown, step S30, adjusting the operating state of the suspension 110 so that the suspension 110 reaches a corresponding preset state, includes at least one of step S31 and step S32. In step S31, the height of the suspension 110 is adjusted so that the suspension 110 reaches a corresponding preset state. In step S32, the balance state of the suspension 110 is adjusted so that the suspension 110 reaches a corresponding preset state.

[0122] By presetting the operating state of the suspension 110, after obtaining the driving parameters of the vehicle, the preset state corresponding to the threshold area can be directly called according to the threshold area to which the driving parameters belong, and the operating state of the suspension 110 can be controlled to reach the corresponding preset state. The above control method reduces the complex calculation process, so that the controller can control the vehicle simply, efficiently and quickly. For the driving parameters within the same threshold area, the operating state of the suspension 110 is the same, so the fault tolerance for the driving parameters detected by the sensor is high, which facilitates the adjustment of the operating state of the suspension 110.

[0123] refer to Figure 5-8 As shown, in an optional embodiment, the suspension 110 includes: a first airbag 111 at the left front portion of the vehicle, a second airbag 112 at the right front portion of the vehicle, a third airbag 113 at the right rear portion of the vehicle, and a fourth airbag 114 at the left rear portion of the vehicle.

[0124] In an optional embodiment, step S31, adjusting the height of the suspension 110, includes step S311. In step S311, the air pressure in the first airbag 111, the second airbag 112, the third airbag 113, and the fourth airbag 114 is adjusted. Specifically, the first airbag 111, the second airbag 112, the third airbag 113, and the fourth airbag 114 are inflated or exhausted, and the height between the left front part, the right front part, the right rear part, and the left rear of the vehicle and the ground is measured, so that the measured height between the vehicle and the ground corresponds to the preset height of the suspension 110.

[0125] In some embodiments, the height of the suspension 110 includes a preset first descent height, a second descent height, a standard height, a second rise height and a first rise height, and the first descent height, the second descent height, the standard height, the second rise height and the first rise height increase in sequence.

[0126] In an optional embodiment, step S32, adjusting the balance state of the suspension 110, includes step S321. In step S321, the on-off state between the first airbag 111 and the second airbag 112 and the on-off state between the third airbag 113 and the fourth airbag 114 are adjusted.

[0127] In some embodiments, the balancing method of the suspension 110 includes: the first airbag 111 and the second airbag 112 are connected, and the third airbag 113 and the fourth airbag 114 are connected. Figure 5 As shown, the vehicle suspension 110 is in a balanced state of two-point support, the left and right air paths of the front airbag and the rear airbag of the suspension 110 are connected, and the left and right linkage is balanced, which can reduce the imbalance of the vehicle due to unilateral suspension in the twisted section; the first airbag 111 and the second airbag 112 are connected to each other, and the third airbag 113 and the fourth airbag 114 are disconnected from each other, as shown in FIG. Figure 6 As shown, the vehicle suspension 110 is in a balanced state of three-point support with one point in front and two points in the back, which can reduce the imbalance of one side of the vehicle suspended in the twisted road section and is suitable for the state of heavy-loaded vehicles; the first airbag 111 and the second airbag 112 are disconnected from each other, and the third airbag 113 and the fourth airbag 114 are connected to each other, as shown in FIG. Figure 7 As shown, the vehicle suspension 110 is in a balanced state of three-point support with two front points and one rear point, which can reduce the imbalance of one side of the vehicle suspended in the twisted road section, and is suitable for the state of the vehicle being unloaded or lightly loaded; the first airbag 111 and the second airbag 112 are disconnected from each other, and the third airbag 113 and the fourth airbag 114 are disconnected from each other, as shown in FIG. Figure 8As shown, the vehicle suspension 110 is in a four-point supported equilibrium state, which is beneficial to improving the roll stiffness of the front and rear parts of the suspension 110 .

[0128] In some embodiments, the first speed threshold area is a medium speed, the second speed threshold area is a high speed, and the third speed threshold area is a low speed.

[0129] In some embodiments, the corresponding relationship between the threshold area to which the driving parameter belongs and the preset state, the preset height of the suspension 110 corresponding to the preset state, and the balance state of the suspension 110 are shown in Table 1.

[0130]

[0131] Table 1

[0132] The driving parameters of the vehicle also include the acceleration of the vehicle and the load of the vehicle.

[0133] When the vehicle speed belongs to the first vehicle speed threshold area or the third vehicle speed threshold area, the height difference belongs to the second height difference threshold area, and the obstacle height belongs to the first obstacle height threshold area and the third obstacle height threshold area, the corresponding control instruction is: adjust the suspension 110 to the standard operating state. At this time, the vehicle speed is medium or low, the height difference between different positions of the vehicle body and the ground is small, and the road surface is relatively smooth. When adjusting the operating mode of the vehicle suspension 110, the roll stiffness of the front and rear parts of the suspension 110 during driving and the risk prevention of the vehicle being suspended on one side on a twisted road section can be coordinated.

[0134] By acquiring the acceleration of the vehicle, specifically, it can be the average acceleration value within a period of time. The threshold area of ​​acceleration includes a first acceleration threshold area and a second acceleration threshold area. The first acceleration threshold area is less than or equal to the acceleration threshold; the second acceleration threshold area is greater than the acceleration threshold. When the acceleration belongs to the first acceleration threshold area, it is determined that the operating state of the suspension 110 is a straight-ahead state. When the operating state of the suspension 110 is a straight-ahead state, the balance state of the suspension 110 is controlled to be a balance state of one point after the first two points or a balance state of two points after the first point, and the height of the suspension 110 is determined to be a standard height. When the acceleration belongs to the second acceleration threshold area, it is determined that the balance state of the suspension 110 is a four-point supported balance state.

[0135] The load of the vehicle can be divided into a first load threshold area, a second load threshold area and a third load threshold area. The first load threshold area is less than or equal to the first load threshold; the second load threshold area is greater than the first load threshold and less than or equal to the second load threshold; the third load threshold area is greater than the second load threshold. When the load of the vehicle is unloaded or lightly loaded. The first load threshold and the second load threshold can be divided according to the size and type of the vehicle. When the load of the vehicle belongs to the first load threshold area, the operating state of the suspension 110 is determined to be an unloaded operating state. When the load of the vehicle belongs to the second load threshold area, the operating state of the suspension 110 is determined to be a lightly loaded operating state. When the operating state of the suspension 110 is an unloaded operating state or a lightly loaded operating state, the balance state of the suspension 110 is controlled to be a balance state of the first two points and the second point, and the height of the suspension 110 is a standard height. When the load of the vehicle belongs to the third load threshold area, the operating state of the suspension 110 is controlled to be a heavy-loaded operating state. When the operation state of the suspension 110 is a heavy-load operation state, the balance state of the suspension 110 is controlled to be a balance state of the front point and the rear two points, and the height of the suspension 110 is a standard height.

[0136] When the vehicle speed belongs to the first vehicle speed threshold area, the height difference belongs to the second height difference threshold area, and the obstacle height belongs to the first obstacle height threshold area and the third obstacle height threshold area, the corresponding control instruction is: adjust the suspension 110 to a height operation state different from the standard operation state. At this time, the vehicle speed is high speed. When adjusting the operation mode of the vehicle suspension 110, it is necessary to increase the roll stiffness of the front and rear parts of the suspension 110, so that the vehicle can maintain the stability of the vehicle body when turning at high speed, reduce the roll amplitude, and be beneficial to the ride comfort of the vehicle; at the same time, it reduces the risk of vehicle rollover, which is beneficial to the driving safety of the vehicle.

[0137] When the vehicle speed belongs to the third vehicle speed threshold area, the height difference belongs to the first height difference threshold area, and the obstacle height belongs to the first obstacle height threshold area and the third obstacle height threshold area, the corresponding control instruction is: adjust the suspension 110 to an off-road operation state different from the standard operation state. At this time, the height difference between different positions of the vehicle body and the ground is large, and the road surface is not stable. When adjusting the operation mode of the vehicle suspension 110, it is necessary to improve the vehicle balance when the vehicle is suspended on one side in a twisted road section, reduce the bumps of the vehicle body, and facilitate the ride comfort of the vehicle.

[0138] When the vehicle speed belongs to the third vehicle speed threshold area and the obstacle height belongs to the second obstacle height threshold area, the corresponding control instruction is: adjust the suspension 110 to an off-road operating state different from the standard operating state. At this time, the obstacle height in the direction of wheel travel is high, and it is impossible to drive through the obstacle normally; or, there is a risk of collision or scratching between the obstacle and the vehicle body. At this time, by issuing an adjustment instruction to the suspension 110, such as raising the height of the suspension 110, the distance between the bottom of the vehicle body and the road surface can be increased, thereby avoiding the risk of collision or scratching between the vehicle body and the obstacle, which is conducive to the safe driving of the vehicle.

[0139] When the vehicle speed belongs to the third vehicle speed threshold area and the obstacle height belongs to the fourth obstacle height threshold area, the corresponding control instruction is: adjust the suspension 110 to a low-lying running state. At this time, there is an aerial obstacle in the direction of wheel travel, and the height of the obstacle is relatively low, and there is a risk of collision or scratching between the obstacle and the vehicle body. At this time, by issuing an adjustment instruction to the suspension 110, such as lowering the height of the suspension 110, the distance between the bottom of the vehicle body and the lowest point of the obstacle can be increased, thereby avoiding the risk of collision or scratching between the vehicle body and the obstacle, which is conducive to the safe driving of the vehicle.

[0140] refer to Fig. 9 As shown, in some optional embodiments, the suspension 110 also has a preset stable state in each preset state.

[0141] Step S30, adjusting the operating state of the suspension 110, includes at least one of step S31, step S32 and step S33. In step S31, the height of the suspension 110 is adjusted so that the suspension 110 reaches a corresponding preset state. In step S32, the balance state of the suspension 110 is adjusted so that the suspension 110 reaches a corresponding preset state. In step S33, the stability state of the suspension 110 is adjusted so that the suspension 110 reaches a corresponding preset state.

[0142] By presetting the operating state of the suspension 110, after obtaining the driving parameters of the vehicle, the preset state corresponding to the threshold area can be directly called according to the threshold area to which the driving parameters belong, and the operating state of the suspension 110 can be controlled to reach the corresponding preset state. The above control method reduces the complex calculation process, so that the controller can control the vehicle simply, efficiently and quickly. For the driving parameters within the same threshold area, the operating state of the suspension 110 is the same, so the fault tolerance for the driving parameters detected by the sensor is high, which facilitates the adjustment of the operating state of the suspension 110.

[0143] The suspension 110 includes a first shock absorber at a left front portion of the vehicle, a second shock absorber at a right front portion of the vehicle, a third shock absorber at a right rear portion of the vehicle, and a fourth shock absorber at a left rear portion of the vehicle.

[0144] According to the control instruction, the operating state of the suspension 110 is adjusted, including:

[0145] Step S33, adjusting the stable state, includes step S331. In step S331, the damping of the first shock absorber, the second shock absorber, the third shock absorber and the fourth shock absorber is adjusted.

[0146] By adjusting the damping of the first shock absorber, the second shock absorber, the third shock absorber and the fourth shock absorber, the bumpy conditions of the vehicle driving on roads of different flatnesses are adjusted, so that the operating state of the suspension 110 can adapt to different road conditions and vehicle driving conditions, while ensuring the stability and driving safety of the vehicle and taking into account the ride comfort of the vehicle.

[0147] It should be noted that the suspension may also include a number of distribution valves corresponding to the first airbag 111, the second airbag 112, the third airbag 113 and the fourth airbag 114 to control the air intake and exhaust of the first airbag 111, the second airbag 112, the third airbag 113 and the fourth airbag 114; it also includes front and rear isolation valves for isolating the first airbag 111 and the second airbag 112 or the third airbag 113 and the fourth airbag 114 when they are connected, and jointly regulating the connection and disconnection between the first airbag 111, the second airbag 112, and the third airbag 113 and the fourth airbag 114 through the distribution valves and the front and rear isolation valves.

[0148] The suspension may further include a plurality of shock absorber damping valves arranged corresponding to the first shock absorber, the second shock absorber, the third shock absorber and the fourth shock absorber, and the damping of the first shock absorber, the second shock absorber, the third shock absorber and the fourth shock absorber is adjusted by the shock absorber damping valves.

[0149] The present invention realizes active suspension by conditional reflex, obtains driving parameters through multiple sensors, and directly corresponds to the on-off instruction group of each valve such as the distribution valve, front and rear isolation valves, and shock absorber damping valve of the suspension through multiple threshold area combinations of different driving parameters, so as to realize real-time active suspension adjustment. The present invention has no calculation and analysis delay, high fault tolerance, and makes the control of the active suspension system simple and efficient.

[0150] The present invention is based on a conditional reflex control method, and uses a fuzzy method to divide multiple groups of threshold regions for multiple driving parameters acquired by sensors. According to the combination of the threshold regions of multiple driving parameters, that is, Fig.10 The sensor domain value group shown in the figure, the controller uses a fuzzy method to determine the combination of multiple valve control values ​​for multiple valve body control outputs, that is, Fig.10 The sensor range values ​​are shown.

[0151] The controller can form a sensor domain value group through multiple threshold area combinations such as the XYZ three-axis angular velocity and XYZ three-axis acceleration of the vehicle speed sensor, height sensor, pressure sensor and six-axis gyroscope. The controller issues a threshold instruction group of the distribution valve, front and rear isolation valves, and shock absorber damping valve corresponding to various threshold area combinations to directly determine the connection and disconnection between the first airbag 111 and the second airbag 112, between the third airbag 113 and the fourth airbag 114, the damping of the shock absorber, the inflation and deflation of the first airbag 111, the second airbag 112, the third airbag 113 and the fourth airbag 114 and the inflation and deflation time or the height of the suspension, so as to adjust the operating state of the suspension and meet the needs of active suspension control.

[0152] The calculation of driving parameters is reduced, so that the controller can respond quickly to the threshold areas to which different driving parameters belong, so that the operation mode of the suspension can be adjusted in time and adapted to the road conditions on which the vehicle is traveling, and the controller can control the vehicle simply, efficiently and quickly. For driving parameters within the same threshold area, the operating state of the suspension is the same, so the fault tolerance for the driving parameters detected by the sensor is high, which facilitates the adjustment of the operating state of the suspension.

[0153] It should be noted that the technical solutions or technical features described in the above embodiments can be combined or supplemented with each other without causing conflicts. The scope of protection of this application is not limited to the precise structures described in the above embodiments and shown in the drawings; all modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this application should be included in the scope of protection of this application.

Claims

1. A method for controlling a vehicle suspension, characterized in that: include: Acquiring a current driving parameter of the vehicle and determining a threshold region to which the current driving parameter belongs, wherein the threshold region has a preset value range; determining a control instruction for adjusting the operating state of the suspension according to the threshold region to which the driving parameter belongs; According to the control instruction, the operating state of the suspension is adjusted.

2. The control method according to claim 1, characterized in that: The driving parameter is a selected type; Before obtaining the current driving parameters of the vehicle and determining the threshold region to which the current driving parameters belong, the method further includes: Setting a plurality of threshold regions for dividing the numerical range of the driving parameter of this type, wherein the numerical ranges of the plurality of threshold regions are different; Establishing a correspondence between each threshold region of the type of driving parameter and a control instruction for adjusting the operating state of the suspension; Determining the control instruction for adjusting the operating state of the suspension according to the threshold region to which the driving parameter belongs includes: determining the control instruction corresponding to the threshold region to which the driving parameter belongs according to the corresponding relationship.

3. The control method according to claim 2, characterized in that: The type of the driving parameter is vehicle speed; The corresponding relationship includes: When the vehicle speed belongs to the first vehicle speed threshold range, the corresponding control instruction is: adjust the suspension to a standard operating state; wherein the first vehicle speed threshold range is less than or equal to the first vehicle speed threshold; When the vehicle speed belongs to a second vehicle speed threshold range, the corresponding control instruction is: adjusting the suspension to a high-speed operating state different from a standard operating state; wherein the second vehicle speed threshold range is greater than the first vehicle speed threshold.

4. The control method according to claim 2, characterized in that: The type of driving parameter is the height difference between different positions of the vehicle body and the ground; The corresponding relationship includes: When the height difference belongs to the first height difference threshold area, the corresponding control instruction is: adjust the suspension to a standard operating state; the first height difference threshold area is less than or equal to the height difference threshold; When the height difference belongs to the second height difference threshold area, the corresponding control instruction is: adjust the suspension to an off-road operating state different from the standard operating state; the second height difference threshold area is greater than the height difference threshold.

5. The control method according to claim 4, characterized in that: The heights between different positions of the vehicle body and the ground include: a first height between the left front part of the vehicle and the ground, a second height between the right front part of the vehicle and the ground, a third height between the right rear part of the vehicle and the ground, and a fourth height between the left rear part of the vehicle and the ground; The height difference includes: a first difference between the first height and the third height, and a second difference between the second height and the fourth height; The when the height difference belongs to the first height difference threshold area includes: when any one of the first difference and the second difference belongs to the first height difference threshold area; The when the height difference belongs to a second height difference threshold area includes: when both the first difference and the second difference belong to a second height difference threshold area.

6. The control method according to claim 2, characterized in that: The type of the driving parameter is the height of the road obstacle in the direction of vehicle travel; The corresponding relationship includes: When the road obstacle height belongs to the first obstacle height threshold area, the corresponding control instruction is: adjust the suspension to a standard operating state; the first obstacle height threshold area is less than or equal to the first obstacle height threshold; When the road obstacle height belongs to the second obstacle height threshold area, the corresponding control instruction is: adjust the suspension to a high-pass operating state; the second obstacle height threshold area is greater than the first obstacle height threshold.

7. The control method according to claim 2, characterized in that: The type of the driving parameter is the height of obstacles above the vehicle in the direction of vehicle travel; The corresponding relationship includes: When the obstacle height belongs to the third obstacle height threshold area, the corresponding control instruction is: adjust the suspension to a standard operating state; the third obstacle height threshold area is greater than or equal to the second obstacle height threshold; When the obstacle height belongs to the fourth obstacle height threshold area, the corresponding control instruction is: adjust the suspension to a low-lying operating state; the fourth obstacle height threshold area is smaller than the second obstacle height threshold.

8. The control method according to claim 1, characterized in that: The driving parameters include a selected plurality of types; The obtaining of the current driving parameters of the vehicle and determining the threshold region to which the current driving parameters belong includes: obtaining each type of driving parameter and determining the threshold region to which each type of driving parameter belongs; Determining the control instruction for adjusting the operating state of the suspension according to the driving parameters and the threshold regions to which they belong includes: determining the control instruction for adjusting the operating state of the suspension according to a combination of the threshold regions to which the multiple types of driving parameters respectively belong.

9. The control method according to claim 8, characterized in that: Before obtaining each type of driving parameter, the method further includes: For each type of driving parameter, a plurality of threshold regions for dividing the value range are respectively set, and the value ranges of the plurality of threshold regions for the same type of driving parameter are different; Establishing a correspondence between a combination of threshold regions to which the plurality of types of driving parameters belong and a control instruction for adjusting an operating state of the suspension; The method of determining the control instruction for adjusting the operating state of the suspension according to the combination of the threshold areas to which the multiple types of driving parameters respectively belong comprises: determining the control instruction corresponding to the combination of the threshold areas to which the multiple types of driving parameters respectively belong according to the corresponding relationship.

10. The control method according to claim 9, characterized in that: The types of driving parameters include vehicle speed and height differences between different positions of the vehicle body and the ground; The multiple threshold areas of vehicle speed include a first vehicle speed threshold area, a second vehicle speed threshold area and a third vehicle speed threshold area; wherein the first vehicle speed threshold area is less than the first vehicle speed threshold and greater than the second vehicle speed threshold, the second vehicle speed threshold area is greater than or equal to the first vehicle speed threshold, and the third vehicle speed threshold area is less than the second vehicle speed threshold; The multiple height difference threshold areas include a first height difference threshold area and a second height difference threshold area, the first height difference threshold area is less than or equal to the height difference threshold, and the second height difference threshold area is greater than the height difference threshold; The corresponding relationship includes: When the vehicle speed belongs to the first vehicle speed threshold area or the third vehicle speed threshold area, and the height difference belongs to the first height difference threshold area, the corresponding control instruction is: adjusting the suspension to a standard operating state; When the vehicle speed belongs to the second vehicle speed threshold range, and the height difference belongs to the first height difference threshold range, the corresponding control instruction is: adjusting the suspension to a high-speed operating state different from a standard operating state; When the vehicle speed belongs to the third vehicle speed threshold region and the height difference belongs to the second height difference threshold region, the corresponding control instruction is: adjusting the suspension to an off-road operating state different from a standard operating state.

11. The control method according to claim 10, characterized in that: The operating state of the suspension includes a plurality of preset states, and the suspension has a preset suspension height and a suspension balance state in each preset state; The adjusting the operating state of the suspension according to the control instruction includes: adjusting at least one of the suspension height and the suspension balance state, so that the suspension reaches a corresponding preset state.

12. The control method according to claim 11, characterized in that: The suspension comprises: a first airbag at the left front portion of the vehicle, a second airbag at the right front portion of the vehicle, a third airbag at the right rear portion of the vehicle, and a fourth airbag at the left rear portion of the vehicle; The adjusting the height of the suspension includes: adjusting the air pressure in the first airbag, the second airbag, the third airbag, and the fourth airbag; The adjusting the balance state of the suspension includes: adjusting the on-off state between the first airbag and the second airbag and the on-off state between the third airbag and the fourth airbag.

13. The control method according to claim 10, characterized in that: The suspension also has a preset stable state in each preset state; The adjusting the operating state of the suspension includes: adjusting at least one of the suspension height, adjusting the suspension balance state and adjusting the suspension stability state, so that the suspension reaches a corresponding preset state.

14. The control method according to claim 13, characterized in that: The suspension comprises: a first shock absorber at a left front portion of the vehicle, a second shock absorber at a right front portion of the vehicle, a third shock absorber at a right rear portion of the vehicle, and a fourth shock absorber at a left rear portion of the vehicle; The adjusting the stable state includes: adjusting the damping of the first shock absorber, the second shock absorber, the third shock absorber and the fourth shock absorber.

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