Vehicle and control method for vehicle

Abstract

The invention provides a vehicle and a control method for the vehicle. The wheel includes a vehicle body, a suspension, a first position sensor, and a controller. The suspension is used for lifting the vehicle body. The first position sensor is used for detecting road conditions in front of the vehicle body. The first position sensor is provided with a first measuring point and a second measuring point which are arranged at intervals in the height direction. The measuring focal lengths of the first measuring point and the second measuring point can be adjusted, and the distance between the first measuring point and the second measuring point in the height direction is a fixed value. The controller is electrically connected with the suspension and the first position sensor and used for adjusting the focal length of the first measuring point and the second measuring point according to the measuring results of the first measuring point and the second measuring point so that the highest point of the road surface can be located between the first measuring point and the second measuring point. Determining a vehicle control strategy according to the adjustment condition of the focal lengths of the first measurement point and the second measurement point; the vehicle control strategy is used for adjusting the running state of the suspension when the vehicle passes the set road.

Description

Technical Field

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

[0002] In the related art, when a vehicle is driving, it detects the road surface it is about to pass. If there are obstacles or slopes on the road surface that may collide with the vehicle chassis, the vehicle controller will control the suspension to move the vehicle body upwards, thereby preventing the vehicle body from colliding or scratching the obstacles or slopes. In the above situation, the vehicle will also be bumpy when passing obstacles or slopes, which is not conducive to ride comfort. Summary of the invention

[0003] The present application provides a vehicle with improved riding comfort and a control method for the vehicle.

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

[0005] Car body;

[0006] A suspension, arranged on the vehicle body, and used for lifting and lowering the vehicle body;

[0007] a first position sensor, disposed on the vehicle body, for detecting a road surface condition in front of the vehicle body, the first position sensor having a first measuring point and a second measuring point spaced apart in a height direction, the measuring focal lengths of the first measuring point and the second measuring point being adjustable and both being lower than the lowest point of the vehicle body, and the spacing between the first measuring point and the second measuring point in the height direction being a fixed value;

[0008] A controller is electrically connected to the suspension and the first position sensor, and is used to adjust the focal lengths of the first measuring point and the second measuring point according to the measurement results of the first measuring point and the second measuring point so that the highest point of the road surface is located between the first measuring point and the second measuring point, and determine a vehicle control strategy according to the adjustment of the focal lengths of the first measuring point and the second measuring point; the vehicle control strategy is used to adjust the operating state of the suspension when the vehicle passes through a set road surface.

[0009] In the present application, a tolerance band for road surface detection is formed between the first measuring point and the second measuring point. When the undulation of the road surface is small, the highest point of the road surface is always within the tolerance band; when there are obstacles or slopes on the road surface, the highest point of the road surface will be higher or lower than the tolerance band. When the road surface is lower than the tolerance band, neither the first measuring point nor the second measuring point can measure the road surface. The focal lengths of the first measuring point and the second measuring point are adjusted until the lower one of the first measuring point and the second measuring point can measure the road surface, thereby determining the concave shape and degree of the road surface. When the road surface is higher than the tolerance band, both the first measuring point and the second measuring point can measure the road surface. The focal lengths of the first measuring point and the second measuring point are adjusted until the higher one of the first measuring point and the second measuring point cannot measure the road surface, thereby determining the convex shape and degree of the road surface. The above settings are used to obtain the road surface conditions on which the vehicle is traveling, and the vehicle control strategy is determined based on the road surface conditions. Among them, the control strategy can be preset and stored in the controller, including adjusting the relative height between the vehicle and the suspension and the shock absorber damping of the suspension according to the road conditions, so that the operating state of the suspension matches the road conditions, which is conducive to reducing the ride comfort of the vehicle when passing through slopes and obstacles.

[0010] Optionally, the vehicle body includes a front portion, and the first position sensor is disposed on the front portion; an interference safety distance is provided between the first measuring point and the second measuring point and the lowest point of the front portion;

[0011] When the distance between the first measuring point and the second measuring point and the lowest point of the vehicle head does not reach the interference safety distance during the process of adjusting the focal length, the highest point of the road surface is already located between the first measuring point and the second measuring point, and the vehicle control strategy includes:

[0012] When the vehicle passes through a set road surface, the suspension is adjusted to rise or fall by the same height as the adjustment amount in a direction opposite to the adjustment direction according to the adjustment direction and adjustment amount of the focal length of the first measuring point and the second measuring point.

[0013] Optionally, the vehicle body includes a front portion, and the first position sensor is disposed on the front portion; an interference safety distance is provided between the first measuring point and the second measuring point and the lowest point of the front portion;

[0014] When the distance between the first measuring point and the second measuring point and the lowest point of the vehicle head during the focal length adjustment process reaches the interference safety distance, and the highest point of the road surface is still not located between the first measuring point and the second measuring point, the vehicle control strategy includes:

[0015] When the vehicle passes through a set road surface, after the distances between the first measuring point, the second measuring point and the lowest point of the vehicle front reach the interference safety distance, if the highest point of the road surface is still higher than the first measuring point and the second measuring point, the height of the suspension is adjusted to rise until the highest point of the road surface is located between the first measuring point and the second measuring point.

[0016] Optionally, the vehicle includes a front wheel disposed on the front side of the suspension and a rear wheel disposed on the rear side of the suspension;

[0017] When the distance between the first measuring point and the second measuring point and the lowest point of the vehicle head does not reach the interference safety distance during the process of adjusting the focal length, the highest point of the road surface is already located between the first measuring point and the second measuring point, and the vehicle control strategy includes:

[0018] When the front wheel passes through a set road surface, according to the adjustment direction and adjustment amount of the focal lengths of the first measuring point and the second measuring point, the front side of the suspension is adjusted to rise or fall in a direction opposite to the adjustment direction by a height equal to the adjustment amount;

[0019] When the rear wheel passes through a set road surface, the rear side of the suspension is adjusted to rise or fall in a direction opposite to the adjustment direction to a height equal to the adjustment amount according to the adjustment direction and adjustment amount of the focal length of the first measuring point and the second measuring point.

[0020] Optionally, the vehicle comprises a plurality of wheels disposed on a suspension;

[0021] The vehicle control strategy includes:

[0022] When any one of the multiple wheels passes through a set road surface, the suspension is adjusted to a position corresponding to the wheel passing through the set road surface according to the adjustment direction and adjustment amount of the focal length of the first measuring point and the second measuring point, and rises or falls in a direction opposite to the adjustment direction by the same height as the adjustment amount.

[0023] Optionally, the suspension has an initial ride height; the controller is also used to adjust the height of the suspension back to the initial ride height after the vehicle executes the vehicle control strategy and passes through a set road surface.

[0024] Optionally, the first position sensor includes a first distance sensor and a second distance sensor; the first distance sensor includes the first measuring point, and the second distance sensor includes the second measuring point.

[0025] Optionally, the first position sensor is a scanning distance sensor, which is disposed at a middle position of the front side of the vehicle body, and a scanning range covers the front of the vehicle and both sides of the vehicle.

[0026] Optionally, it further includes a second position sensor, which is arranged on the vehicle body, and the second position sensor has a third measuring point, which is used to detect the road surface condition behind the vehicle body;

[0027] The controller is electrically connected to the second position sensor, and is used for controlling the suspension to rise according to the measurement result of the third measurement point so that the highest point of the road surface is not higher than the third measurement point.

[0028] In a second aspect, the present application provides a control method for the vehicle according to the first aspect, the control method comprising:

[0029] According to the measurement results of the first measurement point and the second measurement point, adjusting the focal lengths of the first measurement point and the second measurement point in the height direction so that the highest point of the road surface is always located between the first measurement point and the second measurement point; wherein the distance between the first measurement point and the second measurement point in the height direction is a fixed value;

[0030] Determining a vehicle control strategy according to adjustment conditions of the focal lengths of the first measuring point and the second measuring point;

[0031] According to the vehicle control strategy, the operating state of the suspension when the vehicle passes through a set road surface is adjusted.

[0032] Optionally, the vehicle body includes a front portion of the vehicle, and there is an interference safety distance between the first measuring point and the second measuring point and the lowest point of the front portion of the vehicle;

[0033] The determining of the vehicle control strategy according to the adjustment of the focal lengths of the first measuring point and the second measuring point includes:

[0034] The vehicle control strategy is determined according to a comparison result of the distance between the first measuring point and the second measuring point and the lowest point of the vehicle head during the process of adjusting the focal length and the interference safety distance.

[0035] Optionally, determining the vehicle control strategy according to a comparison result of the distance between the first measurement point and the second measurement point and the lowest point of the vehicle head during the process of adjusting the focal length and the interference safety distance includes:

[0036] When the distance between the first measuring point and the second measuring point and the lowest point of the vehicle head does not reach the interference safety distance during the process of adjusting the focal length, the highest point of the road surface is already located between the first measuring point and the second measuring point, and the vehicle control strategy includes:

[0037] When the vehicle passes through a set road surface, the suspension is adjusted to rise or fall by the same height as the adjustment amount in a direction opposite to the adjustment direction according to the adjustment direction and adjustment amount of the focal length of the first measuring point and the second measuring point.

[0038] Optionally, the vehicle comprises a plurality of wheels disposed on a suspension;

[0039] The vehicle control strategy includes:

[0040] When any one of the multiple wheels passes through a set road surface, the suspension is adjusted to a position corresponding to the wheel passing through the set road surface according to the adjustment direction and adjustment amount of the focal length of the first measuring point and the second measuring point, and rises or falls in a direction opposite to the adjustment direction by the same height as the adjustment amount.

[0041] Optionally, the vehicle includes a front wheel disposed on the front side of the suspension and a rear wheel disposed on the rear side of the suspension;

[0042] Before determining the vehicle control strategy according to the adjustment of the focal lengths of the first measuring point and the second measuring point, the method further includes: determining a first time length for the front wheel to reach the set road surface and a second time length for the rear wheel to reach the set road surface according to the vehicle speed;

[0043] The determining of the vehicle control strategy according to the adjustment of the focal lengths of the first measuring point and the second measuring point includes: adjusting the position of the suspension corresponding to the front wheel after a first time period, rising or falling by the same height as the adjustment amount in a direction opposite to the adjustment direction, and adjusting the position of the suspension corresponding to the rear wheel after a second time period, rising or falling by the same height as the adjustment amount in a direction opposite to the adjustment direction, according to the adjustment direction and adjustment amount of the focal lengths of the first measuring point and the second measuring point.

[0044] Optionally, the vehicle body includes a front portion of the vehicle, and there is an interference safety distance between the first measuring point and the second measuring point and the lowest point of the front portion of the vehicle;

[0045] When the distance between the first measuring point and the second measuring point and the lowest point of the vehicle head during the focal length adjustment process reaches the interference safety distance, and the highest point of the road surface is still not located between the first measuring point and the second measuring point, the vehicle control strategy includes:

[0046] When the vehicle passes through a set road surface, after the distances between the first measuring point, the second measuring point and the lowest point of the vehicle front reach the interference safety distance, if the highest point of the road surface is still higher than the first measuring point and the second measuring point, the height of the suspension is adjusted to rise until the highest point of the road surface is located between the first measuring point and the second measuring point.

[0047] Optionally, the suspension has an initial driving height, and after adjusting the operating state of the suspension when the vehicle passes through a set road surface according to the vehicle control strategy, the method further includes: adjusting the height of the suspension back to the initial driving height. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] 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.

[0049] Figure 1 Shown is a schematic diagram of an embodiment of a vehicle of the present application.

[0050] Figure 2-4 Shown is a schematic diagram of an embodiment of the present application in which a vehicle is traveling on a concave road surface.

[0051] Figure 5-7 Shown is a schematic diagram of an embodiment of the present application in which a vehicle is traveling on a raised road surface.

[0052] Figure 8-12 Shown is a schematic diagram of an embodiment of the present application in which a vehicle is traveling on an uphill road.

[0053] Fig.13 Shown is a top view schematic diagram of another embodiment of the vehicle of the present application.

[0054] Fig.14 Shown is a schematic diagram of an embodiment of a control method for a wheel of the present application.

[0055] Fig.15 Shown is a schematic diagram of another embodiment of a control method for a wheel according to the present application.

[0056] Description of reference numerals:

[0057] Vehicle 100; suspension 110; front wheel 121; rear wheel 122; first position sensor 130; second position sensor 140; vehicle body 150;

[0058] First measuring point A; second measuring point B; third measuring point C; tolerance band R. DETAILED DESCRIPTION

[0059] 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.

[0060] 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.

[0061] The present application provides a vehicle 100, such as Figure 1 As shown, it includes a vehicle body 150, a suspension 110, a first position sensor 130 and a controller. Among them, the suspension 110 is arranged on the vehicle body 150, and the suspension 110 is used to lift the vehicle body 150. The first position sensor 130 is arranged on the vehicle body 150, and is used to detect the road surface condition in front of the vehicle body 150. The first position sensor 130 has a first measuring point A and a second measuring point B spaced apart in the height direction, and the measuring focal lengths of the first measuring point A and the second measuring point B are adjustable and are both lower than the lowest point of the vehicle body 150. The distance between the first measuring point A and the second measuring point B in the height direction is fixed, and the distance between the first measuring point A and the second measuring point B in the height direction is a fixed value. A tolerance band R for road surface detection is formed between the first measuring point A and the second measuring point B.

[0062] The controller is electrically connected to the suspension 110 and the first position sensor 130, and is used to adjust the focal lengths of the first measuring point A and the second measuring point B according to the measurement results of the first measuring point A and the second measuring point B, so that the highest point of the road surface is located between the first measuring point A and the second measuring point B. When the undulation of the road surface is small, the highest point of the road surface is always located within the tolerance band R; when there are obstacles or slopes on the road surface, the highest point of the road surface will be higher or lower than the tolerance band R. When the road surface is lower than the tolerance band R, the focal lengths of the first measuring point A and the second measuring point B are adjusted until the lower one of the first measuring point A and the second measuring point B can measure the road surface, thereby determining the concave shape and degree of the road surface. When the road surface is higher than the tolerance band R, the focal lengths of the first measuring point A and the second measuring point B are adjusted until the higher one of the first measuring point A and the second measuring point B cannot measure the road surface, thereby determining the convex shape and degree of the road surface. Through the above settings, the shape of the set road surface is obtained.

[0063] And according to the adjustment of the focal length of the first measuring point A and the second measuring point B, the control strategy of the vehicle 100 is determined. Among them, the control strategy of the vehicle 100 is used to adjust the operating state of the suspension 110 when the vehicle 100 passes through a set road surface. The control strategy can be preset and stored in the controller, including adjusting the relative height between the vehicle 100 and the suspension 110 and the damping of the shock absorber of the suspension 110 according to the road surface conditions, so that the operating state of the suspension 110 matches the road surface conditions, which is conducive to reducing the ride comfort of the vehicle 100 when passing through a slope or an obstacle.

[0064] In an optional embodiment, the vehicle body 150 includes a front of the vehicle, and the first position sensor 130 is disposed at the front of the vehicle. The first position sensor 130 detects the road surface condition in front of the vehicle 100. There is an interference safety distance between the first measurement point A and the second measurement point B and the lowest point of the front of the vehicle. When the distance between the highest point of the road surface and the front of the vehicle is less than the interference safety distance, there is a risk of collision or scratching between the obstacle and the front of the vehicle.

[0065] like Figure 2-Figure 4 As shown, when the distance between the first measuring point A and the second measuring point B and the lowest point of the vehicle head does not reach the interference safety distance during the process of adjusting the focal length, the highest point of the road surface is already located between the first measuring point A and the second measuring point B, that is, at this time, the distance between the highest point of the road surface and the vehicle head is greater than the interference safety distance, and the control strategy of the vehicle 100 includes:

[0066] When the vehicle 100 passes through a set road surface, according to the adjustment direction and adjustment amount of the focal lengths of the first measuring point A and the second measuring point B, the suspension 110 is adjusted to rise or fall in a direction opposite to the adjustment direction by the same height as the adjustment amount.

[0067] Through the above settings, if the road surface is concave, the adjustment direction of the first measuring point A and the second measuring point B is downward, and the suspension 110 is adjusted to increase the height of the vehicle body 150 in the ascending direction. At this time, the distance between the bottom of the wheel and the vehicle body 150 increases. When the wheel passes through the concave road surface, the increase in the adjustment amount between the bottom of the wheel and the vehicle body 150 is equal to the concave amount of the road surface measured by the first position sensor 130, and the vehicle body 150 will not bump downward when passing through the concave road surface. If the road surface is convex, the adjustment direction of the first measuring point A and the second measuring point B is upward, and the suspension 110 is adjusted to reduce the height of the vehicle body 150 in the descending direction. At this time, the distance between the bottom of the wheel and the vehicle body 150 decreases. When the wheel passes through the convex road surface, the decrease in the adjustment amount between the bottom of the wheel and the vehicle body 150 is equal to the convex amount of the road surface measured by the first position sensor 130, and the vehicle body 150 will not bump upward when passing through the convex road surface. Through the above arrangement, the height of the suspension 110 of the vehicle 100 is adjusted accordingly according to the road conditions during driving, thereby reducing the bumpiness of the vehicle body 150 during driving and improving the ride comfort of the vehicle 100 .

[0068] In an optional embodiment, if Figure 8-12 As shown, when the distance between the first measuring point A and the second measuring point B and the lowest point of the vehicle head reaches the interference safety distance during the focal length adjustment process, the highest point of the road surface is still not located between the first measuring point A and the second measuring point B, the control strategy of the vehicle 100 includes:

[0069] When the vehicle 100 passes through a set road surface, after the distances between the first measuring point A and the second measuring point B and the lowest point of the front of the vehicle reach the interference safety distance, if the highest point of the road surface is still higher than the first measuring point A and the second measuring point B, at this time the distance between the highest point of the road surface and the lowest point of the front of the vehicle is less than the interference safety distance, the height of the suspension 110 is adjusted to rise until the highest point of the road surface is located between the first measuring point A and the second measuring point B.

[0070] During the detection of the road surface condition, when a convex shape appears on the road surface, the first measuring point A and the second measuring point B both detect the road surface, and at this time, the first measuring point A and the second measuring point B move upward. When the distance between the highest point of the road surface and the lowest point of the front of the vehicle is less than the interference safety distance, the height of the suspension 110 is adjusted to increase the distance between the lowest point of the front of the vehicle and the highest point of the road surface. At this time, the focal lengths of the first measuring point A and the second measuring point B remain unchanged, and the first measuring point A and the second measuring point B rise as the height of the suspension 110 rises. During the process of the height increase of the suspension 110, if the highest point of the road surface is located between the first measuring point A and the second measuring point B, then at this time, the distance between the highest point of the road surface and the lowest point of the front of the vehicle is not less than the interference safety distance, thereby reducing the risk of collision or scratching between obstacles and the front of the vehicle.

[0071] In an optional embodiment, the vehicle 100 includes a front wheel 121 disposed at the front side of the suspension 110 and a rear wheel 122 disposed at the rear side of the suspension 110 .

[0072] The vehicle 100 includes a front wheel 121 disposed at the front side of the suspension 110 and a rear wheel 122 disposed at the rear side of the suspension 110;

[0073] When the distance between the first measuring point A and the second measuring point B and the lowest point of the vehicle head does not reach the interference safety distance during the process of adjusting the focal length, the highest point of the road surface is already located between the first measuring point A and the second measuring point B, the control strategy of the vehicle 100 includes:

[0074] When the front wheel 121 passes through a set road surface, the front side of the suspension 110 is adjusted to rise or fall by the same height as the adjustment amount in a direction opposite to the adjustment direction according to the adjustment direction and adjustment amount of the focal length of the first measurement point A and the second measurement point B;

[0075] When the rear wheel 122 passes through a set road surface, the front side of the suspension 110 is adjusted to rise or fall by the same height as the adjustment amount in a direction opposite to the adjustment direction according to the adjustment direction and adjustment amount of the focal length of the first measuring point A and the second measuring point B.

[0076] In some embodiments, the suspension 110 includes a plurality of airbags arranged corresponding to a plurality of wheels, and the plurality of airbags are inflated and deflated independently of each other to adjust the internal air pressure of the airbags so as to achieve the rise and fall of different positions of the suspension 110. By acquiring the speed of the vehicle 100, the controller can calculate the time for the front wheel 121 and the rear wheel 122 to pass through the set road surface in sequence, and adjust the front wheel 121 and the rear wheel 122 to rise or fall in the direction opposite to the adjustment direction according to the adjustment direction and adjustment amount of the focal length of the first measurement point A and the second measurement point B to the same height as the adjustment amount. In the process of adjusting the suspension 110, the degree of bumping of the vehicle body 150 during driving is reduced, and the risk of the vehicle 100 tilting forward or backward is avoided, thereby improving the ride comfort of the vehicle 100.

[0077] In an optional embodiment, the vehicle 100 includes a plurality of wheels disposed on the suspension 110. The control strategy of the vehicle 100 includes: when any one of the plurality of wheels passes through a set road surface, according to the adjustment direction and adjustment amount of the focal length of the first measurement point A and the second measurement point B, adjusting the position of the suspension 110 corresponding to the wheel passing through the set road surface, and rising or falling in a direction opposite to the adjustment direction by a height equal to the adjustment amount.

[0078] In some embodiments, the suspension 110 includes a plurality of airbags arranged corresponding to a plurality of wheels, and the plurality of airbags are inflated and deflated independently of each other to adjust the internal air pressure of the airbags so as to achieve the rise and fall of different positions of the suspension 110. When the first position sensor 130 detects that a concave shape or a convex shape appears on the left side of the vehicle 100, the left side of the suspension 110 is adjusted to rise or fall by the same height as the adjustment amount in the direction opposite to the adjustment direction according to the adjustment direction and adjustment amount of the focal length of the first measurement point A and the second measurement point B; when the first position sensor 130 detects that a concave shape or a convex shape appears on the right side of the vehicle 100, the right side of the suspension 110 is adjusted to rise or fall by the same height as the adjustment amount in the direction opposite to the adjustment direction according to the adjustment direction and adjustment amount of the focal length of the first measurement point A and the second measurement point B. In the process of adjusting the suspension 110, the degree of bumping of the vehicle body 150 during driving is reduced, and the risk of the vehicle 100 tilting to one side is avoided, thereby improving the ride comfort of the vehicle 100.

[0079] In some embodiments, the suspension 110 has an initial driving height; the controller is also used to adjust the height of the suspension 110 back to the initial driving height after the vehicle 100 executes the vehicle 100 control strategy and passes through a set road surface.

[0080] When the undulation of the road surface is small, the highest point of the road surface is always within the tolerance band R, and the suspension 110 maintains the initial driving height for driving. The initial driving height can be adjusted accordingly according to the vehicle speed, road conditions, etc., so that the initial driving height matches the driving condition of the vehicle 100. In some embodiments, when the vehicle speed is fast, such as when the wheels are on a highway, the vehicle can be driven at a lower initial driving height to reduce wind resistance. In other embodiments, when the road conditions are bumpy, the vehicle can be driven at a higher initial driving height. Through the above settings, after the vehicle 100 executes the vehicle 100 control strategy and passes through the set road surface, the height adjustment of the suspension 110 is restored to the initial driving height, which is beneficial to the adaptability of the vehicle 100 to different road surfaces, and is beneficial to the adaptability of the vehicle 100 to different road surfaces and ride comfort.

[0081] In an optional embodiment, the first position sensor 130 includes a first distance sensor and a second distance sensor. The first distance sensor includes a first measuring point A, and the second distance sensor includes a second measuring point B. Specifically, the first distance sensor and the second distance sensor may be infrared sensors.

[0082] A tolerance band R is formed between the first measuring point A and the second measuring point B. Taking the first measuring point A as an example, when the road surface is lower than the tolerance band R, the first measuring point A and the second measuring point B cannot detect the road surface, and the focal lengths of the first measuring point A and the second measuring point B are adjusted until the first measuring point A can measure the road surface, thereby determining the concave shape and degree of the road surface. When the road surface is higher than the tolerance band R, the first measuring point A and the second measuring point B can both detect the road surface, and the focal lengths of the first measuring point A and the second measuring point B are adjusted until the second measuring point B cannot measure the road surface, thereby determining the convex shape and degree of the road surface. Through the above-mentioned setting, it is convenient to adjust the focal lengths of the first measuring point A and the second measuring point B according to the measurement results of the first measuring point A and the second measuring point B, so that the highest point of the road surface is located within the tolerance band R, thereby obtaining the condition of the road surface.

[0083] In an optional embodiment, if Fig.13 As shown, the first position sensor 130 is a scanning distance sensor, and the first position sensor 130 is arranged in the middle position of the front side of the vehicle body 150, and the scanning range covers the front of the vehicle 100 and the sides of the vehicle 100. In some embodiments, the scanning range exceeds the distance between the left and right tires of the vehicle 100 in the width direction of the vehicle 100. Through the above settings, the shape and degree of the convexity of the road surface are determined by the scanning distance sensor, and the control strategy of the vehicle 100 is determined according to the road surface conditions. Among them, the control strategy can be preset and stored in the controller, including adjusting the relative height between the vehicle 100 and the suspension 110 and the damping of the shock absorber of the suspension 110 according to the road surface conditions, so that the operating state of the suspension 110 matches the road surface conditions, which is conducive to reducing the ride comfort of the vehicle 100 when passing through a slope or an obstacle.

[0084] In an optional embodiment, if Figure 1 As shown, the vehicle 100 further includes a second position sensor 140, which is disposed on the vehicle body 150. Specifically, it is disposed at the bottom of the rear side of the vehicle body 150. The second position sensor 140 has a third measuring point C, which is used to detect the road surface condition behind the vehicle body 150. The controller is electrically connected to the second position sensor 140, and the controller is used to control the suspension 110 to rise according to the measurement result of the third measuring point C, so that the highest point of the road surface is not higher than the third measuring point C.

[0085] When the vehicle 100 goes uphill, the front side of the vehicle 100 is lifted up and the rear side is lowered accordingly. At this time, there is a risk of collision or scratching the road surface with the rear side of the vehicle 100. By setting the second position sensor 140, when the third measuring point C can detect the road surface, the suspension 110 is controlled to rise so that the highest point of the road surface is not higher than the third measuring point C, thereby reducing the risk of collision or scratching between the road surface and the vehicle body 150, which is beneficial to the driving safety of the vehicle 100.

[0086] The present application also provides a control method for the vehicle 100, see Fig.14 As shown, the control method includes step S10, step S20 and step S30.

[0087] In step S10, according to the measurement results of the first measurement point A and the second measurement point B, the focal lengths of the first measurement point A and the second measurement point B in the height direction are adjusted so that the highest point of the road surface is always located between the first measurement point A and the second measurement point B. The distance between the first measurement point A and the second measurement point B in the height direction is a fixed value, and a tolerance band R is formed between the first measurement point A and the second measurement point B.

[0088] In step S20, the control strategy of the vehicle 100 is determined according to the adjustment of the focal lengths of the first measuring point A and the second measuring point B. When the undulation of the road surface is small, the highest point of the road surface is always within the tolerance band R; when there are obstacles or slopes on the road surface, the highest point of the road surface will be higher or lower than the tolerance band R. When the road surface is lower than the tolerance band R, the first measuring point A and the second measuring point B cannot measure the road surface, and the focal lengths of the first measuring point A and the second measuring point B are adjusted until the lower one of the first measuring point A and the second measuring point B can measure the road surface, thereby determining the shape and degree of the concave of the road surface. When the road surface is higher than the tolerance band R, the first measuring point A and the second measuring point B can measure the road surface, and the focal lengths of the first measuring point A and the second measuring point B are adjusted until the higher one of the first measuring point A and the second measuring point B cannot measure the road surface, thereby determining the shape and degree of the convexity of the road surface.

[0089] In step S30 , the operating state of the suspension 110 is adjusted when the vehicle 100 passes through a set road surface according to the control strategy of the vehicle 100 .

[0090] The control strategy can be preset and stored in the controller, including adjusting the relative height between the vehicle 100 and the suspension 110 and the shock absorber damping of the suspension 110 according to the road conditions, so that the operating state of the suspension 110 matches the road conditions, which is beneficial to reducing the ride comfort of the vehicle 100 when passing over slopes and obstacles.

[0091] In an optional embodiment, step S20, determining the control strategy of the vehicle 100 according to the adjustment of the focal lengths of the first measuring point A and the second measuring point B, includes step S21.

[0092] In step S21, the control strategy of the vehicle 100 is determined according to the comparison result of the distance between the first measuring point A and the second measuring point B and the lowest point of the vehicle head during the process of adjusting the focal length and the interference safety distance.

[0093] When the distance between the lowest point of the front of the vehicle and the highest point of the road surface is greater than or equal to the interference safety distance, there is no risk of collision or scratching between the lowest point of the front of the vehicle and the road surface. When the distance between the lowest point of the front of the vehicle and the highest point of the road surface is less than the interference safety distance, there is a risk of collision or scratching between the lowest point of the front of the vehicle and the road surface. In the process of adjusting the focal length of the first measuring point A and the second measuring point B, by comparing the distance between the first measuring point A and the second measuring point B and the lowest point of the front of the vehicle during the focal length adjustment process with the interference safety distance, it is determined whether there is a risk of collision or scratching between the lowest point of the front of the vehicle and the road surface.

[0094] Step S21, determining the control strategy of vehicle 100 according to the comparison result of the distance between the first measuring point A and the second measuring point B and the lowest point of the front of the vehicle during the process of adjusting the focal length and the interference safety distance, including: when the distance between the first measuring point A and the second measuring point B and the lowest point of the front of the vehicle during the process of adjusting the focal length does not reach the interference safety distance, the highest point of the road surface is already located between the first measuring point A and the second measuring point B, and the control strategy of vehicle 100 includes step S41.

[0095] In step S41, when the vehicle 100 passes through a set road surface, the suspension 110 is adjusted to rise or fall by the same height as the adjustment amount in a direction opposite to the adjustment direction according to the adjustment direction and adjustment amount of the focal length of the first measurement point A and the second measurement point B.

[0096] Through the above settings, if the road surface is concave, the adjustment direction of the first measuring point A and the second measuring point B is downward, and the suspension 110 is adjusted to increase the height of the vehicle body 150 in the ascending direction. At this time, the distance between the bottom of the wheel and the vehicle body 150 increases. When the wheel passes through the concave road surface, the increase in the adjustment amount between the bottom of the wheel and the vehicle body 150 is equal to the concave amount of the road surface measured by the first position sensor 130, and the vehicle body 150 will not bump downward when passing through the concave road surface. If the road surface is convex, the adjustment direction of the first measuring point A and the second measuring point B is upward, and the suspension 110 is adjusted to reduce the height of the vehicle body 150 in the descending direction. At this time, the distance between the bottom of the wheel and the vehicle body 150 decreases. When the wheel passes through the convex road surface, the decrease in the adjustment amount between the bottom of the wheel and the vehicle body 150 is equal to the convex amount of the road surface measured by the first position sensor 130, and the vehicle body 150 will not bump upward when passing through the convex road surface. Through the above arrangement, the height of the suspension 110 of the vehicle 100 is adjusted accordingly according to the road conditions during driving, thereby reducing the bumpiness of the vehicle body 150 during driving and improving the ride comfort of the vehicle 100 .

[0097] In an optional embodiment, the vehicle 100 control strategy includes:

[0098] When any one of the multiple wheels passes through a set road surface, the position of the suspension 110 corresponding to the wheel passing through the set road surface is adjusted according to the adjustment direction and adjustment amount of the focal length of the first measuring point A and the second measuring point B, and is raised or lowered by the same height as the adjustment amount in a direction opposite to the adjustment direction.

[0099] In some embodiments, the suspension 110 includes a plurality of airbags arranged corresponding to a plurality of wheels, and the plurality of airbags are inflated and deflated independently of each other to adjust the internal air pressure of the airbags so as to achieve the rise and fall of different positions of the suspension 110. When the first position sensor 130 detects that a concave shape or a convex shape appears on the left side of the vehicle 100, the left side of the suspension 110 is adjusted to rise or fall by the same height as the adjustment amount in the direction opposite to the adjustment direction according to the adjustment direction and adjustment amount of the focal length of the first measurement point A and the second measurement point B; when the first position sensor 130 detects that a concave shape or a convex shape appears on the right side of the vehicle 100, the right side of the suspension 110 is adjusted to rise or fall by the same height as the adjustment amount in the direction opposite to the adjustment direction according to the adjustment direction and adjustment amount of the focal length of the first measurement point A and the second measurement point B. In the process of adjusting the suspension 110, the degree of bumping of the vehicle body 150 during driving is reduced, and the risk of the vehicle 100 tilting to one side is avoided, thereby improving the ride comfort of the vehicle 100.

[0100] See also Fig.15 As shown, in an optional embodiment, before step S20, according to the adjustment of the focal lengths of the first measuring point A and the second measuring point B, determining the control strategy of the vehicle 100, further includes step S50.

[0101] In step S50, a first time length for the front wheel 121 to reach the set road surface and a second time length for the rear wheel 122 to reach the set road surface are determined according to the vehicle speed of the vehicle 100;

[0102] Step S20, determining a control strategy of the vehicle 100 according to the adjustment conditions of the focal lengths of the first measuring point A and the second measuring point B, includes step S22.

[0103] In step S22, according to the adjustment direction and adjustment amount of the focal length of the first measuring point A and the second measuring point B, the position of the suspension 110 corresponding to the front wheel 121 is adjusted after a first time period, and is raised or lowered by a height equal to the adjustment amount in a direction opposite to the adjustment direction; and the position of the suspension 110 corresponding to the rear wheel 122 is adjusted after a second time period, and is raised or lowered by a height equal to the adjustment amount in a direction opposite to the adjustment direction.

[0104] By acquiring the speed of the vehicle 100, the controller can calculate the first time length for the front wheel 121 to reach the set road surface and the second time length for the rear wheel 122 to reach the set road surface, and adjust the front wheel 121 and the rear wheel 122 to rise or fall in the direction opposite to the adjustment direction by the same height as the adjustment amount according to the adjustment direction and adjustment amount of the focal length of the first measurement point A and the second measurement point B. In the process of adjusting the suspension 110, the bumpiness of the vehicle body 150 during driving is reduced, and the risk of the vehicle 100 tilting forward or backward is avoided, thereby improving the ride comfort of the vehicle 100.

[0105] When the distance between the first measuring point A and the second measuring point B and the lowest point of the vehicle front reaches the interference safety distance during the focal length adjustment process, and the highest point of the road surface is still not between the first measuring point A and the second measuring point B, the vehicle 100 control strategy includes step S42.

[0106] In step S42, when the vehicle 100 passes through a set road surface, after the distance between the first measuring point A and the second measuring point B and the lowest point of the front of the vehicle reaches the interference safety distance, if the highest point of the road surface is still higher than the first measuring point A and the second measuring point B, the height of the suspension 110 is adjusted to rise until the highest point of the road surface is located between the first measuring point A and the second measuring point B.

[0107] During the detection of the road surface condition, when a convex shape appears on the road surface, the first measuring point A and the second measuring point B both detect the road surface, and at this time, the first measuring point A and the second measuring point B move upward. When the distance between the highest point of the road surface and the lowest point of the front of the vehicle is less than the interference safety distance, the height of the suspension 110 is adjusted to increase the distance between the lowest point of the front of the vehicle and the highest point of the road surface. At this time, the focal lengths of the first measuring point A and the second measuring point B remain unchanged, and the first measuring point A and the second measuring point B rise as the height of the suspension 110 rises. During the process of the height increase of the suspension 110, if the highest point of the road surface is located between the first measuring point A and the second measuring point B, then at this time, the distance between the highest point of the road surface and the lowest point of the front of the vehicle is not less than the interference safety distance, thereby reducing the risk of collision or scratching between obstacles and the front of the vehicle.

[0108] In an optional embodiment, step S30, after adjusting the operating state of the suspension 110 when the vehicle 100 passes through a set road surface according to the control strategy of the vehicle 100, includes step S60.

[0109] In step S60 , the height of the suspension 110 is adjusted back to the initial ride height.

[0110] The initial driving height can be adjusted accordingly according to the vehicle speed, road conditions, etc., so that the initial driving height matches the driving conditions of the vehicle 100. In some embodiments, when the vehicle speed is fast, such as when the wheels are on a highway, the vehicle can be driven at a lower initial driving height to reduce wind resistance. In other embodiments, when the road conditions are bumpy, the vehicle can be driven at a higher initial driving height. Through the above settings, after the vehicle 100 executes the vehicle 100 control strategy and passes through the set road surface, the height adjustment of the suspension 110 is restored to the initial driving height, which is beneficial to the adaptability of the vehicle 100 to different road surfaces, and is beneficial to the adaptability of the vehicle 100 to different road surfaces and ride comfort.

[0111] In specific implementation, Figure 1 As shown, when the undulation of the road surface is small, the highest point of the road surface is always located within the tolerance band R formed between the first measuring point A and the second measuring point B.

[0112] like Figure 2-Figure 4 As shown, if the road surface is concave, the adjustment direction of the first measuring point A and the second measuring point B is downward. By obtaining the speed of the vehicle 100, the first time length for the front wheel 121 to reach the set road surface and the second time length for the rear wheel 122 to reach the set road surface can be calculated. The front wheel 121 and the rear wheel 122 are adjusted to increase the height of the vehicle body 150 in the ascending direction. At this time, the distance between the bottom of the wheel and the vehicle body 150 increases. When the wheel passes through the concave road surface, the increased adjustment amount between the bottom of the wheel and the vehicle body 150 is equal to the concave amount of the road surface measured by the first position sensor 130, and the vehicle body 150 will not bump downward when passing through the concave road surface.

[0113] like Figure 5-7 As shown, if the road surface is convex, the adjustment direction of the first measuring point A and the second measuring point B is upward. By obtaining the speed of the vehicle 100, the first time length for the front wheel 121 to reach the set road surface and the second time length for the rear wheel 122 to reach the set road surface can be calculated. The front wheel 121 and the rear wheel 122 are adjusted to reduce the height of the vehicle body 150 in the descending direction, and the distance between the bottom of the wheel and the vehicle body 150 is reduced. When the wheel passes through the convex road surface, the adjustment amount reduced from the bottom of the wheel to the vehicle body 150 is equal to the convex amount of the road surface measured by the first position sensor 130, and the vehicle body 150 will not bump upward when passing through the convex road surface.

[0114] like Figure 8-12As shown, if the road surface is uphill, the adjustment direction of the first measuring point A and the second measuring point B is upward. By obtaining the speed of the vehicle 100, the first time length of the front wheel 121 reaching the set road surface and the second time length of the rear wheel 122 reaching the set road surface can be calculated. The front wheel 121 is adjusted to reduce the height of the vehicle body 150 in the descending direction, and the distance between the bottom of the wheel and the vehicle body 150 is reduced. In the process that the front wheel 121 of the vehicle 100 drives on the uphill road surface and the rear wheel 122 does not drive on the uphill road surface, the distance between the highest point of the road surface and the vehicle body 150 continues to decrease. At this time, the focal length of the first measuring point A and the second measuring point B continues to rise, and the suspension 110 is adjusted to continuously reduce the height of the vehicle body 150 at the front wheel 121. When the rear wheel 122 drives on the uphill, the front wheel 121 is adjusted to reduce the height of the vehicle body 150 in the descending direction. During the adjustment process, the front and rear wheels 122 are both on an uphill slope, and as the rear wheel 122 travels up the uphill slope, the distance between the front side of the vehicle body 150 and the highest point of the road surface increases, and the adjustment directions of the first measuring point A and the second measuring point B increase downward accordingly, thereby adjusting the front wheel 121 and the rear wheel 122 to increase the height of the vehicle body 150 in the ascending direction until it returns to the initial driving height.

[0115] 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, characterized in that: include: Car body; A suspension, arranged on the vehicle body, and used for lifting and lowering the vehicle body; a first position sensor, disposed on the vehicle body, for detecting a road surface condition in front of the vehicle body, the first position sensor having a first measuring point and a second measuring point spaced apart in a height direction, the measuring focal lengths of the first measuring point and the second measuring point being adjustable and both being lower than the lowest point of the vehicle body, and the spacing between the first measuring point and the second measuring point in the height direction being a fixed value; a controller electrically connected to the suspension and the first position sensor, the controller being used to adjust the focal lengths of the first measuring point and the second measuring point according to the measurement results of the first measuring point and the second measuring point so that the highest point of the road surface is located between the first measuring point and the second measuring point, and determine a vehicle control strategy according to the adjustment of the focal lengths of the first measuring point and the second measuring point; The vehicle control strategy is used to adjust the operating state of the suspension when the vehicle passes through a set road surface.

2. The vehicle according to claim 1, characterized in that The vehicle body includes a front portion, and the first position sensor is disposed on the front portion; there is an interference safety distance between the first measuring point and the second measuring point and the lowest point of the front portion; When the distance between the first measuring point and the second measuring point and the lowest point of the vehicle head does not reach the interference safety distance during the process of adjusting the focal length, the highest point of the road surface is already located between the first measuring point and the second measuring point, and the vehicle control strategy includes: When the vehicle passes through a set road surface, the suspension is adjusted to rise or fall by the same height as the adjustment amount in a direction opposite to the adjustment direction according to the adjustment direction and adjustment amount of the focal length of the first measuring point and the second measuring point.

3. The vehicle according to claim 1, characterized in that The vehicle body includes a front portion, and the first position sensor is disposed on the front portion; there is an interference safety distance between the first measuring point and the second measuring point and the lowest point of the front portion; When the distance between the first measuring point and the second measuring point and the lowest point of the vehicle head during the focal length adjustment process reaches the interference safety distance, and the highest point of the road surface is still not located between the first measuring point and the second measuring point, the vehicle control strategy includes: When the vehicle passes through a set road surface, after the distances between the first measuring point, the second measuring point and the lowest point of the vehicle front reach the interference safety distance, if the highest point of the road surface is still higher than the first measuring point and the second measuring point, the height of the suspension is adjusted to rise until the highest point of the road surface is located between the first measuring point and the second measuring point.

4. The vehicle according to claim 2, characterized in that The vehicle includes a front wheel disposed on the front side of the suspension and a rear wheel disposed on the rear side of the suspension; When the distance between the first measuring point and the second measuring point and the lowest point of the vehicle head does not reach the interference safety distance during the process of adjusting the focal length, the highest point of the road surface is already located between the first measuring point and the second measuring point, and the vehicle control strategy includes: When the front wheel passes through a set road surface, according to the adjustment direction and adjustment amount of the focal lengths of the first measuring point and the second measuring point, the front side of the suspension is adjusted to rise or fall in a direction opposite to the adjustment direction by a height equal to the adjustment amount; When the rear wheel passes through a set road surface, the rear side of the suspension is adjusted to rise or fall in a direction opposite to the adjustment direction to a height equal to the adjustment amount according to the adjustment direction and adjustment amount of the focal length of the first measuring point and the second measuring point.

5. The vehicle according to claim 4, characterized in that The vehicle includes a plurality of wheels disposed on a suspension; The vehicle control strategy includes: When any one of the multiple wheels passes through a set road surface, the suspension is adjusted to a position corresponding to the wheel passing through the set road surface according to the adjustment direction and adjustment amount of the focal length of the first measuring point and the second measuring point, and rises or falls in a direction opposite to the adjustment direction by the same height as the adjustment amount.

6. The vehicle according to claim 1, characterized in that The suspension has an initial driving height; the controller is also used to adjust the height of the suspension back to the initial driving height after the vehicle executes the vehicle control strategy and passes through a set road surface.

7. The vehicle according to claim 1, characterized in that The first position sensor includes a first distance sensor and a second distance sensor; the first distance sensor includes the first measurement point, and the second distance sensor includes the second measurement point.

8. The vehicle according to claim 1, characterized in that The first position sensor is a scanning distance sensor, which is disposed at a middle position of the front side of the vehicle body, and a scanning range covers the front of the vehicle and both sides of the vehicle.

9. The vehicle according to claim 1, characterized in that It also includes a second position sensor, which is arranged on the vehicle body, and the second position sensor has a third measuring point for detecting the road surface condition behind the vehicle body; The controller is electrically connected to the second position sensor, and is used for controlling the suspension to rise according to the measurement result of the third measurement point so that the highest point of the road surface is not higher than the third measurement point.

10. A control method for a vehicle according to any one of claims 1 to 9, characterized in that: The control method comprises: According to the measurement results of the first measurement point and the second measurement point, adjusting the focal lengths of the first measurement point and the second measurement point in the height direction so that the highest point of the road surface is always located between the first measurement point and the second measurement point; wherein the distance between the first measurement point and the second measurement point in the height direction is a fixed value; Determining a vehicle control strategy according to adjustment conditions of the focal lengths of the first measuring point and the second measuring point; According to the vehicle control strategy, the operating state of the suspension when the vehicle passes through a set road surface is adjusted.

11. The control method according to claim 10, characterized in that: The vehicle body includes a front portion, and there is an interference safety distance between the first measuring point and the second measuring point and the lowest point of the front portion of the vehicle; The determining of the vehicle control strategy according to the adjustment of the focal lengths of the first measuring point and the second measuring point includes: The vehicle control strategy is determined according to a comparison result of the distance between the first measuring point and the second measuring point and the lowest point of the vehicle head during the process of adjusting the focal length and the interference safety distance.

12. The control method according to claim 11, characterized in that: The determining of the vehicle control strategy according to the comparison result of the distance between the first measuring point and the second measuring point and the lowest point of the vehicle head during the process of adjusting the focal length and the interference safety distance includes: When the distance between the first measuring point and the second measuring point and the lowest point of the vehicle head does not reach the interference safety distance during the process of adjusting the focal length, the highest point of the road surface is already located between the first measuring point and the second measuring point, and the vehicle control strategy includes: When the vehicle passes through a set road surface, the suspension is adjusted to rise or fall by the same height as the adjustment amount in a direction opposite to the adjustment direction according to the adjustment direction and adjustment amount of the focal length of the first measuring point and the second measuring point.

13. The control method according to claim 12, characterized in that: The vehicle includes a plurality of wheels disposed on a suspension; The vehicle control strategy includes: When any one of the multiple wheels passes through a set road surface, the suspension is adjusted to a position corresponding to the wheel passing through the set road surface according to the adjustment direction and adjustment amount of the focal length of the first measuring point and the second measuring point, and rises or falls in a direction opposite to the adjustment direction by the same height as the adjustment amount.

14. The control method according to claim 12, characterized in that: The vehicle includes a front wheel disposed on the front side of the suspension and a rear wheel disposed on the rear side of the suspension; Before determining the vehicle control strategy according to the adjustment of the focal lengths of the first measuring point and the second measuring point, the method further includes: determining a first time length for the front wheel to reach the set road surface and a second time length for the rear wheel to reach the set road surface according to the vehicle speed; The determining of the vehicle control strategy according to the adjustment of the focal lengths of the first measuring point and the second measuring point includes: adjusting the position of the suspension corresponding to the front wheel after a first time period, rising or falling by the same height as the adjustment amount in a direction opposite to the adjustment direction, and adjusting the position of the suspension corresponding to the rear wheel after a second time period, rising or falling by the same height as the adjustment amount in a direction opposite to the adjustment direction, according to the adjustment direction and adjustment amount of the focal lengths of the first measuring point and the second measuring point.

15. The control method according to claim 11, characterized in that: The vehicle body includes a front portion, and there is an interference safety distance between the first measuring point and the second measuring point and the lowest point of the front portion of the vehicle; When the distance between the first measuring point and the second measuring point and the lowest point of the vehicle head during the focal length adjustment process reaches the interference safety distance, and the highest point of the road surface is still not located between the first measuring point and the second measuring point, the vehicle control strategy includes: When the vehicle passes through a set road surface, after the distances between the first measuring point, the second measuring point and the lowest point of the vehicle front reach the interference safety distance, if the highest point of the road surface is still higher than the first measuring point and the second measuring point, the height of the suspension is adjusted to rise until the highest point of the road surface is located between the first measuring point and the second measuring point.

16. The control method according to any one of claims 10 to 15, characterized in that: The suspension has an initial driving height. After adjusting the operating state of the suspension when the vehicle passes through a set road surface according to the vehicle control strategy, the method further includes: adjusting the height of the suspension back to the initial driving height.

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