Vehicle and control method for vehicle

Abstract

The application provides a vehicle and a control method for the vehicle. The vehicle comprises 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 the road surface condition in front of the vehicle body. The first position sensor has a first measuring point and a second measuring point which are arranged at intervals in the height direction. The measuring focal length of the first measuring point and the second measuring point is adjustable, and the interval of 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. The controller is used for adjusting the focal length 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 determining a vehicle control strategy according to the adjustment of the focal length of the first measuring point and the second measuring point. The vehicle control strategy is used for adjusting the running state of the suspension when the vehicle passes through the set road surface.

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

[0002] In the related art, during driving, a vehicle detects a road surface to be passed, and if there is an obstacle or a slope on the road surface that may collide with the chassis of the vehicle, a controller of the vehicle controls the suspension to move the vehicle body upward, so as to avoid collision or scratching between the vehicle body and the obstacle or the slope. In the above case, the vehicle will also bounce when passing the obstacle or the slope, which is not conducive to ride comfort. SUMMARY

[0003] The present application provides a vehicle and a control method for the vehicle to improve ride comfort.

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

[0005] a vehicle body;

[0006] a suspension arranged on the vehicle body, the suspension being configured to lift and lower the vehicle body;

[0007] a first position sensor arranged on the vehicle body, the first position sensor being configured to detect a road surface condition in front of the vehicle body, the first position sensor having a first measurement point and a second measurement point arranged at a distance in a height direction, the first measurement point and the second measurement point having adjustable measurement focal lengths and being lower than a lowest point of the vehicle body, and the first measurement point and the second measurement point having a fixed distance in the height direction;

[0008] a controller electrically connected to the suspension and the first position sensor, the controller being configured to adjust the focal lengths of the first measurement point and the second measurement point according to measurement results of the first measurement point and the second measurement point, so that a highest point of the road surface is located between the first measurement point and the second measurement point, and determine a vehicle control strategy according to the adjustment of the focal lengths of the first measurement point and the second measurement point, the vehicle control strategy being configured to adjust a running state of the suspension when the vehicle passes 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 road surface fluctuation is small, the highest point of the road surface is always within the tolerance band. When the road surface has an obstacle or a slope, the highest point of the road surface is 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 length of the first measuring point and the second measuring point is adjusted until the lower one of the first measuring point and the second measuring point can measure the road surface, so as to determine 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 length of the first measuring point and the second measuring point is adjusted until the higher one of the first measuring point and the second measuring point cannot measure the road surface, so as to determine the convex shape and degree of the road surface. The road surface condition of the vehicle driving is obtained through the above setting, and the vehicle control strategy is determined according to the road surface condition. The control strategy can be preset and stored in the controller, including adjusting the relative height between the vehicle and the suspension and the damper of the suspension according to the road surface condition, so as to match the running state of the suspension with the road surface condition, thereby facilitating the reduction of the ride comfort of the vehicle when passing through the slope and the obstacle.

[0010] Optionally, the vehicle body includes a vehicle head, the first position sensor is arranged at the vehicle head, and the first measuring point and the second measuring point have an interference safety distance from the lowest point of the vehicle head.

[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 before the highest point of the road surface is located between the first measuring point and the second measuring point during the adjustment of the focal length, the vehicle control strategy includes:

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

[0013] Optionally, the vehicle body includes a vehicle head, the first position sensor is arranged at the vehicle head, and the first measuring point and the second measuring point have an interference safety distance from the lowest point of the vehicle head.

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

[0015] When the vehicle passes the set road surface, after the distance between the first measuring point and the second measuring point and the lowest point of the vehicle head reaches 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 comprises a front wheel arranged at the front side of the suspension and a rear wheel arranged at 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 adjustment of the focal length, and the highest point of the road surface is located between the first measuring point and the second measuring point, the vehicle control strategy comprises:

[0018] When the front wheel passes the set road surface, according to the adjustment direction and the adjustment amount of the focal length of the first measuring point and the second measuring point, the front side of the suspension is adjusted to rise or fall in the direction opposite to the adjustment direction by the same height as the adjustment amount.

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

[0020] Optionally, the vehicle comprises a plurality of wheels arranged at the suspension.

[0021] The vehicle control strategy comprises:

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

[0023] Optionally, the suspension has an initial driving height; the controller is further configured to restore the height of the suspension to the initial driving height after the vehicle passes the set road surface by executing the vehicle control strategy.

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

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

[0026] Optionally, a second position sensor is arranged on the vehicle body, the second position sensor having a third measuring point for detecting the road surface condition behind the vehicle body.

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

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

[0029] adjusting the focal length of the first measuring point and the second measuring point in the height direction 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 always located between the first measuring point and the second measuring point; wherein the interval of the first measuring point and the second measuring point in the height direction is a fixed value;

[0030] determining a vehicle control strategy according to the adjustment of the focal length of the first measuring point and the second measuring point;

[0031] adjusting the running state of the suspension when the vehicle passes through the set road surface according to the vehicle control strategy.

[0032] Optionally, the vehicle body comprises a vehicle head, and the first measuring point and the second measuring point have an interference safety distance from the lowest point of the vehicle head;

[0033] The determination of the vehicle control strategy according to the adjustment of the focal length of the first measuring point and the second measuring point comprises:

[0034] determining the vehicle control strategy according to the comparison result of the distance between the first measuring point and the second measuring point and the interference safety distance during the adjustment of the focal length.

[0035] Optionally, the determination 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 interference safety distance during the adjustment of the focal length comprises:

[0036] when the distance between the first measuring point and the second measuring point and the lowest point of the vehicle head during the adjustment of the focal length does not reach the interference safety distance, the highest point of the road surface has been located between the first measuring point and the second measuring point, and the vehicle control strategy comprises:

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

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

[0039] The vehicle control strategy comprises:

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

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

[0042] Before determining the vehicle control strategy according to the adjusting condition of the focal length of the first measuring point and the second measuring point, the method further comprises: 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 the vehicle control strategy according to the adjusting condition of the focal length of the first measuring point and the second measuring point comprises: adjusting the position of the suspension corresponding to the front wheel after the first time length to rise or fall by the same height as the adjusting amount in the direction opposite to the adjusting direction according to the adjusting direction and the adjusting amount of the focal length of the first measuring point and the second measuring point, and adjusting the position of the suspension corresponding to the rear wheel after the second time length to rise or fall by the same height as the adjusting amount in the direction opposite to the adjusting direction.

[0044] Optionally, the vehicle body comprises a vehicle head, and the first measuring point and the second measuring point have an interference safety distance from the lowest point of the vehicle head;

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

[0046] When the vehicle passes the set road surface, after the distance between the first measuring point and the second measuring point and the lowest point of the vehicle head reaches 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 running state of the suspension when the vehicle passes the set road surface according to the vehicle control strategy, the method further comprises: adjusting the height of the suspension to return to the initial driving height. BRIEF DESCRIPTION OF DRAWINGS

[0048] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments consistent with the present disclosure and, together with the description, further serve to explain the principles of the present disclosure.

[0049] Figure 1 A schematic view of one embodiment of a vehicle of the present application is shown.

[0050] Figures 2-4 A schematic view of one embodiment of a vehicle of the present application is shown.

[0051] Figures 5-7 A schematic view of one embodiment of a vehicle of the present application is shown.

[0052] Figures 8-12 A schematic view of one embodiment of a vehicle of the present application is shown.

[0053] Figure 13 A schematic view of one embodiment of a vehicle of the present application is shown.

[0054] Figure 14 A schematic view of one embodiment of a control method for a vehicle wheel of the present application is shown.

[0055] Figure 15 A schematic view of one embodiment of a control method for a vehicle wheel of the present application is shown.

[0056] BRIEF DESCRIPTION OF DRAWINGS

[0057] Vehicle 100; Suspension 110; Front-side wheel 121; Rear-side wheel 122; First position sensor 130; Second position sensor 140; Vehicle body 150;

[0058] First measurement point A; Second measurement point B; Third measurement point C; Tolerance band R. DETAILED DESCRIPTION

[0059] The technical solutions in the embodiments (or, “modes of implementation”) of the present application will be described clearly and completely herein with reference to the accompanying drawings. In the following description, the same numbers in different drawings represent the same or similar elements unless otherwise indicated.

[0060] 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 movements between 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.

[0061] This application provides a vehicle 100, such as Figure 1 As shown, the system includes a vehicle body 150, a suspension 110, a first position sensor 130, and a controller. The suspension 110 is mounted on the vehicle body 150 and is used to raise and lower the vehicle body 150. The first position sensor 130 is mounted on the vehicle body 150 and is used to detect the road surface conditions 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. The measuring focal lengths of the first measuring point A and the second measuring point B are adjustable and both are below 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. 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. Based on the measurement results of the first measurement point A and the second measurement point B, the controller adjusts the focal length of these two points so that the highest point of the road surface is located between them. When the road surface has minimal undulations, the highest point remains within the tolerance zone R. When obstacles or slopes are present, the highest point may be higher or lower than the tolerance zone R. When the road surface is lower than the tolerance zone R, the focal length of the first measurement point A and the second measurement point B is adjusted until the lower of these two points can measure the road surface, thus determining the shape and degree of the road surface depression. When the road surface is higher than the tolerance zone R, the focal length of the first measurement point A and the second measurement point B is adjusted until the higher of these two points cannot measure the road surface, thus determining the shape and degree of the road surface convexity. Through these settings, the desired road surface shape is obtained.

[0063] According to the adjustment of the focal length of the first measuring point A and the second measuring point B, the vehicle 100 control strategy is determined. The vehicle 100 control strategy is used to adjust the running state of the suspension 110 when the vehicle 100 passes through the 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 damper damping of the suspension 110 according to the road surface condition, so that the running state of the suspension 110 matches the road surface condition, thereby facilitating the reduction of the ride comfort of the vehicle 100 when passing through the slope and obstacle.

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

[0065] As shown in FIG. 1, 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 before the adjustment of the focal length, the highest point of the road surface is located between the first measuring point A and the second measuring point B, that is, the distance between the highest point of the road surface and the vehicle head is greater than the interference safety distance at this time, and the vehicle 100 control strategy includes: Figures 2-4 According to the adjustment direction and the adjustment amount of the focal length of the first measuring point A and the second measuring point B, the suspension 110 is adjusted to rise or fall by the same height in the direction opposite to the adjustment direction when the vehicle 100 passes through the set road surface.

[0066]

[0067] ​By the above arrangement, if the road surface is concave, the adjustment direction of the first measuring point A and the second measuring point B is downward, the height of the vehicle body 150 is increased along the upward direction of the suspension 110, at this time, the distance between the wheel bottom and the vehicle body 150 is increased, when the wheel passes through the concave road surface, the increased adjustment amount between the wheel bottom and the vehicle body 150 is equal to the concave amount of the road surface measured by the first position sensor 130, the vehicle body 150 will not bounce 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, the height of the vehicle body 150 is reduced along the downward direction of the suspension 110, at this time, the distance between the wheel bottom and the vehicle body 150 is reduced, when the wheel passes through the convex road surface, the reduced adjustment amount between the wheel bottom and the vehicle body 150 is equal to the convex amount of the road surface measured by the first position sensor 130, the vehicle body 150 will not bounce upward when passing through the convex road surface. By the above arrangement, the height of the suspension 110 is adjusted according to the road surface condition during the driving of the vehicle 100, the bouncing degree of the vehicle body 150 during the driving is reduced, and the ride comfort of the vehicle 100 is improved.

[0068] In optional embodiments, as shown in FIG. 6, 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, the highest point of the road surface is still not located between the first measuring point A and the second measuring point B, the vehicle 100 control strategy includes: Figures 8-12

[0069] When the vehicle 100 passes through the set road surface, after 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, 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 vehicle head is less than the interference safety distance, the height of the suspension 110 is adjusted to be increased 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 the road surface appears to be convex, both the first measuring point A and the second measuring point B detect the road surface, 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 vehicle head is less than the interference safety distance, the height of the suspension 110 is adjusted to be increased, and the distance between the lowest point of the vehicle head and the highest point of the road surface is increased. At this time, the focal length of the first measuring point A and the second measuring point B is unchanged, and the first measuring point A and the second measuring point B are raised along with the height increase of the suspension 110. During 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, at this time, the distance between the highest point of the road surface and the lowest point of the vehicle head is not less than the interference safety distance, thereby reducing the risk of collision or scratching between the obstacle and the vehicle head. ​

[0071] In optional embodiments, the vehicle 100 comprises 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 comprises 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 before the highest point of the road surface is located between the first measuring point A and the second measuring point B during the adjustment of the focal length, the vehicle 100 control strategy comprises:

[0074] When the front wheel 121 passes through the 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 the direction opposite to the adjustment direction according to the adjustment direction and the adjustment amount of the focal length of the first measuring point A and the second measuring point B;

[0075] When the rear wheel 122 passes through the 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 the direction opposite to the adjustment direction according to the adjustment direction and the 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 comprises a plurality of air bags corresponding to a plurality of wheels, and the plurality of air bags are independently inflated and deflated to adjust the internal air pressure of the air bags to realize the rising and falling of different positions of the suspension 110. The controller can calculate the time when the front wheel 121 and the rear wheel 122 pass through the set road surface in turn by obtaining the vehicle speed of the vehicle 100, and adjust the front wheel 121 and the rear wheel 122 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 the adjustment amount of the focal length of the first measuring point A and the second measuring point B. In the process of adjusting the suspension 110, the degree of jolt of the vehicle body 150 during driving is reduced, and the risk of tilting the vehicle 100 forward or backward is avoided, thereby improving the ride comfort of the vehicle 100.

[0077] In optional embodiments, the vehicle 100 comprises a plurality of wheels disposed on the suspension 110. The vehicle 100 control strategy comprises: when any one of the plurality of wheels passes through the set road surface, the position of the suspension 110 corresponding to the wheel passing through the set road surface 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 the adjustment amount of the focal length of the first measuring point A and the second measuring point B.

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

[0079] In some embodiments, the suspension 110 has an initial driving height; the controller is further configured to restore the height adjustment of the suspension 110 to the initial driving height after the vehicle 100 performs the vehicle 100 control strategy on the 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 at this time the suspension 110 maintains the initial driving height for driving. The initial driving height can be adjusted according to the vehicle speed, road conditions and the like, so that the initial driving height matches the driving conditions of the vehicle 100. In some embodiments, when the vehicle speed is fast, for example, the wheels are in the case of a highway or the like, the initial driving height can be driven at a lower height, thereby reducing wind resistance. In other embodiments, when the road conditions are more bumpy, the initial driving height can be driven at a higher height. Through the above setting, the height adjustment of the suspension 110 is restored to the initial driving height after the vehicle 100 performs the vehicle 100 control strategy on the set road surface, which is beneficial to the adaptability of the vehicle 100 to different road surfaces, and is beneficial to the adaptability and ride comfort of the vehicle 100 to different road surfaces.

[0081] In optional embodiments, the first position sensor 130 comprises a first distance sensor and a second distance sensor. The first distance sensor comprises a first measurement point A, and the second distance sensor comprises a second measurement point B. Specifically, the first distance sensor and the second distance sensor can be infrared sensors.

[0082] A tolerance zone R is formed between the first measurement point A and the second measurement point B. Taking the first measurement point A being lower than the second measurement point B as an example, when the road surface is lower than the tolerance zone R, neither the first measurement point A nor the second measurement point B can detect the road surface. The focal length of the first measurement point A and the second measurement point B is adjusted until the first measurement point A can measure the road surface, thereby determining the shape and degree of the road surface depression. When the road surface is higher than the tolerance zone R, both the first measurement point A and the second measurement point B can detect the road surface. The focal length of the first measurement point A and the second measurement point B is adjusted until the second measurement point B cannot measure the road surface, thereby determining the shape and degree of the road surface convexity. Through the above settings, it is convenient to adjust the focal length of the first measurement point A and the second measurement point B based on the measurement results, so that the highest point of the road surface is within the tolerance zone R, thereby obtaining the road surface condition.

[0083] In optional embodiments, such as Figure 13 As shown, the first position sensor 130 is a scanning distance sensor, which is located at the center of the front side of the vehicle body 150. The scanning range covers the front of the vehicle 100 and both sides of the vehicle 100. In some embodiments, the scanning range extends beyond the distance between the left and right tires of the vehicle 100 in the width direction. With the above configuration, the shape and degree of road surface protrusions are determined by the scanning distance sensor, and a control strategy for the vehicle 100 is determined based on the road conditions. The control strategy can be preset and stored in the controller, including adjusting the relative height between the vehicle 100 and the suspension 110, as well as the damping of the suspension 110, according to the road conditions, so that the operating state of the suspension 110 matches the road conditions, thereby improving ride comfort when the vehicle 100 passes over slopes or obstacles.

[0084] In optional embodiments, such as Figure 1 As shown, the vehicle 100 also includes a second position sensor 140, which is disposed on the body 150. Specifically, it is disposed at the bottom of the rear side of the body 150. The second position sensor 140 has a third measuring point C for detecting the road surface conditions behind the 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 vehicle 100 is going uphill, the front of vehicle 100 rises, and the rear rises accordingly. At this time, there is a risk of the rear of vehicle 100 colliding or scraping with the road surface. By setting a 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 scraping between the road surface and the vehicle body 150, which is beneficial to the driving safety of vehicle 100.

[0086] The application also provides a control method of the vehicle 100, referring to Figure 14 The control method comprises steps S10, S20 and 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 vehicle 100 control strategy is determined according to the adjustment of the focal lengths of the first measurement point A and the second measurement point B. When the road surface fluctuation is small, the highest point of the road surface is always located within the tolerance band R; when there is an obstacle or slope on the road surface, the highest point of the road surface is higher or lower than the tolerance band R. When the road surface is lower than the tolerance band R, neither the first measurement point A nor the second measurement point B can measure the road surface, and the focal lengths of the first measurement point A and the second measurement point B are adjusted until the lower one of the first measurement point A and the second measurement point B can measure the road surface, so as to determine the concave shape and degree of the road surface. When the road surface is higher than the tolerance band R, both the first measurement point A and the second measurement point B can measure the road surface, and the focal lengths of the first measurement point A and the second measurement point B are adjusted until the higher one of the first measurement point A and the second measurement point B cannot measure the road surface, so as to determine the convex shape and degree of the road surface.

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

[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 damper damping of the suspension 110 according to the road surface condition, so that the running state of the suspension 110 matches the road surface condition, thereby facilitating the reduction of the ride comfort of the vehicle 100 when passing through the slope and obstacle.

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

[0092] In step S21, the vehicle 100 control strategy is determined according to the comparison result of the distance between the first measurement point A and the second measurement point B and the interference safety distance during the adjustment of the focal lengths.

[0093] When the distance between the lowest point of the vehicle head 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 scraping between the lowest point of the vehicle head and the road surface. When the distance between the lowest point of the vehicle head and the highest point of the road surface is less than the interference safety distance, there is a risk of collision or scraping between the lowest point of the vehicle head and the road surface. In the process of adjusting the focal length of the first measurement point A and the second measurement point B, the risk of collision or scraping between the lowest point of the vehicle head and the road surface is determined by comparing the distance between the lowest point of the vehicle head and the highest point of the road surface with the interference safety distance in the process of adjusting the focal length of the first measurement point A and the second measurement point B.

[0094] In step S21, the vehicle 100 control strategy is determined according to the comparison result of the distance between the lowest point of the vehicle head and the highest point of the road surface in the process of adjusting the focal length of the first measurement point A and the second measurement point B with the interference safety distance, including: when the distance between the first measurement point A and the second measurement point B in the process of adjusting the focal length of the first measurement point A and the second measurement point B and the lowest point of the vehicle head does not reach the interference safety distance, the highest point of the road surface has been located between the first measurement point A and the second measurement point B, and the vehicle 100 control strategy includes step S41.

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

[0096] Through the above setting, if the road surface is concave, the adjustment direction of the first measurement point A and the second measurement point B is downward, the height of the vehicle body 150 is increased in the upward direction by adjusting the suspension 110, at this time the distance between the wheel bottom and the vehicle body 150 is increased, when the wheel passes through the concave road surface, the increased adjustment amount between the wheel bottom 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 bounce downward when passing through the concave road surface. If the road surface is convex, the adjustment direction of the first measurement point A and the second measurement point B is upward, the height of the vehicle body 150 is reduced in the downward direction by adjusting the suspension 110, at this time the distance between the wheel bottom and the vehicle body 150 is reduced, when the wheel passes through the convex road surface, the reduced adjustment amount between the wheel bottom 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 bounce upward when passing through the convex road surface. Through the above setting, the height of the suspension 110 is adjusted according to the road surface condition during the driving process of the vehicle 100, the bouncing degree of the vehicle body 150 during the driving process is reduced, and the riding comfort of the vehicle 100 is improved.

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

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

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

[0100] Referring to Figure 15 In the optional embodiment, before determining the control strategy of the vehicle 100 according to the adjustment of the focal length of the first measuring point A and the second measuring point B, step S20 further includes step S50.

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

[0102] In step S20, the control strategy of the vehicle 100 is determined according to the adjustment of the focal length of the first measuring point A and the second measuring point B, including step S22.

[0103] In step S22, the position of the suspension 110 corresponding to the front wheels 121 is adjusted in the opposite direction of the adjustment direction and by the same height as the adjustment amount of the focal length of the first measuring point A and the second measuring point B after the first time length, and the position of the suspension 110 corresponding to the rear wheels 122 is adjusted in the opposite direction of the adjustment direction and by the same height as the adjustment amount of the focal length of the first measuring point A and the second measuring point B after the second time length.

[0104] 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 by obtaining the vehicle speed of the vehicle 100, and adjust the front wheel 121 and the rear wheel 122 to rise or fall by the same height according to the adjustment direction and the adjustment amount of the focal length of the first measuring point A and the second measuring point B in the direction opposite to the adjustment direction. In the adjustment process of the suspension 110, the degree of jolt of the vehicle body 150 during driving is reduced, and the risk of tilting the vehicle 100 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 head reaches the interference safety distance during the focal length adjustment process, and the highest point of the road surface is still located 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 the set road surface, and 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, 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] In the detection process of the road surface condition, when the road surface appears a convex shape, the first measuring point A and the second measuring point B both detect the road surface, 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 vehicle head is less than the interference safety distance, the height of the suspension 110 is adjusted to rise, and the distance between the lowest point of the vehicle head and the highest point of the road surface is increased. At this time, the focal length of the first measuring point A and the second measuring point B remains unchanged, and the first measuring point A and the second measuring point B rise with the height of the suspension 110. In the process of rising the height 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, the distance between the highest point of the road surface and the lowest point of the vehicle head is not less than the interference safety distance at this time, thereby reducing the risk of collision or scratching between the obstacle and the vehicle head.

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

[0109] In step S60, the height adjustment of the suspension 110 is restored to the initial driving height.

[0110] The initial ride height can be adjusted according to the vehicle speed, road conditions, etc. so that the initial ride height matches the conditions in which the vehicle 100 is traveling. In some embodiments, when the vehicle speed is high, for example, when the wheels are on a highway, etc., the ride can be performed at a lower initial ride height, thereby reducing wind resistance. In other embodiments, when the road conditions are bumpy, the ride can be performed at a higher initial ride height. Through the above arrangement, after the vehicle 100 performs the vehicle 100 control strategy over the set road surface, the height adjustment of the suspension 110 is restored to the initial ride height, which is conducive to the adaptability of the vehicle 100 to different road surfaces, and the ride comfort of the vehicle 100.

[0111] In a specific implementation, as shown in Figure 1 , when the road surface undulates slightly, the highest point of the road surface is always within the tolerance band R formed between the first measurement point A and the second measurement point B.

[0112] As shown in Figures 2-4 , if the road surface is concave, the adjustment direction of the first measurement point A and the second measurement point B is downward. By obtaining the vehicle speed of the vehicle 100, the first time duration for the front wheels 121 to reach the set road surface and the second time duration for the rear wheels 122 to reach the set road surface can be calculated. The height of the vehicle body 150 is increased in the upward direction by adjusting the front wheels 121 and the rear wheels 122. At this time, the distance between the wheel bottom and the vehicle body 150 is increased. When the wheels pass through the concave road surface, the increased adjustment amount between the wheel bottom 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 be bumpy downward when passing through the concave road surface.

[0113] As shown in Figures 5-7 , if the road surface is convex, the adjustment direction of the first measurement point A and the second measurement point B is upward. By obtaining the vehicle speed of the vehicle 100, the first time duration for the front wheels 121 to reach the set road surface and the second time duration for the rear wheels 122 to reach the set road surface can be calculated. The height of the vehicle body 150 is reduced in the downward direction by adjusting the front wheels 121 and the rear wheels 122. At this time, the distance between the wheel bottom and the vehicle body 150 is reduced. When the wheels pass through the convex road surface, the reduced adjustment amount between the wheel bottom 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 be bumpy upward when passing through the convex road surface.

[0114] As shown in Figures 8-12As shown, if the road surface is an uphill, the adjustment direction of the first measuring point A and the second measuring point B is upward, by obtaining the vehicle 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 is adjusted in the direction of descending to reduce the height of the vehicle body 150, at this time the distance between the wheel bottom and the vehicle body 150 is reduced. In the process of the front wheel 121 of the vehicle 100 driving to the uphill road surface and the rear wheel 122 not driving to 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 is constantly rising, and the suspension 110 continues to reduce the height of the vehicle body 150 at the front wheel 121. When the rear wheel 122 drives to the uphill, the height of the vehicle body 150 at the front wheel 121 is adjusted in the direction of descending. In the adjustment process, the front and rear wheels 122 are all on the uphill, and as the rear wheel 122 drives to the uphill, the distance between the front side of the vehicle body 150 and the highest point of the road surface increases, the adjustment direction of the first measuring point A and the second measuring point B correspondingly increases downward, so that the front wheel 121 and the rear wheel 122 are adjusted in the direction of ascending to increase the height of the vehicle body 150, 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 conflict. The scope of protection of the present application is not limited to the precise structure described in the above embodiments and shown in the drawings; any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A vehicle, characterized in that, include: Body; A suspension system is installed on the vehicle body, and the suspension system is used to raise and lower the vehicle body. A first position sensor is disposed on the vehicle body for detecting the road surface conditions in front of the vehicle body. The first position sensor has a first measurement point and a second measurement point that are spaced apart in the height direction. The measurement focal length of the first measurement point and the second measurement point is adjustable and both are lower than the lowest point of the vehicle body. The distance between the first measurement point and the second measurement point in the height direction is a fixed value. The controller is electrically connected to the suspension and the first position sensor. The controller is used to adjust the focal length of the first measurement point and the second measurement point according to the measurement results of the first measurement point and the second measurement point so that the highest point of the road surface is located between the first measurement point and the second measurement point, and to determine the vehicle control strategy according to the adjustment of the focal length of the first measurement point and the second measurement point. The vehicle control strategy is used to adjust the operating state of the suspension when the vehicle passes over a set road surface.

2. The vehicle according to claim 1, characterized in that, The vehicle body includes a front end, and a first position sensor is located at the front end; there is an interference safety distance between the first measurement point and the second measurement point and the lowest point of the front end; Before the distance between the first and second measuring points and the lowest point of the vehicle's front reaches the interference safety distance during the focus adjustment process, and the highest point of the road surface is already located between the first and second measuring points, the vehicle control strategy includes: When the vehicle passes over the set road surface, the suspension is adjusted to rise or fall to the same height as the adjustment amount in the opposite direction to the adjustment direction, based on the adjustment direction and adjustment amount of the focal length of the first and second measurement points.

3. The vehicle according to claim 1, characterized in that, The vehicle body includes a front end, and a first position sensor is located at the front end; there is an interference safety distance between the first measurement point and the second measurement point and the lowest point of the front end; When the distance between the first and second measuring points and the lowest point of the vehicle front reaches the interference safety distance during the focus adjustment process, and the highest point of the road surface is still not located between the first and second measuring points, the vehicle control strategy includes: When the vehicle passes over the designated road surface, after the distance between the first and second measuring points and the lowest point of the vehicle's front reaches the interference safety distance, if the highest point of the road surface is still higher than the first and second measuring points, the suspension height is adjusted to rise until the highest point of the road surface is between the first and second measuring points.

4. The vehicle according to claim 2, characterized in that, The vehicle includes front wheels located at the front of the suspension and rear wheels located at the rear of the suspension; Before the distance between the first and second measuring points and the lowest point of the vehicle's front reaches the interference safety distance during the focus adjustment process, and the highest point of the road surface is already located between the first and second measuring points, the vehicle control strategy includes: When the front wheel passes over the set road surface, the front side of the suspension is adjusted to rise or fall by the same amount as the adjustment 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 and the second measurement point. When the rear wheel passes over the set road surface, the rear side of the suspension is adjusted to rise or fall by the same amount in the opposite direction to the adjustment direction, based on the adjustment direction and adjustment amount of the focal length of the first and second measurement points.

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

6. The vehicle according to claim 1, characterized in that, 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 a 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 located at the middle of the front side of the vehicle body, and the 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 disposed on the vehicle body. The second position sensor has a third measurement point for detecting the road conditions behind the vehicle body. The controller is electrically connected to the second position sensor. The controller is used to control 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 as described in any one of claims 1 to 9, characterized in that, The control method includes: Based on the measurement results of the first and second measurement points, the focal length of the first and second measurement points in the height direction is adjusted so that the highest point of the road surface is always located between the first and second measurement points; wherein, the distance between the first and second measurement points in the height direction is a fixed value; Based on the adjustment of the focal length at the first and second measurement points, a vehicle control strategy is determined. According to the vehicle control strategy, the operating state of the suspension is adjusted when the vehicle passes through a set road surface.

11. The control method as described in claim 10, characterized in that, The vehicle body includes the front end, and there is an interference safety distance between the first and second measurement points and the lowest point of the front end; The step of determining the vehicle control strategy based on the focal length adjustment of the first and second measurement points includes: The vehicle control strategy is determined by comparing the distance between the first and second measurement points and the lowest point of the vehicle front during the focus adjustment process with the interference safety distance.

12. The control method as described in claim 11, characterized in that, The process of determining a vehicle control strategy based on a comparison of the distance between the first and second measurement points and the lowest point of the vehicle's front end during focus adjustment with the interference safety distance includes: Before the distance between the first and second measuring points and the lowest point of the vehicle's front reaches the interference safety distance during the focus adjustment process, and the highest point of the road surface is already located between the first and second measuring points, the vehicle control strategy includes: When the vehicle passes over the set road surface, the suspension is adjusted to rise or fall to the same height as the adjustment amount in the opposite direction to the adjustment direction, based on the adjustment direction and adjustment amount of the focal length of the first and second measurement points.

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

14. The control method as described in claim 12, characterized in that, The vehicle includes front wheels located at the front of the suspension and rear wheels located at the rear of the suspension; Before determining the vehicle control strategy based on the focal length adjustment of the first and second measurement points, the method further includes: determining the first time the front wheel reaches the set road surface and the second time the rear wheel reaches the set road surface based on the vehicle speed. The method of determining the vehicle control strategy based on the adjustment of the focal length of the first measurement point and the second measurement point includes: adjusting the position of the suspension corresponding to the front wheel after a first time period according to the adjustment direction and adjustment amount of the focal length of the first measurement point and the second measurement point, raising or lowering it by the same height as the adjustment amount in the opposite direction, and adjusting the position of the suspension corresponding to the rear wheel after a second time period, raising or lowering it by the same height as the adjustment amount in the opposite direction.

15. The control method as described in claim 11, characterized in that, The vehicle body includes the front end, and there is an interference safety distance between the first and second measurement points and the lowest point of the front end; When the distance between the first and second measuring points and the lowest point of the vehicle front reaches the interference safety distance during the focus adjustment process, and the highest point of the road surface is still not located between the first and second measuring points, the vehicle control strategy includes: When the vehicle passes over the designated road surface, after the distance between the first and second measuring points and the lowest point of the vehicle's front reaches the interference safety distance, if the highest point of the road surface is still higher than the first and second measuring points, the suspension height is adjusted to rise until the highest point of the road surface is between the first and second measuring points.

16. The control method according to any one of claims 10-15, 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: restoring the height of the suspension to the initial driving height.

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