Vehicle control method

Abstract

The invention provides a control method of a vehicle. The vehicle comprises a suspension, the suspension comprises a first airbag, a second airbag, a third airbag and a fourth airbag, the first airbag and the second airbag are located on the two sides of the front end of the suspension, and the third airbag and the fourth airbag are located on the two sides of the rear end of the suspension. The vehicle comprises multiple different operation modes, each operation mode has corresponding target operation parameters, the target operation parameters comprise the target balance state of the suspension, and the balance state of the suspension comprises the communication state between the first air bag and the second air bag and the communication state between the third air bag and the fourth air bag. The control method comprises the steps of determining an operation mode of the vehicle; and adjusting the running parameters of the vehicle to the target running parameters, wherein the step of adjusting the balance state of the suspension to the target balance state corresponding to the running mode is included. The suspension can adapt to different road conditions and different driving conditions; and the balance state of the suspension is adjusted, so that the driving safety and the riding comfort of the vehicle are facilitated.

Description

Technical Field

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

[0002] In the related technology, the vehicle collects road information based on a variety of sensors for data analysis and calculation, and adjusts the vehicle suspension or other operating parameters based on the calculation results. The lack of unified adjustment of various vehicle operating parameters makes the suspension less adaptable under different road conditions, which is not conducive to driving safety and ride comfort. Summary of the invention

[0003] The present application provides a vehicle control method for improving suspension adaptability, driving safety and riding comfort.

[0004] The present application provides a control method for a vehicle, the vehicle comprising a suspension, the suspension comprising a first airbag, a second airbag, a third airbag and a fourth airbag, the first airbag and the second airbag being located at both sides of a front end of the suspension, the third airbag and the fourth airbag being located at both sides of a rear end of the suspension;

[0005] The vehicle includes a plurality of different operating modes, each of the operating modes has a corresponding target operating parameter, the target operating parameter includes a target equilibrium state of the suspension, and the equilibrium state of the suspension includes: a communication state between the first airbag and the second airbag and a communication state between the third airbag and the fourth airbag;

[0006] The control method comprises:

[0007] Determine the vehicle's operating mode;

[0008] Adjusting the operating parameters of the vehicle to the target operating parameters includes: adjusting the equilibrium state of the suspension to a target equilibrium state corresponding to the operating mode.

[0009] In the present application, according to different operation modes of the vehicle, the balance state of the suspension is adjusted to the target balance state corresponding to the operation mode, specifically including the first airbag and the second airbag are connected, the third airbag and the fourth airbag are connected; the first airbag and the second airbag are disconnected, the third airbag and the fourth airbag are connected; the first airbag and the second airbag are connected, the third airbag and the fourth airbag are disconnected; and the first airbag and the second airbag are disconnected, the third airbag and the fourth airbag are disconnected. When the first airbag and the second airbag are connected, and the third airbag and the fourth airbag are connected, the vehicle suspension is in a two-point support mode, the left and right air paths of the front airbag assembly and the rear airbag assembly are connected, and the left and right linkage is balanced, which can reduce the imbalance of the whole vehicle due to one-sided suspension in the twisted section. When the first airbag and the second airbag are disconnected from each other, and the third airbag and the fourth airbag are connected to each other, the vehicle suspension is in a three-point support mode with two points in front and one point in the back, which can reduce the imbalance of one-sided suspension of the whole vehicle in the twisted section, and is suitable for the state of the vehicle being unloaded or lightly loaded. When the first airbag and the second airbag are connected to each other, and the third airbag and the fourth airbag are disconnected from each other, the vehicle suspension is in a three-point support mode with one point in front and two points in the back, which can reduce the imbalance of the vehicle on one side in the twisted road section, and is suitable for the state of heavy load of the vehicle. When the first airbag and the second airbag are disconnected from each other, and the third airbag and the fourth airbag are disconnected from each other, the vehicle suspension is in a four-point support mode, which is conducive to improving the roll stiffness of the front and rear parts of the suspension when driving at high speed. The various operating modes of the vehicle are associated with various operating parameters, especially with the balance state of the suspension. When the vehicle switches the operating mode corresponding to the road condition and driving condition, the suspension can switch to the corresponding balance state, so that the suspension can adapt to different road conditions and different driving conditions; by adjusting the balance state of the suspension, it is beneficial to the driving safety and riding comfort of the vehicle.

[0010] Optionally, determining the operating mode of the vehicle includes: determining the operating mode in response to the control instruction; or

[0011] Determining the operating mode of the vehicle includes: determining the operating mode according to current driving parameters of the vehicle; the driving parameters include: at least one of the vehicle speed, the driving condition of the vehicle, the height between the suspension and the road surface, and the load of the vehicle.

[0012] Optionally, the operating mode includes a first operating mode; in the target operating parameters corresponding to the first operating mode, the target equilibrium state of the suspension includes:

[0013] The first airbag and the second airbag are disconnected, and the third airbag and the fourth airbag are disconnected; or

[0014] The first airbag and the second airbag are disconnected, and the third airbag and the fourth airbag are connected; or

[0015] The first airbag is connected to the second airbag, and the third airbag is disconnected from the fourth airbag.

[0016] Optionally, when the operation mode of the vehicle is the first operation mode, before adjusting the operation parameter of the vehicle to the target operation parameter, the method further includes: acquiring the acceleration or carrying weight of the vehicle;

[0017] Adjusting the operating parameters of the vehicle to the target operating parameters includes: adjusting the equilibrium state of the suspension to the target equilibrium state corresponding to the operating mode according to the acceleration or the load weight.

[0018] Optionally, adjusting the equilibrium state of the suspension to a target equilibrium state corresponding to the operation mode according to the acceleration or the load weight includes: when the acceleration is greater than an acceleration setting value, controlling the first airbag and the second airbag to be disconnected, and the third airbag and the fourth airbag to be disconnected;

[0019] When the acceleration is less than or equal to the acceleration setting value, the first airbag and the second airbag are controlled to be disconnected, and the third airbag and the fourth airbag are connected; or the first airbag and the second airbag are controlled to be connected, and the third airbag and the fourth airbag are disconnected;

[0020] When the load-bearing weight is greater than the load-bearing weight setting value, the first airbag and the second airbag are controlled to be disconnected, and the third airbag and the fourth airbag are controlled to be connected;

[0021] When the load-bearing weight is less than or equal to the load-bearing weight setting value, the first airbag and the second airbag are controlled to be connected, and the third airbag and the fourth airbag are disconnected.

[0022] Optionally, among the multiple different operating modes, the first operating mode is a default operating mode.

[0023] Optionally, the operating mode includes a second operating mode; in the target operating parameters corresponding to the second operating mode, the target equilibrium state of the suspension includes:

[0024] The first airbag and the second airbag are disconnected, and the third airbag and the fourth airbag are disconnected.

[0025] Optionally, the operating mode includes a third operating mode; in the target operating parameters corresponding to the third operating mode, the target equilibrium state of the suspension includes:

[0026] The first airbag is communicated with the second airbag, and the third airbag is communicated with the fourth airbag.

[0027] Optionally, the operating mode includes a fourth operating mode; in the target operating parameters corresponding to the fourth operating mode, the target equilibrium state of the suspension includes:

[0028] The first airbag and the second airbag are disconnected, and the third airbag and the fourth airbag are disconnected.

[0029] Optionally, the operating mode includes a fifth operating mode; in the target operating parameters corresponding to the fifth operating mode, the target equilibrium state of the suspension includes: the first airbag and the second airbag are disconnected, and the third airbag and the fourth airbag are disconnected.

[0030] Optionally, the target operating parameters further include: a target vehicle speed and a target height of the suspension;

[0031] In the case where the operating mode is determined in response to the control command, adjusting the operating parameters of the vehicle to the target operating parameters includes:

[0032] The balance state of the suspension is adjusted to a target balance state corresponding to the operation mode, the speed of the vehicle is adjusted to a target speed corresponding to the operation mode, and the height of the suspension is adjusted to a target height corresponding to the operation mode.

[0033] Optionally, the operating mode includes a fourth operating mode;

[0034] The height of the suspension at least includes a first descending height, a standard height and a first ascending height which increase in sequence; the standard height is a default height;

[0035] In the target operating parameters corresponding to the fourth operating mode, the target equilibrium state of the suspension includes: the first airbag and the second airbag are disconnected, and the third airbag and the fourth airbag are disconnected;

[0036] The target height of the suspension is the first ascending height.

[0037] Optionally, the operating mode includes a fifth operating mode;

[0038] The height of the suspension at least includes a first descending height, a standard height and a first ascending height which increase in sequence; the standard height is a default height;

[0039] In the target operating parameters corresponding to the fifth operating mode, the target equilibrium state of the suspension includes: the first airbag and the second airbag are disconnected, and the third airbag and the fourth airbag are disconnected;

[0040] The target height of the suspension is the first descent height. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] 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.

[0042] Figure 1 Shown is a schematic diagram of an embodiment of a balanced state of a suspension of a vehicle of the present application.

[0043] Figure 2 Shown is a schematic diagram of another embodiment of the balanced state of the suspension of the vehicle of the present application.

[0044] Figure 3 Shown is a schematic diagram of yet another embodiment of the balanced state of the suspension of the vehicle of the present application.

[0045] Figure 4 Shown is a schematic diagram of yet another embodiment of the balanced state of the suspension of the vehicle of the present application.

[0046] Figure 5 Shown is a schematic diagram of an embodiment of a vehicle control method of the present application.

[0047] Figure 6 Shown is a schematic diagram of another embodiment of a vehicle control method of the present application.

[0048] Figure 7 Shown is a schematic diagram of yet another embodiment of the vehicle control method of the present application.

[0049] Figure 8 Shown is a schematic diagram of yet another embodiment of the vehicle control method of the present application.

[0050] Description of reference numerals:

[0051] Suspension 110 ; first airbag 111 ; second airbag 112 ; third airbag 113 ; fourth airbag 114 . DETAILED DESCRIPTION

[0052] 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.

[0053] 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.

[0054] The present application provides a vehicle control method. The following is a detailed description of the pre-tank oil quality inspection system of the present application in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments and implementations can be combined with each other.

[0055] See also Figure 1-4 As shown, the vehicle includes a suspension 110 and a body, and the body is arranged on the suspension 110. The suspension 110 includes a first airbag 111, a second airbag 112, a third airbag 113 and a fourth airbag 114. The first airbag 111 and the second airbag 112 are located at both sides of the front end of the suspension 110, and the third airbag 113 and the fourth airbag 114 are located at both sides of the rear end of the suspension 110. The first airbag 111 and the second airbag 112 can be connected or disconnected with each other, and the third airbag 113 and the fourth airbag 114 can be connected or disconnected with each other. Figure 1 As shown, when the first airbag 111 and the second airbag 112 are connected, and the third airbag 113 and the fourth airbag 114 are connected, the vehicle suspension 110 is in a two-point support mode, and the left and right air paths of the front airbag assembly and the rear airbag assembly are connected, and the left and right linkages are balanced, which can reduce the imbalance of the vehicle due to one-side suspension in twisted sections. Figure 2 As shown, when 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, the vehicle suspension 110 is in a three-point support mode with one point in front and two points in the back, which can reduce the imbalance of the vehicle being suspended on one side in a twisted road section, and is suitable for a heavy-loaded vehicle. Figure 3 As shown, when 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, the vehicle suspension 110 is in a three-point support mode with two points in front and one point in the back, which can reduce the unbalanced suspension of the vehicle on one side in a twisted road section, and is suitable for the vehicle to be unloaded or lightly loaded. Figure 4As shown, when 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, the vehicle suspension 110 is in a four-point support mode, which is conducive to improving the roll stiffness of the front and rear parts of the suspension 110 when driving at high speed. By inflating or exhausting the first airbag 111, the second airbag 112, the third airbag 113 and the fourth airbag 114, the height of the vehicle body can be adjusted.

[0056] The vehicle includes a plurality of different operating modes, each operating mode having corresponding target operating parameters. The target operating parameters include a target equilibrium state of the suspension 110 . The equilibrium state of the suspension 110 includes: a connection state between the first airbag 111 and the second airbag 112 , and a connection state between the third airbag 113 and the fourth airbag 114 .

[0057] refer to Figure 5 As shown, the control method includes step S10 and step S20.

[0058] In step S10 , the operating mode of the vehicle is determined.

[0059] In step S20, the operating parameters of the vehicle are adjusted to the target operating parameters. Step S20 includes step S21: In step S21, the equilibrium state of the suspension 110 is adjusted to the target equilibrium state corresponding to the operating mode.

[0060] Through the above settings, various operation modes of the vehicle are associated with various operation parameters, especially with the balance state of the suspension 110. When the vehicle switches to an operation mode corresponding to the road condition and driving condition, the suspension 110 can be switched to a corresponding balance state, so that the suspension 110 can adapt to different road conditions and different driving conditions; by adjusting the balance state of the suspension 110, it is beneficial to the driving safety and riding comfort of the vehicle.

[0061] refer to Figure 6 As shown, in an optional embodiment, in step S10, the operation mode of the vehicle is determined, including step S11. In step S11, the operation mode is determined in response to the control instruction.

[0062] The driver or passenger can predict the road condition and driving condition according to the road section where the vehicle is about to travel, and select corresponding control instructions. The vehicle controller responds to the control instructions and determines the operating mode. The suspension 110 can switch to a corresponding balance state, so that the suspension 110 can adapt to different road conditions and different driving conditions. By adjusting the balance state of the suspension 110, it is beneficial to the vehicle's driving safety and ride comfort.

[0063] refer to Figure 6As shown, in an optional embodiment, in step S10, determining the operation mode of the vehicle includes step S12. In step S12, the operation mode is determined according to the current driving parameters of the vehicle. The driving parameters include: at least one of the vehicle speed, the vehicle driving condition, the height between the suspension 110 and the road surface, and the vehicle load.

[0064] In specific implementation, a detection cycle can be set, such as 5 seconds or 10 seconds. Multiple sensors on the vehicle detect different driving parameters of the vehicle. In some embodiments, taking the vehicle speed as an example, if the average speed of the vehicle speed during the detection cycle is greater than 65 kilometers per hour, it is determined that the vehicle is in a high-speed driving mode; if the average speed of the vehicle speed during the detection cycle is less than or equal to 65 kilometers per hour, it is determined that the vehicle is in a normal driving mode. In other embodiments, taking the driving road condition of the vehicle as an example, the sensor can obtain the road condition information in the driving direction of the vehicle. If the road condition detects more than 5 ups and downs greater than 5 centimeters during the detection cycle, it is determined that the vehicle is in a poor road condition mode; if the road condition does not detect ups and downs greater than 5 centimeters during the detection cycle or detects ups and downs greater than 5 centimeters less than or equal to 5 places, it is determined that the vehicle is in a general or good road condition mode. In some other embodiments, the location of the vehicle can be obtained through the global positioning system (GPS) set on the vehicle to determine the road on which the vehicle is traveling and predict the driving road condition of the vehicle. By adjusting the vehicle's operating mode according to one or more of the above parameters, the suspension 110 can be switched to a corresponding balanced state, so that the suspension 110 can adapt to different road conditions and different driving conditions; by adjusting the balanced state of the suspension 110, it is beneficial to the vehicle's driving safety and ride comfort.

[0065] In an optional embodiment, the operation mode includes a first operation mode. In the target operation parameters corresponding to the first operation mode, the target equilibrium state of the suspension 110 includes: the first airbag 111 and the second airbag 112 are disconnected, and the third airbag 113 and the fourth airbag 114 are disconnected. Or, the first airbag 111 and the second airbag 112 are disconnected, and the third airbag 113 and the fourth airbag 114 are connected. Or, the first airbag 111 and the second airbag 112 are connected, and the third airbag 113 and the fourth airbag 114 are disconnected. In the first operation mode, the vehicle suspension 110 coordinates the roll stiffness of the front and rear parts of the suspension 110 during the driving process of the vehicle and the unbalanced state of the vehicle being suspended on one side in a twisted road section, so that the vehicle can adapt to driving on a flat road with less ups and downs.

[0066] refer to Figure 7As shown, in an optional embodiment, when the operation mode of the vehicle is the first operation mode, before adjusting the operation parameters of the vehicle to the target operation parameters in step S20, step S31 is further included. In step S31, the acceleration or load weight of the vehicle is obtained.

[0067] In step S20, the operating parameters of the vehicle are adjusted to the target operating parameters, including step S21. In step S21, the equilibrium state of the suspension 110 is adjusted to the target equilibrium state corresponding to the operating mode according to the acceleration or the load weight. When the acceleration of the vehicle changes greatly, especially the acceleration in the width direction of the vehicle body, it is determined that the vehicle is traveling on a road section with many turns; when the acceleration of the vehicle changes less, it is determined that the vehicle is traveling on a straight road section.

[0068] Through the above arrangement, when the vehicle is traveling on a smooth road with fewer bumps, the balance state of the suspension 110 matching the vehicle is determined according to the acceleration and load weight of the vehicle, so that the balance state of the suspension 110 is adjusted accordingly for different road sections and load conditions. By adjusting the balance state of the suspension 110, it is beneficial to the driving safety and ride comfort of the vehicle.

[0069] refer to Figure 7 As shown, in an optional embodiment, in step S21, the equilibrium state of the suspension 110 is adjusted to a target equilibrium state corresponding to the operating mode according to the acceleration or the load weight, including step S211, step S212, step S213 and step S214.

[0070] In step S211 , when the acceleration is greater than the acceleration setting value, the first airbag 111 and the second airbag 112 are controlled to be disconnected, and the third airbag 113 and the fourth airbag 114 are controlled to be disconnected.

[0071] In step S212, when the acceleration is less than or equal to the acceleration setting value, the first airbag 111 and the second airbag 112 are controlled to be disconnected, and the third airbag 113 and the fourth airbag 114 are connected; or the first airbag 111 and the second airbag 112 are controlled to be connected, and the third airbag 113 and the fourth airbag 114 are disconnected.

[0072] In step S213 , when the load-bearing weight is greater than the load-bearing weight setting value, the first airbag 111 and the second airbag 112 are controlled to be disconnected, and the third airbag 113 and the fourth airbag 114 are controlled to be connected.

[0073] In step S214 , when the load-bearing weight is less than or equal to the load-bearing weight setting value, the first airbag 111 and the second airbag 112 are controlled to be connected, and the third airbag 113 and the fourth airbag 114 are disconnected.

[0074] In an optional embodiment, when the vehicle is started, the load-bearing weight of the vehicle may be obtained first. When the load-bearing weight is greater than the load-bearing weight setting value, the first airbag 111 and the second airbag 112 are controlled to be disconnected, and the third airbag 113 and the fourth airbag 114 are connected. When the load-bearing weight is less than or equal to the load-bearing weight setting value, the first airbag 111 and the second airbag 112 are controlled to be connected, and the third airbag 113 and the fourth airbag 114 are disconnected. During the driving process of the vehicle, the controller of the vehicle obtains the acceleration of the vehicle. If the acceleration of the vehicle is greater than the acceleration setting value, the balance state of the suspension 110 is adjusted to the target balance state corresponding to the operating mode, that is, the first airbag 111 and the second airbag 112 are controlled to be disconnected, and the third airbag 113 and the fourth airbag 114 are disconnected. When the acceleration decreases again to less than or equal to the acceleration setting value or the acceleration remains less than or equal to the acceleration setting value, the vehicle operating parameters at the time of vehicle startup are maintained.

[0075] In an optional embodiment, among the multiple different operation modes, the first operation mode is the default operation mode. That is, when the vehicle is started, the operation mode of the vehicle is adjusted to the first operation mode. In the first operation mode, the vehicle suspension 110 coordinates the roll stiffness of the front and rear parts of the suspension 110 during the driving process of the vehicle and the unbalanced state of the vehicle being suspended on one side in a twisted road section, so that the vehicle can adapt to driving on a flat road with less undulations, and is suitable for most vehicles driving at medium and low speeds when starting.

[0076] In an optional embodiment, the operating mode includes a second operating mode. In the target operating parameters corresponding to the second operating mode, the target equilibrium state of the suspension 110 includes:

[0077] The first airbag 111 and the second airbag 112 are disconnected, and the third airbag 113 and the fourth airbag 114 are disconnected.

[0078] When 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, the vehicle suspension 110 is in a four-point support mode, which is beneficial to improving the roll stiffness of the front and rear parts of the suspension 110 when driving at high speed, so that the vehicle can maintain the stability of the vehicle body when turning at high speed, reduce the amplitude of roll, and is 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.

[0079] In an optional embodiment, the operation mode includes a third operation mode. In the target operation parameters corresponding to the third operation mode, the target equilibrium state of the suspension 110 includes: the first airbag 111 is connected to the second airbag 112 , and the third airbag 113 is connected to the fourth airbag 114 .

[0080] When the first airbag 111 is connected to the second airbag 112, and the third airbag 113 is connected to the fourth airbag 114, the vehicle suspension 110 is in a two-point support mode, the left and right air paths of the front airbag assembly and the rear airbag assembly are connected, and the left and right linkage is balanced, which can reduce the imbalance of the vehicle due to one-side suspension in a twisted section. Through the above settings, when the vehicle is driving at a slower speed, the linkage balance of the left and right airbags can maintain the stability of the vehicle body, reduce the bumps of the vehicle body, and is beneficial to the ride comfort of the vehicle.

[0081] In an optional embodiment, the target operating parameters also include: a target vehicle speed and a target height of the suspension 110. Figure 8 As shown, in step S20, the operating parameters of the vehicle are adjusted to the target operating parameters, including step S21, step S22 and step S23.

[0082] In step S21, the balance state of the suspension 110 is adjusted to a target balance state corresponding to the operating mode; in step S22, the vehicle speed is adjusted to a target speed corresponding to the operating mode; in step S23, the height of the suspension 110 is adjusted to a target height corresponding to the operating mode.

[0083] In some embodiments, in step S20, adjusting the operating parameters of the vehicle to the target operating parameters may include steps S21 and S22, i.e., adjusting the equilibrium state of the suspension 110 to the target equilibrium state and adjusting the vehicle speed to the target speed. In other embodiments, in step S20, adjusting the operating parameters of the vehicle to the target operating parameters may include steps S21 and S23, i.e., adjusting the equilibrium state of the suspension 110 to the target equilibrium state and adjusting the height of the suspension 110 to the target height. In still other embodiments, in step S20, adjusting the operating parameters of the vehicle to the target operating parameters may include steps S21, S22, and S23, i.e., adjusting the equilibrium state of the suspension 110 to the target equilibrium state, adjusting the vehicle speed to the target speed, and adjusting the height of the suspension 110 to the target height.

[0084] In some embodiments, the height of the suspension 110 has a height adjustment range, and the controller of the vehicle can calculate the target height of the suspension 110 according to the driving parameters of the vehicle, and the target height is any value within the height adjustment range. The suspension 110 can adapt to different road conditions and different driving conditions, which is beneficial to the driving safety and ride comfort of the vehicle. In other embodiments, the height of the suspension 110 includes multiple preset fixed heights, and the multiple preset fixed heights can be stored in the memory of the controller of the vehicle. After determining the operating mode of the vehicle, the controller calls the preset fixed height corresponding to the operating mode of the vehicle as the target height, and adjusts the height of the suspension 110 to the target height, which is beneficial for the controller to respond quickly to different operating modes.

[0085] In some embodiments, the speed of the vehicle includes multiple speed intervals. For example, the speed of the vehicle can be divided into a low-speed interval, a medium-speed interval and a high-speed interval, corresponding to 0-35 km / h, 35-65 km / h and greater than 65 km / h, respectively. The operating mode of each vehicle corresponds to one or two speed intervals. For example, the first operating mode corresponds to a low-speed interval and a medium-speed interval. When the vehicle responds to the control instruction and determines the operating mode, when the speed of the vehicle is greater than 65 km / h, the controller controls the speed to be reduced to less than or equal to 65 km / h. For example, the third operating mode corresponds to the low-speed interval. When the speed of the vehicle is greater than 35 km / h, the controller controls the speed to be reduced to less than or equal to 35 km / h. The above settings are beneficial to the driving safety of the vehicle and reduce the risk of accidents.

[0086] In an optional embodiment, the height of the suspension 110 includes at least a preset first descending height, a standard height, and a first ascending height that increase in sequence. The standard height is a default height, that is, when the vehicle starts, the height of the suspension 110 is controlled to be adjusted to the default height.

[0087] In an optional embodiment, the operating mode includes a fourth operating mode.

[0088] In the target operating parameters corresponding to the fourth operating mode, the target equilibrium state of the suspension 110 includes: the first airbag 111 and the second airbag 112 are disconnected, and the third airbag 113 and the fourth airbag 114 are disconnected; the target height of the suspension 110 is the first rising height. When 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, the vehicle suspension 110 is in a four-point support mode, which is conducive to improving the roll stiffness of the front and rear parts of the suspension 110, and can be precisely adjusted for a single airbag, reducing the amplitude of the vehicle body bumping when the vehicle passes over a ground obstacle, which is conducive to the ride comfort of the vehicle; at the same time, when the height of the suspension 110 is the first rising height, it can reduce the risk of the bottom of the vehicle body colliding or scratching with ground obstacles, thereby reducing the risk of damage to the vehicle body.

[0089] In an optional embodiment, the operating mode includes a fifth operating mode.

[0090] In the target operating parameters corresponding to the fifth operating mode, the target equilibrium state of the suspension 110 includes: the first airbag 111 and the second airbag 112 are disconnected, and the third airbag 113 and the fourth airbag 114 are disconnected; the target height of the suspension 110 is the first descending height. When 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, the vehicle suspension 110 is in a four-point support mode, which is conducive to improving the roll stiffness of the front and rear parts of the suspension 110. At the same time, when the height of the suspension 110 is the first descending height, the risk of the top of the vehicle body colliding or scratching with obstacles located above the vehicle body can be reduced, thereby reducing the risk of damage to the vehicle body.

[0091] In some embodiments, the various operating modes of the vehicle, the usage scenarios corresponding to the various operating modes, and the operating parameters corresponding to the various operating modes can be shown in Table 1. Among them, the vehicle speed includes a low-speed interval, a medium-speed interval, and a high-speed interval, the low-speed interval is 0-35 kilometers per hour, the medium-speed interval is 35-65 kilometers per hour, and the high-speed interval is greater than 66 kilometers per hour. The height of the suspension 110 includes at least a first descent height, a second descent height, a standard height, a second rise height, and a first rise height that increase in sequence. For example, the first descent height is 70 centimeters, the second descent height is 75 centimeters, the standard height is 80 centimeters, the second rise height is 85 centimeters, and the first rise height is 90 centimeters.

[0092]

[0093]

[0094] Table 1

[0095] As shown in Table 1, when the vehicle is in a road condition such as an ordinary national highway, an urban road section, or the vehicle is in the starting state, the operation mode of the vehicle is determined to be the first operation mode. When the operation mode of the vehicle is the first operation mode, the speed of the vehicle is medium or low, that is, less than or equal to 65 kilometers per hour, and the height of the suspension 110 is the standard height, that is, 80 centimeters. The load-bearing weight of the vehicle is obtained. When the load-bearing weight is greater than the load-bearing weight setting value, the first airbag 111 and the second airbag 112 are controlled to be disconnected, and the third airbag 113 and the fourth airbag 114 are connected. When the load-bearing weight is less than or equal to the load-bearing weight setting value, the first airbag 111 and the second airbag 112 are controlled to be connected, and the third airbag 113 and the fourth airbag 114 are disconnected. During the driving process of the vehicle, the controller of the vehicle obtains the acceleration of the vehicle. If the acceleration of the vehicle is greater than the acceleration setting value, the balance state of the suspension 110 is adjusted to the target balance state corresponding to the operation mode, that is, the first airbag 111 and the second airbag 112 are disconnected, and the third airbag 113 and the fourth airbag 114 are disconnected. When the acceleration decreases again to less than or equal to the acceleration setting value or the acceleration remains less than or equal to the acceleration setting value, the first airbag 111 and the second airbag 112 are disconnected, and the third airbag 113 and the fourth airbag 114 are connected; or the first airbag 111 and the second airbag 112 are connected, and the third airbag 113 and the fourth airbag 114 are disconnected according to the load weight of the vehicle.

[0096] When the vehicle is on a high-speed section, the operation mode of the vehicle is determined to be the second operation mode. When the operation mode of the vehicle is the second operation mode, the vehicle speed is high speed, that is, greater than 65 kilometers per hour, and the height of the suspension 110 is the second descending high speed, that is, 75 centimeters, so as to reduce the wind resistance of the vehicle during driving. The equilibrium state of the suspension 110 is that 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. The vehicle suspension 110 is in a four-point support mode, which is conducive to improving the roll stiffness of the front and rear parts of the suspension 110 when driving at high speed, so that the vehicle can maintain the stability of the vehicle body when turning at high speed and reduce the amplitude of roll.

[0097] When the vehicle is on a road section with a large height difference such as a muddy road in the countryside, the vehicle operation mode is determined to be the third operation mode. When the vehicle operation mode is the third operation mode, the vehicle speed is low, that is, 0-35 kilometers per hour, the height of the suspension 110 is the second rising height, that is, 85 centimeters, and the balance state of the suspension 110 is that the first airbag 111 and the second airbag 112 are connected, and the third airbag 113 and the fourth airbag 114 are connected, and the left and right are linked and balanced, which can reduce the imbalance of the whole vehicle due to unilateral suspension in the twisted road section.

[0098] When the vehicle needs to cross a roadside step, or travel on a ground obstacle section such as a ramp with a large approach angle / departure angle, the vehicle operation mode is determined to be the fourth operation mode. When the vehicle operation mode is the third operation mode, the vehicle speed is low, that is, 0-35 kilometers per hour, the height of the suspension 110 is the first rising height, that is, 90 centimeters, and the equilibrium state of the suspension 110 is that the first airbag 111 and the second airbag 112 are disconnected, and the third airbag 113 and the fourth airbag 114 are disconnected, which can reduce the risk of collision or scratching between the bottom of the vehicle body and ground obstacles, thereby reducing the risk of damage to the vehicle body.

[0099] When there is a height limit pole in the direction of the vehicle's travel, or the vehicle is in a basement, or the vehicle is traveling on a road section with overhead obstacles such as horizontal branches on the roadside, the vehicle's operating mode is determined to be the fifth operating mode. When the vehicle's operating mode is the fifth operating mode, the vehicle speed is low, i.e., 0-35 km / h, the height of the suspension 110 is the first descending height, i.e., 70 cm, and the equilibrium state of the suspension 110 is that the first airbag 111 and the second airbag 112 are disconnected, and the third airbag 113 and the fourth airbag 114 are disconnected, which can reduce the risk of collision or scratching between the top of the vehicle body and obstacles located above the vehicle body, thereby reducing the risk of damage to the vehicle body.

[0100] 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 vehicle control method, characterized in that: The vehicle includes a suspension, the suspension includes a first airbag, a second airbag, a third airbag and a fourth airbag, the first airbag and the second airbag are located at both sides of a front end of the suspension, and the third airbag and the fourth airbag are located at both sides of a rear end of the suspension; The vehicle includes a plurality of different operating modes, each of the operating modes has a corresponding target operating parameter, the target operating parameter includes a target equilibrium state of the suspension, and the equilibrium state of the suspension includes: a communication state between the first airbag and the second airbag and a communication state between the third airbag and the fourth airbag; The control method comprises: determining the operating mode of the vehicle; Adjusting the operating parameters of the vehicle to the target operating parameters includes: adjusting the equilibrium state of the suspension to a target equilibrium state corresponding to the operating mode.

2. The control method according to claim 1, characterized in that: The determining the operating mode of the vehicle comprises: determining the operating mode in response to the control instruction; or Determining the operating mode of the vehicle includes: determining the operating mode according to current driving parameters of the vehicle; the driving parameters include: at least one of the vehicle speed, the driving condition of the vehicle, the height between the suspension and the road surface, and the load of the vehicle.

3. The control method according to claim 2, characterized in that: The operating mode includes a first operating mode; in the target operating parameters corresponding to the first operating mode, the target equilibrium state of the suspension includes: The first airbag and the second airbag are disconnected, and the third airbag and the fourth airbag are disconnected; or The first airbag and the second airbag are disconnected, and the third airbag and the fourth airbag are connected; or The first airbag is connected to the second airbag, and the third airbag is disconnected from the fourth airbag.

4. The control method according to claim 3, characterized in that: When the operation mode of the vehicle is the first operation mode, before adjusting the operation parameter of the vehicle to the target operation parameter, the method further includes: obtaining the acceleration or the carrying weight of the vehicle; Adjusting the operating parameters of the vehicle to the target operating parameters includes: adjusting the equilibrium state of the suspension to the target equilibrium state corresponding to the operating mode according to the acceleration or the load weight.

5. The control method according to claim 4, characterized in that: The adjusting the equilibrium state of the suspension to a target equilibrium state corresponding to the operation mode according to the acceleration or the load weight comprises: when the acceleration is greater than an acceleration setting value, controlling the first airbag and the second airbag to be disconnected, and the third airbag and the fourth airbag to be disconnected; When the acceleration is less than or equal to the acceleration setting value, the first airbag and the second airbag are controlled to be disconnected, and the third airbag and the fourth airbag are connected; or the first airbag and the second airbag are controlled to be connected, and the third airbag and the fourth airbag are disconnected; When the load-bearing weight is greater than the load-bearing weight setting value, the first airbag and the second airbag are controlled to be disconnected, and the third airbag and the fourth airbag are controlled to be connected; When the load-bearing weight is less than or equal to the load-bearing weight setting value, the first airbag and the second airbag are controlled to be connected, and the third airbag and the fourth airbag are disconnected.

6. The control method according to claim 3, characterized in that: Among the multiple different operating modes, the first operating mode is a default operating mode.

7. The control method according to claim 2, characterized in that: The operating mode includes a second operating mode; in the target operating parameters corresponding to the second operating mode, the target equilibrium state of the suspension includes: The first airbag and the second airbag are disconnected, and the third airbag and the fourth airbag are disconnected.

8. The control method according to claim 2, characterized in that: The operating mode includes a third operating mode; in the target operating parameters corresponding to the third operating mode, the target equilibrium state of the suspension includes: The first airbag is communicated with the second airbag, and the third airbag is communicated with the fourth airbag.

9. The control method according to claim 2, characterized in that: The target operating parameters also include: a target vehicle speed and a target height of the suspension; The adjusting the operating parameters of the vehicle to the target operating parameters includes: The balance state of the suspension is adjusted to a target balance state corresponding to the operation mode, the speed of the vehicle is adjusted to a target speed corresponding to the operation mode, and the height of the suspension is adjusted to a target height corresponding to the operation mode.

10. The control method according to claim 9, characterized in that: The operating modes include a fourth operating mode; The height of the suspension includes at least a first descending height, a standard height and a first ascending height which increase in sequence; The standard height is the default height; In the target operating parameters corresponding to the fourth operating mode, the target equilibrium state of the suspension includes: the first airbag and the second airbag are disconnected, and the third airbag and the fourth airbag are disconnected; The target height of the suspension is the first ascending height.

11. The control method according to claim 9, characterized in that: The operating modes include a fifth operating mode; The height of the suspension includes at least a first descending height, a standard height and a first ascending height which increase in sequence; The standard height is the default height; In the target operating parameters corresponding to the fifth operating mode, the target equilibrium state of the suspension includes: the first airbag and the second airbag are disconnected, and the third airbag and the fourth airbag are disconnected; The target height of the suspension is the first descent height.

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