Control method for a vehicle

Abstract

The application provides a control method of a vehicle. The vehicle comprises a suspension, the suspension comprises a first air bag, a second air bag, a third air bag and a fourth air bag, the first air bag and the second air bag are located on both sides of the front end of the suspension, and the third air bag and the fourth air bag are located on both sides of the rear end of the suspension. The vehicle comprises multiple different running modes, each running mode has a corresponding target running parameter, and the target running parameter comprises a target balance state of the suspension, and the balance state of the suspension comprises a communication state between the first air bag and the second air bag and a communication state between the third air bag and the fourth air bag. The control method comprises the following steps: determining the running mode of the vehicle; and adjusting the running parameter of the vehicle to the target running parameter, which comprises adjusting the balance state of the suspension to the target balance state corresponding to the running mode. The suspension can adapt to different road conditions and different driving conditions; by adjusting the balance state of the suspension, the driving safety and the riding comfort of the vehicle are improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control, and more particularly to a method for controlling a vehicle. Background Technology

[0002] In related technologies, vehicles rely on multiple sensors to collect road information and perform data analysis and calculations. Based on the calculation results, the vehicle suspension or other operating parameters are adjusted. However, the lack of unified adjustment of various vehicle operating parameters results in poor adaptability of the suspension under different road conditions, which is detrimental to driving safety and ride comfort. Summary of the Invention

[0003] This application provides a vehicle control method to improve suspension adaptability, driving safety, and ride comfort.

[0004] This application provides a vehicle control method, the vehicle including a suspension, the suspension including a first airbag, a second airbag, a third airbag and a fourth airbag, the first airbag and the second airbag being located on both sides of the front end of the suspension, and the third airbag and the fourth airbag being located on both sides of the rear end of the suspension.

[0005] The vehicle includes multiple different operating modes, each of which has a corresponding target operating parameter. The target operating parameter includes the target balance state of the suspension. The balance state of the suspension includes the communication state between the first airbag and the second airbag and the communication state between the third airbag and the fourth airbag.

[0006] The control method includes:

[0007] Determine the vehicle's operating mode;

[0008] Adjusting the vehicle's operating parameters to the target operating parameters includes adjusting the suspension's balance state to a target balance state corresponding to the operating mode.

[0009] In this application, the suspension balance is adjusted to a target balance state corresponding to different vehicle operating modes. Specifically, this includes: the first and second airbags being connected, and the third and fourth airbags being connected; the first and second airbags being disconnected, and the third and fourth airbags being connected; the first and second airbags being connected, and the third and fourth airbags being disconnected; and the first and second airbags being disconnected, and the third and fourth airbags being disconnected. When the first and second airbags are connected, and the third and fourth airbags are connected, the vehicle suspension is in a two-point support mode, with the left and right air passages of the front and rear airbag components connected, achieving left-right linkage balance, which can reduce the imbalance of the entire vehicle due to one side being suspended on twisting road sections. When the first and second airbags are disconnected, and the third and fourth airbags are connected, the vehicle suspension is in a three-point support mode (two points in the front and one point in the rear), which can reduce the imbalance of the entire vehicle due to one side being suspended on twisting road sections, suitable for vehicles that are unloaded or lightly loaded. When the first and second airbags are connected, and the third and fourth airbags are disconnected, the vehicle suspension operates in a three-point support mode (one point at the front and two points at the rear). This reduces the imbalance caused by one side of the vehicle being suspended in the road on twisting sections, making it suitable for heavily loaded vehicles. When the first and second airbags are disconnected, and the third and fourth airbags are disconnected, the vehicle suspension operates in a four-point support mode, which helps improve the roll stiffness of the front and rear sections of the suspension at high speeds. The system correlates various operating modes with different operating parameters, particularly with the suspension's balance state. When the vehicle switches to an operating mode corresponding to road conditions and driving situations, the suspension can switch to the corresponding balance state, allowing it to adapt to different road conditions and driving situations. Adjusting the suspension's balance state improves vehicle safety and ride comfort.

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

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

[0012] Optionally, the operating mode includes a first operating mode; among the target operating parameters corresponding to the first operating mode, the target balance 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, while the third airbag and the fourth airbag are connected; or

[0015] The first airbag and the second airbag are connected, while the third airbag and the fourth airbag are disconnected.

[0016] Optionally, when the vehicle is operating in the first operating mode, before adjusting the vehicle's operating parameters to the target operating parameters, the method further includes: obtaining the vehicle's acceleration or load weight.

[0017] Adjusting the vehicle's operating parameters to the target operating parameters includes: adjusting the suspension's balance state to the target balance state corresponding to the operating mode based on the acceleration or the load.

[0018] Optionally, adjusting the suspension's balance state to a target balance state corresponding to the operating mode based on the acceleration or the load includes: when the acceleration is greater than the acceleration set value, controlling the first airbag and the second airbag to disconnect, and the third airbag and the fourth airbag to disconnect;

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

[0020] When the load-bearing weight exceeds the set load-bearing weight value, the first airbag and the second airbag are connected, while the third airbag and the fourth airbag are disconnected.

[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 disconnected, and the third airbag and the fourth airbag are connected.

[0022] Optionally, among the various operating modes, the first operating mode is the default operating mode.

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

[0026] The first airbag and the second airbag are connected, and the third airbag and the fourth airbag are connected.

[0027] Optionally, the operating mode includes a fourth operating mode; among the target operating parameters corresponding to the fourth operating mode, the target balance 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; among the target operating parameters corresponding to the fifth operating mode, the target balance 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 may further include: the target vehicle speed and the target suspension height;

[0031] In response to a control command determining the operating mode, adjusting the vehicle's operating parameters to the target operating parameters includes:

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

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

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

[0035] In the target operating parameters corresponding to the fourth operating mode, the target balance 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 rise height.

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

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

[0039] In the target operating parameters corresponding to the fifth operating mode, the target balance 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. Attached Figure Description

[0041] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0042] Figure 1 The diagram shown is a schematic representation of an embodiment of the suspension balance state of the vehicle of this application.

[0043] Figure 2 The diagram shown is a schematic representation of another embodiment of the suspension balance state of the vehicle of this application.

[0044] Figure 3 The diagram shown is a schematic representation of another embodiment of the suspension balance state of the vehicle of this application.

[0045] Figure 4 The diagram shown is a schematic representation of another embodiment of the suspension balance state of the vehicle of this application.

[0046] Figure 5 The diagram shown is a schematic representation of an embodiment of the vehicle control method of this application.

[0047] Figure 6 The diagram shown is a schematic representation of another embodiment of the vehicle control method of this application.

[0048] Figure 7 The diagram shown is a schematic representation of yet another embodiment of the vehicle control method of this application.

[0049] Figure 8 The diagram shown is a schematic representation of yet another embodiment of the vehicle control method of this application.

[0050] Explanation of reference numerals in the attached figures:

[0051] Suspension 110; First airbag 111; Second airbag 112; Third airbag 113; Fourth airbag 114. Detailed Implementation

[0052] The technical solutions in the embodiments (or "implementations") of this application will be clearly and completely described herein with reference to the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0053] If the embodiments of this application contain terms relating to directional indications or positional relationships (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 relationships and movement of the components in a specific posture (as shown in the attached figures); if the specific posture changes, the directional indications or positional relationships will also change accordingly. Furthermore, the terms "first" and "second" used in the embodiments of this application are only for descriptive convenience and should not be construed as indicating or implying relative importance.

[0054] This application provides a vehicle control method. The pre-tank oil quality inspection system of this application will be described in detail below with reference to the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0055] See Figure 1-4 As shown, the vehicle includes a suspension 110 and a body, with the body mounted 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 on either side of the front end of the suspension 110, and the third airbag 113 and the fourth airbag 114 are located on either side of the rear end of the suspension 110. The first airbag 111 and the second airbag 112 can be connected or disconnected from each other, and the third airbag 113 and the fourth airbag 114 can be connected or disconnected from 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. The left and right air passages 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 side being suspended in the air on twisting road 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 at the front and two points at the rear. This can reduce the imbalance caused by one side of the vehicle being suspended in the road on tortuous sections, and is suitable for vehicles under heavy loads. 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. This can reduce the imbalance caused by one side of the vehicle being suspended in the road on twisting sections, and is suitable for vehicles that are 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 helps to improve the roll stiffness of the front and rear parts of the suspension 110 at high speeds. By inflating or deflating the first airbag 111, the second airbag 112, the third airbag 113, and the fourth airbag 114, the vehicle height can be adjusted.

[0056] The vehicle includes multiple different operating modes, each with corresponding target operating parameters. The target operating parameters include the target balance state of the suspension 110. The balance state of the suspension 110 includes the communication state between the first airbag 111 and the second airbag 112, as well as the communication state between the third airbag 113 and the fourth airbag 114.

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

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

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

[0060] Through the above settings, various operating modes of the vehicle are associated with various operating parameters, especially the balance state of the suspension 110. When the vehicle switches to an operating mode corresponding to road conditions and driving conditions, the suspension 110 can switch to the corresponding balance state, enabling the suspension 110 to adapt to different road conditions and driving conditions. Adjusting the balance state of the suspension 110 is beneficial to the vehicle's driving safety and ride comfort.

[0061] refer to Figure 6 As shown, in an optional embodiment, in step S10, determining the vehicle's operating mode includes step S11. In step S11, the operating mode is determined in response to a control command.

[0062] The driver or passengers can anticipate the road conditions and driving status based on the road section the vehicle is about to travel on, and select the corresponding control command. The vehicle's controller responds to the control command, determines the operating mode, and the suspension 110 can switch to the 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, step S10 involves determining the vehicle's operating mode, including step S12. In step S12, the operating mode is determined based on the vehicle's current driving parameters. These driving parameters include at least one of the following: vehicle speed, road conditions, the height between the suspension 110 and the road surface, and the vehicle's load.

[0064] In practical implementation, a detection period can be set, such as 5 seconds or 10 seconds. Multiple sensors on the vehicle detect different driving parameters. In some embodiments, taking vehicle speed as an example, if the average speed within the detection period is greater than 65 km / h, the vehicle is determined to be in a high-speed driving mode; if the average speed within the detection period is less than or equal to 65 km / h, the vehicle is determined to be in a normal driving mode. In other embodiments, taking road conditions as an example, the sensors can acquire road condition information along the vehicle's direction of travel. If more than 5 elevation changes greater than 5 cm are detected within the detection period, the vehicle is determined to be in a poor road condition mode; if no elevation changes greater than 5 cm are detected within the detection period, or if fewer than 5 elevation changes greater than 5 cm are detected, the vehicle is determined to be in a normal or good road condition mode. In still other embodiments, the vehicle's location can be obtained through a Global Positioning System (GPS) installed on the vehicle to determine the road the vehicle is traveling on and predict the road conditions. By adjusting one or more of the above parameters to change the vehicle's operating mode, the suspension 110 can switch to the corresponding balance state, enabling the suspension 110 to adapt to different road conditions and driving situations. Adjusting the balance state of the suspension 110 is beneficial to the vehicle's driving safety and ride comfort.

[0065] In an optional embodiment, the operating mode includes a first operating mode. Among the target operating parameters corresponding to the first operating mode, the target balance 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. Alternatively, the first airbag 111 and the second airbag 112 are disconnected, and the third airbag 113 and the fourth airbag 114 are connected. Alternatively, 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 operating mode, the vehicle suspension 110 coordinates the roll stiffness of the front and rear portions of the suspension 110 during vehicle operation and the imbalance of the vehicle being suspended on one side on a tortuous road section, enabling the vehicle to adapt to driving on smooth road surfaces with fewer undulations.

[0066] refer to Figure 7As shown, in an optional embodiment, when the vehicle's operating mode is the first operating mode, before step S20, which adjusts the vehicle's operating parameters to the target operating parameters, the method further includes step S31. In step S31, the vehicle's acceleration or load weight is obtained.

[0067] In step S20, the vehicle's operating parameters are adjusted to the target operating parameters, including step S21. In step S21, the balance state of the suspension 110 is adjusted to the target balance state corresponding to the operating mode based on the acceleration or load weight. Specifically, when the vehicle's acceleration changes significantly, especially in the width direction, it is determined that the vehicle is traveling on a road section with many curves; when the vehicle's acceleration changes slightly, it is determined that the vehicle is traveling on a straight road section.

[0068] With the above settings, when the vehicle is driving on a flat road surface with few undulations, the balance state of the suspension 110 is determined according to the vehicle's acceleration and load weight, 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 vehicle's driving safety and ride comfort.

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

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

[0071] In step S212, when the acceleration is less than or equal to the acceleration set 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.

[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 connected, while the third airbag 113 and the fourth airbag 114 are disconnected.

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

[0074] In an optional embodiment, when the vehicle starts, the vehicle's load weight can be acquired first. When the load weight is greater than a set load weight value, the first airbag 111 and the second airbag 112 are connected, while the third airbag 113 and the fourth airbag 114 are disconnected. When the load weight is less than or equal to the set load weight value, the first airbag 111 and the second airbag 112 are disconnected, while the third airbag 113 and the fourth airbag 114 are connected. During vehicle operation, the vehicle controller acquires the vehicle's acceleration. If the vehicle's acceleration is greater than a set acceleration value, the suspension 110's balance state is adjusted to a target balance state corresponding to the operating mode, i.e., 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 set acceleration value, or when the acceleration remains less than or equal to the set acceleration value, the vehicle's operating parameters at the time of vehicle startup are maintained.

[0075] In optional embodiments, among various operating modes, the first operating mode is the default operating mode. That is, when the vehicle starts, the vehicle's operating mode is adjusted to the first operating mode. In the first operating mode, the vehicle suspension 110 coordinates the roll stiffness of the front and rear parts of the suspension 110 during vehicle operation and the imbalance of the vehicle when one side is suspended in the air on a tortuous road section, so that the vehicle can adapt to driving on flat roads with few undulations and is suitable for most situations where the vehicle starts and travels at low to medium speeds.

[0076] In an optional embodiment, the operating mode includes a second operating mode. Among the target operating parameters corresponding to the second operating mode, the target balance 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 disconnect from each other, and the third airbag 113 and the fourth airbag 114 disconnect from each other, the vehicle suspension 110 is in a four-point support mode. This helps to improve the roll stiffness of the front and rear parts of the suspension 110 at high speeds, so that the vehicle can maintain stability when turning at high speeds, reduce the roll amplitude, and improve vehicle ride comfort. At the same time, it reduces the risk of vehicle rollover and improves vehicle driving safety.

[0079] In an optional embodiment, the operating mode includes a third operating mode. Among the target operating parameters corresponding to the third operating mode, the target balance state 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.

[0080] 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. The left and right air passages of the front and rear airbag components are connected, and the left and right sides are linked for balance. This can reduce the imbalance of the whole vehicle caused by one side being suspended in the air on twisting road sections. With the above settings, when the vehicle is traveling at a relatively low speed, the linkage balance of the left and right airbags can maintain the stability of the vehicle body, reduce vehicle bumps, and improve vehicle ride comfort.

[0081] In an optional embodiment, the target operating parameters further include: the target vehicle speed and the target suspension height 110. (See reference) Figure 8 As shown, in step S20, the vehicle's operating parameters are adjusted to the target operating parameters, including steps S21, S22 and S23.

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

[0083] In some embodiments, adjusting the vehicle's operating parameters to the target operating parameters in step S20 may include steps S21 and S22, namely, adjusting the balance state of the suspension 110 to the target balance state and adjusting the vehicle speed to the target speed. In other embodiments, adjusting the vehicle's operating parameters to the target operating parameters in step S20 may include steps S21 and S23, namely, adjusting the balance state of the suspension 110 to the target balance state and adjusting the height of the suspension 110 to the target height. In still other embodiments, adjusting the vehicle's operating parameters to the target operating parameters in step S20 may include steps S21, S22, and S23, namely, adjusting the balance state of the suspension 110 to the target balance 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 suspension 110 has a height adjustment range. The vehicle controller can calculate the target height of the suspension 110 based on the vehicle's driving parameters. The target height is any value within the height adjustment range. This allows the suspension 110 to adapt to different road conditions and driving situations, improving vehicle safety and ride comfort. In other embodiments, the height of the suspension 110 includes multiple preset fixed heights, which can be stored in the memory of the vehicle controller. After determining the vehicle's operating mode, the controller retrieves the preset fixed height corresponding to the vehicle's operating mode as the target height and adjusts the height of the suspension 110 to the target height, enabling the controller to respond quickly to different operating modes.

[0085] In some embodiments, the vehicle speed includes multiple speed ranges, such as dividing the vehicle speed into a low-speed range, a medium-speed range, and a high-speed range, corresponding to 0-35 km / h, 35-65 km / h, and greater than 65 km / h, respectively. Each vehicle operating mode corresponds to one or two speed ranges. For example, the first operating mode corresponds to the low-speed and medium-speed ranges. When the vehicle responds to a control command and determines its operating mode, if the vehicle speed is greater than 65 km / h, the controller controls the speed to decrease to less than or equal to 65 km / h. For example, the third operating mode corresponds to the low-speed range; if the vehicle speed is greater than 35 km / h, the controller controls the speed to decrease to less than or equal to 35 km / h. This configuration improves vehicle driving safety and reduces the risk of accidents.

[0086] In an optional embodiment, the height of the suspension 110 includes at least a preset, sequentially increasing first descent height, a standard height, and a first rise height. The standard height is the default height, meaning that when the vehicle is started, the height of the suspension 110 is 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 balance 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 lift 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 beneficial to improving the roll stiffness of the front and rear parts of the suspension 110, and can make precise adjustments for individual airbags, reducing the amplitude of vehicle body bumps when the vehicle travels over ground obstacles, which is beneficial to the ride comfort of the vehicle; at the same time, when the height of the suspension 110 is the first lift height, it can reduce the risk of collision or scratching between the bottom of the vehicle body and ground obstacles, thereby reducing the risk of vehicle body damage.

[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 balance 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 descent 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 beneficial 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 descent height, it can reduce the risk of the vehicle's roof colliding or scraping with obstacles located above the vehicle, thereby reducing the risk of vehicle body damage.

[0091] In some embodiments, the various operating modes of the vehicle, the corresponding usage scenarios for each operating mode, and the operating parameters for each operating mode can be as shown in Table 1. The vehicle speed includes a low-speed range, a medium-speed range, and a high-speed range. The low-speed range is 0-35 km / h, the medium-speed range is 35-65 km / h, and the high-speed range is greater than 66 km / h. The height of the suspension 110 includes at least a first descent height, a second descent height, a standard height, a second ascent height, and a first ascent height, which increase sequentially. For example, the first descent height is 70 cm, the second descent height is 75 cm, the standard height is 80 cm, the second ascent height is 85 cm, and the first ascent height is 90 cm.

[0092]

[0093] Table 1

[0094] Referring to Table 1, when the vehicle is on ordinary national highways, urban roads, or when the vehicle is running, the vehicle's operating mode is determined to be the first operating mode. In the first operating mode, the vehicle speed is medium or low, i.e., less than or equal to 65 km / h, and the suspension height 110 is the standard height, i.e., 80 cm. The vehicle's load weight is obtained. When the load weight is greater than the set load weight value, the first airbag 111 and the second airbag 112 are connected, while the third airbag 113 and the fourth airbag 114 are disconnected. When the load weight is less than or equal to the set load weight value, the first airbag 111 and the second airbag 112 are disconnected, while the third airbag 113 and the fourth airbag 114 are connected. During vehicle operation, the vehicle controller acquires the vehicle's acceleration. If the acceleration exceeds a set acceleration value, the suspension 110's balance is adjusted to a target balance state corresponding to the operating mode, i.e., the first airbag 111 and the second airbag 112 are deactivated, as are the third airbag 113 and the fourth airbag 114. When the acceleration decreases again to less than or equal to the set acceleration value, or remains less than or equal to the set acceleration value, the controller again, based on the vehicle's load weight, deactivates the first airbag 111 and the second airbag 112, and activates the third airbag 113 and the fourth airbag 114; or activates the first airbag 111 and the second airbag 112, and deactivates the third airbag 113 and the fourth airbag 114.

[0095] When the vehicle is on a highway, the vehicle's operating mode is set to the second operating mode. In the second operating mode, the vehicle speed is high, exceeding 65 km / h, and the suspension height 110 is at the second high-speed descent, 75 cm, thus reducing wind resistance during driving. The suspension 110 is in a balanced state where the first airbag 111 and the second airbag 112 are disconnected, and the third airbag 113 and the fourth airbag 114 are disconnected. The vehicle suspension 110 is in a four-point support mode, which helps improve the roll stiffness of the front and rear parts of the suspension 110 at high speeds, allowing the vehicle to maintain stability when cornering at high speeds and reducing roll.

[0096] When the vehicle is on rural roads with significant elevation differences, such as muddy sections, the vehicle's operating mode is set to the third operating mode. In this mode, the vehicle speed is low, between 0-35 km / h, the suspension height 110 is the second rise height (85 cm), and the suspension 110 is balanced by the first airbag 111 and the second airbag 112 being connected, as well as the third airbag 113 and the fourth airbag 114. This left-right linkage balance helps reduce the vehicle's imbalance caused by one side being suspended in the air on twisting road sections.

[0097] When the vehicle needs to traverse curbs or drive on slopes or other terrain obstacles with large approach / departure angles, the vehicle's operating mode is determined to be the fourth operating mode. In the third operating mode, the vehicle speed is low, i.e., 0-35 km / h, the suspension height 110 is at its first lift height, i.e., 90 cm, and the suspension 110 is in a balanced state where the first airbag 111 and the second airbag 112 are deployed, and the third airbag 113 and the fourth airbag 114 are deployed. This reduces the risk of the vehicle's underbody colliding or scraping with ground obstacles, thereby reducing the risk of vehicle damage.

[0098] When there is a height restriction bar in the direction of the vehicle's travel, or the vehicle is located in an underground parking garage, or the vehicle is traveling on a roadside with overhead obstacles such as horizontal tree branches, the vehicle's operating mode is determined to be the fifth operating mode. In the fifth operating mode, the vehicle speed is low, i.e., 0-35 km / h, the suspension height 110 is the first descent height, i.e., 70 cm, and the suspension 110 is in a balanced state where the first airbag 111 and the second airbag 112 are deployed, and the third airbag 113 and the fourth airbag 114 are deployed. This reduces the risk of the vehicle's roof colliding or scraping with obstacles above the vehicle, thereby reducing the risk of vehicle damage.

[0099] It should be noted that the technical solutions or features described in the above embodiments can be combined or supplemented with each other without conflict. The scope of protection of this application is not limited to the precise structures described in the above embodiments and shown in the accompanying drawings; all modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for controlling a vehicle, characterized in that, The vehicle includes a suspension, which includes a first airbag, a second airbag, a third airbag, and a fourth airbag. The first airbag and the second airbag are located on both sides of the front end of the suspension, and the third airbag and the fourth airbag are located on both sides of the rear end of the suspension. The vehicle includes multiple different operating modes, each of which has corresponding target operating parameters. The target operating parameters include the target balance state of the suspension, the target vehicle speed, and the target height of the suspension. The balance state of the suspension includes the communication state between the first airbag and the second airbag, and the communication state between the third airbag and the fourth airbag. The control method includes: Determine the operating mode of the vehicle; Adjusting the vehicle's operating parameters to the target operating parameters includes: adjusting the suspension's balance state to a target balance state corresponding to the operating mode; Determining the operating mode of the vehicle includes: determining the operating mode in response to a control command; or The operating mode is determined based on the vehicle's current driving parameters; the driving parameters include at least one of the following: vehicle speed, road conditions, height between the suspension and the road surface, and vehicle load. The step of adjusting the vehicle's operating parameters to the target operating parameters includes: The suspension balance is adjusted to the target balance state corresponding to the operating mode, the vehicle speed is adjusted to the target speed corresponding to the operating mode, and the suspension height is adjusted to the target height corresponding to the operating mode.

2. The control method according to claim 1, characterized in that, The operating mode includes a first operating mode; among the target operating parameters corresponding to the first operating mode, the target balance 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, while the third airbag and the fourth airbag are connected; or The first airbag and the second airbag are connected, while the third airbag and the fourth airbag are disconnected.

3. The control method according to claim 2, characterized in that, When the vehicle is operating in the first operating mode, before adjusting the vehicle's operating parameters to the target operating parameters, the method further includes: obtaining the vehicle's acceleration or load weight. Adjusting the vehicle's operating parameters to the target operating parameters includes: adjusting the suspension's balance state to the target balance state corresponding to the operating mode based on the acceleration or the load weight.

4. The control method according to claim 3, characterized in that, The step of adjusting the balance state of the suspension to a target balance state corresponding to the operating mode based on the acceleration or the load includes: when the acceleration is greater than the acceleration set value, controlling the first airbag and the second airbag to disconnect, and the third airbag and the fourth airbag to disconnect; When the acceleration is less than or equal to the acceleration set value, the first airbag and the second airbag are disconnected, and the third airbag and the fourth airbag are connected; or the first airbag and the second airbag are connected, and the third airbag and the fourth airbag are disconnected. When the load-bearing weight exceeds the set load-bearing weight value, the first airbag and the second airbag are connected, while the third airbag and the fourth airbag are disconnected. 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 disconnected, and the third airbag and the fourth airbag are connected.

5. The control method according to claim 2, characterized in that, Among the various operating modes, the first operating mode is the default operating mode.

6. The control method according to claim 1, characterized in that, The operating mode includes a second operating mode; among the target operating parameters corresponding to the second operating mode, the target balance state of the suspension includes: The first airbag and the second airbag are disconnected, and the third airbag and the fourth airbag are disconnected.

7. The control method according to claim 1, characterized in that, The operating mode includes a third operating mode; among the target operating parameters corresponding to the third operating mode, the target balance state of the suspension includes: The first airbag and the second airbag are connected, and the third airbag and the fourth airbag are connected.

8. The control method according to claim 1, characterized in that, The operating mode includes 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 sequentially. The standard height mentioned is the default height; In the target operating parameters corresponding to the fourth operating mode, the target balance 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 rise height.

9. The control method according to claim 1, characterized in that, The operating mode includes 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 sequentially. The standard height mentioned is the default height; In the target operating parameters corresponding to the fifth operating mode, the target balance 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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