Vehicle damping control method and device, electronic equipment and readable medium

Abstract

The invention provides a vehicle damping control method and device, electronic equipment and a readable medium, which are applied to a continuous damping control system, and vehicle damping is associated with the control intensity of a vehicle body posture. The vehicle speed, the pitch angle speed, the roll angle speed and the unsprung acceleration of the vehicle in the running process are obtained; according to the unsprung acceleration and / or the vehicle speed, the driving road condition of the vehicle is determined; the driving pavement condition is used for indicating whether the driving pavement of the vehicle is a flat pavement and whether a vehicle impact object exists on the driving pavement; based on the pitch angle speed and / or the roll angle speed, the vehicle body posture state of the vehicle is determined; the vehicle body posture state is used for indicating whether the vehicle has vehicle body posture out-of-control risk; judging whether the vehicle meets a damping improvement condition or not based on the driving road condition, the vehicle speed and the vehicle body posture state; and if the vehicle meets the damping improvement condition, the control strength of the vehicle on the vehicle body posture is improved by improving the damping of the vehicle, and it is guaranteed that the comfort on the flat road surface is not deteriorated.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle damping control method, a vehicle damping control device, an electronic device and a computer-readable medium. Background Art

[0002] In the related art, vehicles are usually equipped with a CDC (Continuous Damping Control) system. The CDC system is used to adjust the damping of the shock absorber in the vehicle suspension system. Damping can affect the hardness and softness of the suspension system, and thus affect the body posture of the vehicle during driving.

[0003] When the vehicle is driving at low speed through complex road conditions such as potholes, uneven basements, and side slopes, the vehicle body may experience large bumps and rolls. To avoid these problems, the vehicle can increase the damping of the shock absorber, increase the hardness of the suspension system, and strengthen the control of the vehicle body posture by controlling the CDC system. However, when the vehicle is driving at low speed under high damping to a relatively flat road condition, the higher damping of the vehicle will reduce the driving comfort of the user on flat road conditions. Summary of the invention

[0004] Embodiments of the present invention provide a vehicle damping control method, device, electronic device, and computer-readable storage medium to solve the problem that related technologies are difficult to simultaneously ensure the driving comfort of the vehicle under complex road conditions and flat road conditions.

[0005] The embodiment of the present invention discloses a vehicle damping control method, which is applied to a continuous damping control system of a vehicle, wherein the damping of the vehicle is associated with the control intensity of the vehicle body posture; the method comprises:

[0006] Obtaining the vehicle speed, pitch angular velocity, roll angular velocity and unsprung acceleration of the vehicle during driving;

[0007] Determining a driving surface condition of the vehicle according to the unsprung acceleration and / or the vehicle speed; the driving surface condition is used to indicate whether the driving surface of the vehicle is a flat surface and whether there is a vehicle impact object on the driving surface;

[0008] Based on the pitch angular velocity and / or the roll angular velocity, determining a body posture state of the vehicle; the body posture state is used to indicate whether there is a risk of body posture loss of control of the vehicle;

[0009] Based on the road surface condition, the vehicle speed, and the vehicle body posture state, determining whether the vehicle meets a preset damping improvement condition;

[0010] If the vehicle satisfies the damping increase condition, the control strength of the vehicle with respect to the vehicle body posture is increased by increasing the damping of the vehicle.

[0011] Optionally, judging whether the vehicle satisfies a preset damping improvement condition based on the driving road condition, the vehicle speed, and the vehicle body posture state includes:

[0012] If the driving road surface is the flat road surface, there is no object that the vehicle impacts on the driving road surface, the vehicle speed is less than a preset vehicle speed threshold, and the vehicle is at risk of losing control of the body posture, then it is confirmed that the vehicle meets the damping improvement condition.

[0013] Optionally, determining the driving road condition of the vehicle according to the unsprung acceleration and / or the vehicle speed includes:

[0014] Determining a target vehicle speed and a first target unsprung acceleration of the vehicle at at least one time within a preset first time period according to the unsprung acceleration and the vehicle speed;

[0015] Based on the target vehicle speed and the first target unsprung acceleration, it is determined whether the traveling road surface is the flat road surface.

[0016] Optionally, determining the driving road condition of the vehicle according to the unsprung acceleration and / or the vehicle speed includes:

[0017] determining a second target unsprung acceleration of the vehicle at at least one time within a preset second time period according to the unsprung acceleration, and determining whether the second target unsprung acceleration is less than a preset unsprung acceleration threshold;

[0018] If the second target unsprung acceleration is less than the unsprung acceleration threshold, it is confirmed that the vehicle impact object does not exist on the driving road surface.

[0019] Optionally, determining the body posture state of the vehicle based on the pitch angular velocity and / or the roll angular velocity includes:

[0020] Determining whether the pitch angular velocity is greater than a preset pitch angular velocity threshold;

[0021] Determining whether the roll angular velocity is greater than a preset roll angular velocity threshold;

[0022] If the pitch angular velocity is greater than the pitch angular velocity threshold, or the roll angular velocity is greater than the roll angular velocity threshold, it is confirmed that the vehicle has the risk of losing control of the body posture.

[0023] Optionally, the vehicle has at least one axle tower top; and the step of increasing the control strength of the vehicle with respect to the vehicle body posture by increasing the damping of the vehicle comprises:

[0024] Acquire the axle tower top body speed of the axle tower top during the driving process of the vehicle; the axle tower top body speed is the speed of the axle tower top relative to the driving road surface;

[0025] Determining the damping to be increased of the vehicle according to the axle tower top vehicle body speed and the vehicle speed;

[0026] By increasing the damping to be increased, the control strength of the vehicle with respect to the vehicle body posture is improved.

[0027] Optionally, when the vehicle satisfies the damping improvement condition and the damping of the vehicle is improved, the vehicle is in a target damping control state; the method includes:

[0028] If the vehicle satisfies at least one of the following conditions: the vehicle's driving surface is not the flat road surface, there is an object impacted by the vehicle on the driving road surface, the vehicle speed is not less than the vehicle speed threshold, and the vehicle does not have the risk of the vehicle body posture being out of control, the vehicle is controlled to exit the target damping control state.

[0029] The embodiment of the present invention further discloses a vehicle damping control device, which is applied to a continuous damping control system of a vehicle, wherein the damping of the vehicle is associated with the control intensity of the vehicle body posture; the device comprises:

[0030] An acquisition module, used for acquiring the vehicle speed, pitch angular velocity, roll angular velocity and unsprung acceleration of the vehicle during driving;

[0031] A driving road condition determination module, used to determine the driving road condition of the vehicle according to the unsprung acceleration and / or the vehicle speed; the driving road condition is used to indicate whether the driving road of the vehicle is a flat road and whether there is a vehicle impact object on the driving road;

[0032] A vehicle body posture state determination module, used to determine the vehicle body posture state of the vehicle based on the pitch angular velocity and / or the roll angular velocity; the vehicle body posture state is used to indicate whether the vehicle has a risk of losing control of the vehicle body posture;

[0033] A judgment module, used for judging whether the vehicle meets a preset damping improvement condition based on the driving road condition, the vehicle speed, and the vehicle body posture state;

[0034] The improving module is used for improving the control strength of the vehicle with respect to the vehicle body posture by improving the damping of the vehicle if the vehicle meets the damping improvement condition.

[0035] Optionally, the judging module includes:

[0036] The confirmation submodule is used to confirm that the vehicle meets the damping improvement condition if the driving road surface is the flat road surface, there is no vehicle impact object on the driving road surface, the vehicle speed is less than a preset vehicle speed threshold, and the vehicle has the risk of losing control of the vehicle body posture.

[0037] Optionally, the driving road condition determination module includes:

[0038] a target vehicle speed determination submodule, configured to determine a target vehicle speed and a first target unsprung acceleration of the vehicle at at least one moment in a preset first time period according to the unsprung acceleration and the vehicle speed;

[0039] The judging submodule is used to judge whether the driving road surface is the flat road surface based on the target vehicle speed and the first target unsprung acceleration.

[0040] Optionally, the driving road condition determination module includes:

[0041] a second target unsprung acceleration determination submodule, configured to determine a second target unsprung acceleration of the vehicle at at least one time within a preset second time period according to the unsprung acceleration, and to determine whether the second target unsprung acceleration is less than a preset unsprung acceleration threshold;

[0042] The vehicle impact object confirmation submodule is used to confirm that the vehicle impact object does not exist on the driving road surface if the second target unsprung acceleration is less than the unsprung acceleration threshold.

[0043] Optionally, the vehicle body posture state determination module includes:

[0044] A pitch angular velocity determination submodule, used to determine whether the pitch angular velocity is greater than a preset pitch angular velocity threshold;

[0045] A roll angle velocity determination submodule, used to determine whether the roll angle velocity is greater than a preset roll angle velocity threshold;

[0046] The vehicle body posture out-of-control risk confirmation submodule is used to confirm that the vehicle has the risk of the vehicle body posture out-of-control if the pitch angular velocity is greater than the pitch angular velocity threshold, or the roll angular velocity is greater than the roll angular velocity threshold.

[0047] Optionally, the vehicle has at least one axle tower top; the raising module comprises:

[0048] A speed acquisition submodule, used for acquiring the axle tower top body speed of the axle tower top during the driving process of the vehicle; the axle tower top body speed is the speed of the axle tower top relative to the driving road surface;

[0049] A damping to be added determining submodule, used for determining the damping to be added of the vehicle according to the axle tower top vehicle body speed and the vehicle speed;

[0050] An adding submodule is used to increase the control strength of the vehicle with respect to the vehicle body posture by increasing the damping to be increased.

[0051] Optionally, when the vehicle satisfies the damping improvement condition and the damping of the vehicle is improved, the vehicle is in a target damping control state; the device comprises:

[0052] An exit control module is used to control the vehicle to exit the target damping control state if the vehicle satisfies at least one of the following conditions: the vehicle's driving surface is not the flat surface, there is an object that the vehicle impacts on the driving surface, the vehicle speed is not less than the vehicle speed threshold, and the vehicle does not have the risk of the vehicle body posture being out of control.

[0053] The embodiment of the present invention further discloses an electronic device, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0054] The memory is used to store computer programs;

[0055] The processor is used to implement the method described in the embodiment of the present invention when executing the program stored in the memory.

[0056] The embodiment of the present invention further discloses one or more computer-readable media on which instructions are stored. When executed by one or more processors, the processors are enabled to execute the method described in the embodiment of the present invention.

[0057] The embodiments of the present invention include the following advantages:

[0058] In an embodiment of the present invention, the damping of the vehicle is associated with the control strength of the vehicle's body posture. The continuous damping control system of the vehicle can obtain the vehicle speed, pitch angular velocity, roll angular velocity and unsprung acceleration of the vehicle during driving, and determine the driving road condition of the vehicle according to the unsprung acceleration and / or the vehicle speed; the driving road condition is used to indicate whether the driving road of the vehicle is a flat road and whether there is a vehicle impact object on the driving road; the body posture state of the vehicle is determined based on the pitch angular velocity and / or the roll angular velocity; the body posture state is used to indicate whether the vehicle has a risk of body posture loss of control; based on the driving road condition, the vehicle speed, and the body posture state, it is determined whether the vehicle meets the preset damping increase condition; if the vehicle meets the damping increase condition, the vehicle's damping is increased to increase the vehicle's control strength for the body posture, which can effectively identify the road condition of a flat road at a low speed and decouple it from other working conditions, and can effectively ensure that the comfort on the flat road is not deteriorated, and by greatly strengthening the control strength for the body posture in this state, the body motion posture can be effectively controlled, the low-speed stability can be improved, and the user's motion sickness can be prevented. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 is a flow chart of the steps of a vehicle damping control method provided in an embodiment of the present invention;

[0060] Figure 2 is a schematic diagram of the effect of an increase in vehicle damping on vehicle body posture provided in an embodiment of the present invention;

[0061] Figure 3 is a schematic diagram of the effect of increasing the vehicle damping on the vehicle body posture provided in another embodiment of the present invention;

[0062] Figure 4 is a structural block diagram of a vehicle damping control device provided in an embodiment of the present invention;

[0063] Figure 5 is a block diagram of an electronic device provided in an embodiment of the present invention;

[0064] Figure 6 is a schematic diagram of a computer-readable medium provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0065] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0066] To facilitate understanding of the technical solutions and technical effects of the embodiments of the present invention, the prior art of the present invention is briefly described below.

[0067] In the related art, vehicles are usually equipped with a CDC (Continuous Damping Control) system. The CDC system can adjust the damping of the shock absorber in the suspension system by adjusting the current of the damper. Damping can affect the hardness and softness of the suspension system, and thus affect the body posture of the vehicle during driving.

[0068] During the driving process, the vehicle determines the body posture by monitoring the speed and acceleration of the body movement to determine whether there is excessive bumping or tilting. After the vehicle obtains the current body posture, the vehicle can control the CDC system according to the preset program and adjust the damping of the shock absorber to control the body movement, avoid excessive bumps or tilts in the body posture, and improve the stability and comfort of the vehicle.

[0069] When the vehicle is driving at a low speed of 40kph (kilometers per hour) and passing through complex road conditions such as potholes, uneven basements, and side slopes, the vehicle body may experience large bumps and rolls. To avoid these problems, the vehicle controls the CDC system to increase the current in the damper, increase the damping of the shock absorber, increase the hardness of the suspension system, and strengthen the control of the vehicle body posture. However, when the vehicle is driving at a low speed under high damping to a relatively flat road condition, the vehicle's higher damping will reduce the user's driving comfort on flat road conditions.

[0070] Reference Figure 1 , shows a flow chart of the steps of a vehicle damping control method provided in an embodiment of the present invention, which is applied to a continuous damping control system of a vehicle, wherein the damping of the vehicle is associated with the control intensity of the vehicle body posture; specifically, the following steps may be included:

[0071] Step 101, obtaining the vehicle speed, pitch angular velocity, roll angular velocity and unsprung acceleration of the vehicle during driving;

[0072] In an embodiment of the present invention, a vehicle includes a continuous damping control system and a suspension system. The continuous damping control system includes a damper, and the suspension system includes a shock absorber. The continuous damping control system can adjust the damping of the shock absorber in the suspension system by adjusting the current of the damper.

[0073] In an embodiment of the present invention, the damping of the vehicle includes the damping of the shock absorber. The damping of the shock absorber can affect the hardness and softness of the suspension system. The higher the damping in the shock absorber, the harder the suspension system, and the stronger the control strength of the vehicle for the body posture. When the vehicle travels on a flat road with an object that may cause the vehicle to be impacted, the hard suspension system cannot absorb and buffer the impact like a soft suspension system, thereby affecting the driving comfort of the vehicle.

[0074] In an embodiment of the present invention, the vehicle includes a speed sensor, a pitch angular velocity sensor, a roll angular velocity sensor, and an unsprung acceleration sensor. The vehicle can use these sensors to collect the vehicle speed, pitch angular velocity, roll angular velocity, and unsprung acceleration during the vehicle's driving process. Among them, the vehicle's driving road surface includes a flat road surface and an uneven road surface. The pitch angular velocity refers to the angular velocity of the vehicle's tilt or pitching movement in the front-to-back direction, the roll angular velocity refers to the angular velocity of the vehicle's tilt or roll movement in the left-to-right direction, and the unsprung acceleration refers to the acceleration of the unsprung part of the vehicle's suspension system. The unsprung part of the suspension system includes wheels and tires.

[0075] Step 102, determining a driving surface condition of the vehicle according to the unsprung acceleration and / or the vehicle speed; the driving surface condition is used to indicate whether the driving surface of the vehicle is a flat surface and whether there is a vehicle impact object on the driving surface;

[0076] In the embodiment of the present invention, the continuous damping control system can determine the driving surface condition of the vehicle according to the unsprung acceleration and the vehicle speed during the driving process of the vehicle. The driving surface condition is used to indicate whether the driving surface of the vehicle is a flat surface and whether there is a vehicle impact object on the driving surface. The vehicle impact object refers to an object on the driving surface that may cause the vehicle to be impacted, such as a speed bump, a small pothole, etc.

[0077] In some embodiments of the present invention, determining the driving road condition of the vehicle according to the unsprung acceleration and / or the vehicle speed includes:

[0078] Determining a target vehicle speed and a first target unsprung acceleration of the vehicle at at least one time within a preset first time period according to the unsprung acceleration and the vehicle speed;

[0079] Based on the target vehicle speed and the first target unsprung acceleration, it is determined whether the traveling road surface is the flat road surface.

[0080] In an embodiment of the present invention, when the continuous damping control system determines whether the road surface on which the vehicle is traveling is a flat road surface according to the unsprung acceleration and the vehicle speed during the vehicle's driving process, the target vehicle speed and the first target unsprung acceleration of the vehicle at at least one moment in a preset first time period can be determined according to the unsprung acceleration and the vehicle speed collected by the sensor during the vehicle's driving process. Then, based on the target vehicle speed and the first target unsprung acceleration, it can be determined whether the road surface on which the vehicle is traveling is a flat road surface. Specifically, the continuous damping control system can calculate the product of the target vehicle speed and the first target unsprung acceleration at each moment, and then calculate the sum of the products corresponding to all moments, and compare the sum of the products with the preset grade division data. If the sum of the products is not greater than the preset grade division data, it is determined that the road surface is a flat road surface. If the sum of the products is greater than the preset grade division data, it is determined that the road surface is a non-flat road surface. It should be noted that a flat road surface refers to a road surface that is relatively smooth and has no significant bumps; on a flat road surface, there may also be small pits and other vehicle impact objects. A non-flat road surface refers to a road surface with large undulations or defects.

[0081] In a specific example, during vehicle driving, the continuous damping control system can collect the unsprung acceleration and vehicle speed data obtained by the sensor every 3 milliseconds within a 2-second period, as the first target unsprung acceleration and target vehicle speed, respectively. Then, the product of the first target unsprung acceleration and the target vehicle speed at each sampling moment is calculated, and the sum of the products corresponding to all sampling moments is used as an indicator for judging the road condition. Specifically, the sum of the products is compared with the preset grade division data. If the sum of the products is not greater than the preset grade division data, it is determined that the road surface grade is level one and the road surface is flat. If the sum of the products is greater than the preset grade division data, it is determined that the road surface is uneven and the road surface grade is level two or higher. Among them, the preset grade division data is determined according to factors such as the vehicle type.

[0082] In some embodiments of the present invention, determining the driving road condition of the vehicle according to the unsprung acceleration and / or the vehicle speed includes:

[0083] determining a second target unsprung acceleration of the vehicle at at least one time within a preset second time period according to the unsprung acceleration, and determining whether the second target unsprung acceleration is less than a preset unsprung acceleration threshold;

[0084] If the second target unsprung acceleration is less than the unsprung acceleration threshold, it is confirmed that the vehicle impact object does not exist on the driving road surface.

[0085] In an embodiment of the present invention, the continuous damping control system can determine whether there is a vehicle impact object on the driving road according to the unsprung acceleration of the vehicle during driving. The driving road includes a flat road.

[0086] In an embodiment of the present invention, the continuous damping control system determines a second target unsprung acceleration of the vehicle at at least one moment in a preset second time period according to the unsprung acceleration during the vehicle's driving process. Then, it is determined whether the second target unsprung acceleration at each moment is less than a preset unsprung acceleration threshold. If the second target unsprung acceleration at each moment is less than the unsprung acceleration threshold, it is confirmed that there is no vehicle impact object on the driving road surface.

[0087] In a specific example, during vehicle driving, the continuous damping control system can collect the unsprung acceleration obtained by the sensor at each moment within a period of 1.5 seconds and use it as the second target unsprung acceleration. Then, it is determined whether the second target unsprung acceleration at each moment is less than a preset unsprung acceleration threshold. The preset unsprung acceleration threshold can be 5m / s 2 (m / s2). If the second target unsprung acceleration at each moment is less than 5m / s 2 , it is confirmed that there is no vehicle impact object on the driving road.

[0088] Step 103, determining a body posture state of the vehicle based on the pitch angular velocity and / or the roll angular velocity; the body posture state is used to indicate whether there is a risk of body posture loss of control of the vehicle;

[0089] In an embodiment of the present invention, the continuous damping control system can determine the vehicle's body posture state based on the pitch angular velocity and roll angular velocity during the vehicle's driving process. The body posture state can indicate whether the vehicle has a risk of losing control of its body posture. It should be noted that the risk of losing control of the body posture refers to problems such as large bumps and rolls of the vehicle body. If the vehicle has a risk of losing control of its body posture, it is necessary to increase the control strength of the vehicle's body posture.

[0090] In some embodiments of the present invention, determining the body posture state of the vehicle based on the pitch angular velocity and / or the roll angular velocity includes:

[0091] Determining whether the pitch angular velocity is greater than a preset pitch angular velocity threshold;

[0092] Determining whether the roll angular velocity is greater than a preset roll angular velocity threshold;

[0093] If the pitch angular velocity is greater than the pitch angular velocity threshold, or the roll angular velocity is greater than the roll angular velocity threshold, it is confirmed that the vehicle has the risk of losing control of the body posture.

[0094] Specifically, when the continuous damping control system determines the vehicle's body posture state based on the pitch angular velocity and roll angular velocity during the vehicle's driving process, it can determine whether the pitch angular velocity is greater than a preset pitch angular velocity threshold, and determine whether the roll angular velocity is greater than a preset roll angular velocity threshold. If the pitch angular velocity is greater than the pitch angular velocity threshold, or the roll angular velocity is greater than the roll angular velocity threshold, it is confirmed that the vehicle is at risk of losing control of its body posture. Among them, the pitch angular velocity threshold can be 18deg / s (degrees per second), and the roll angular velocity threshold can be 15deg / s. The pitch angular velocity threshold and the roll angular velocity threshold are generally in the numerical range of 10 to 20deg / s.

[0095] Step 104, judging whether the vehicle meets a preset damping improvement condition based on the driving road condition, the vehicle speed, and the vehicle body posture state;

[0096] In the embodiment of the present invention, the continuous damping control system can determine whether the vehicle meets the preset damping increase condition based on the road surface condition, vehicle speed, and vehicle body posture state. If the vehicle meets the damping increase condition, the vehicle can enter the target damping control state, and improve the vehicle's control strength for the vehicle body posture by increasing the vehicle's damping.

[0097] In some embodiments of the present invention, judging whether the vehicle satisfies a preset damping improvement condition based on the driving road condition, the vehicle speed, and the vehicle body posture state includes:

[0098] If the driving road surface is the flat road surface, there is no object that the vehicle impacts on the driving road surface, the vehicle speed is less than a preset vehicle speed threshold, and the vehicle is at risk of losing control of the body posture, then it is confirmed that the vehicle meets the damping improvement condition.

[0099] In the embodiment of the present invention, the continuous damping control system can determine whether the vehicle meets the preset damping increase condition based on the road surface condition, vehicle speed, and body posture state. Specifically, if the road surface condition indicates that the road surface is flat and there is no vehicle impact object on the road surface, the vehicle speed is less than the preset vehicle speed threshold, and the body posture state indicates that the vehicle has a risk of body posture loss of control, then it is determined that the vehicle meets the damping increase condition.

[0100] It should be noted that the preset vehicle speed threshold may be 40 kph. A vehicle speed less than the preset vehicle speed threshold indicates that the vehicle is in a low-speed driving state. In addition to the continuous damping control system, the vehicle also includes a ceiling damping control system. When the vehicle is in a high-speed driving state, the ceiling damping control system can provide the vehicle with sufficient damping to control the vehicle's body posture. When the vehicle is in a low-speed driving state, the ceiling damping control system cannot provide the vehicle with sufficient damping to control the vehicle's body posture, so a continuous damping control system is required to increase the damping in the shock absorber.

[0101] Step 105 : If the vehicle satisfies the damping improvement condition, the control strength of the vehicle with respect to the vehicle body posture is improved by increasing the damping of the vehicle.

[0102] In the embodiment of the present invention, if the vehicle meets the damping improvement condition, the vehicle can enter the target damping control state, and improve the control strength of the vehicle for the vehicle body posture by increasing the damping of the vehicle. It should be noted that when the vehicle enters the target damping control state, the flag bit can be 1; when the vehicle is not in the target damping control state, the flag bit can be 0.

[0103] Specifically, the continuous damping control system can control the damper to output a fixed current of a target value to improve the damping of the shock absorber. The fixed current of the target value can be determined according to factors such as the type of vehicle, and the fixed current of the target value can be 900-1200 mA (milliamperes).

[0104] In some embodiments of the present invention, the vehicle has at least one axle tower top; and the step of increasing the control strength of the vehicle with respect to the vehicle body posture by increasing the damping of the vehicle comprises:

[0105] Acquire the axle tower top body speed of the axle tower top during the driving process of the vehicle; the axle tower top body speed is the speed of the axle tower top relative to the driving road surface;

[0106] Determining the damping to be increased of the vehicle according to the axle tower top vehicle body speed and the vehicle speed;

[0107] By increasing the damping to be increased, the control strength of the vehicle with respect to the vehicle body posture is improved.

[0108] In the embodiment of the present invention, the vehicle may include a front axle tower top and a rear axle tower top. The front axle tower top is the location where the front suspension system is connected to the vehicle body frame, and the rear axle tower top is the location where the rear suspension system is connected to the vehicle body frame. The axle tower top vehicle body speed refers to the speed of the front axle tower top and the rear axle tower top relative to the driving road surface, reflecting the up and down movement (jumping) and front and rear tilting (pitch) of the vehicle body during driving.

[0109] Since the axle tower top body speed reflects the up and down movement (jump) and front and rear tilt (pitch) of the vehicle body during driving, and the vehicle has different damping requirements at different speeds, if the vehicle meets the damping increase conditions, the continuous damping control system can determine the additional damping required to control the vehicle body posture based on the axle tower top body speed and the vehicle speed. Then, the continuous damping control system increases the damping to be added by increasing the current of the damper, thereby increasing the vehicle's control strength for the body posture.

[0110] Specifically, the table lookup method can be used to determine the additional vehicle damping required to control the vehicle posture according to the axle tower top vehicle speed and the vehicle speed. The additional damping is the vehicle damping that the CDC system needs to provide.

[0111] Table 1: Example of the relationship between the front axle tower top body speed and vehicle speed and the damping provided by the skyhook damping control system

[0112]

[0113] Table 2: Example of the relationship between the body speed at the rear axle tower and the vehicle speed and the damping provided by the skyhook damping control system

[0114]

[0115] According to the front axle tower top body speed and the vehicle speed and Table 1, the first damping provided by the ceiling damping control system on the current vehicle can be determined. The first damping to be increased of the CDC system is a preset multiple of the first damping. The preset multiple can be 4 times. Therefore, according to the front axle tower top body speed and the vehicle speed and Table 1, the first damping to be increased of the CDC system can be determined.

[0116] According to the rear axle tower top body speed and the vehicle speed and Table 2, the second damping provided by the ceiling damping control system on the current vehicle can be determined. The second damping to be added of the CDC system is a preset multiple of the second damping. The preset multiple can be 4 times. Therefore, according to the rear axle tower top body speed and the vehicle speed and Table 2, the second damping to be added of the CDC system can be determined. It should be noted that in this case, the ceiling damping control system no longer provides damping for the vehicle.

[0117] There are a total of 4 dampers on the vehicle, including 2 front dampers and 2 rear dampers.

[0118] Table 3: Example of the relationship between the current of the front damper and the speed of the front shock absorber and the first damping to be added by the CDC system

[0119]

[0120] The target current of the front damper may be determined according to the speed of the front shock absorber, the first damping to be increased, and Table 3. Then, the CDC system may adjust the current of the front damper to the target current to increase the first damping to be increased.

[0121] Table 4: Example of the relationship between the current of the rear damper and the speed of the rear shock absorber and the second damping to be added by the CDC system

[0122]

[0123] The target current of the rear damper may be determined according to the speed of the rear shock absorber, the second damping to be increased, and Table 4. Then, the CDC system may adjust the current of the rear damper to the target current to increase the second damping to be increased.

[0124] Reference Figure 2 , showing a schematic diagram of the effect of an increase in vehicle damping on vehicle body posture provided in an embodiment of the present invention.

[0125] If the vehicle meets the damping increase conditions, the vehicle can enter the target damping control state, and by increasing the vehicle's damping, the vehicle's control strength for the body posture is improved. The vehicle speed is 35kph, and the vehicle is driving on a flat and undulating road. The test is the body control ability on the undulating road. Figure 2 It can be seen that the body movement amplitude after the damping is increased is reduced by 40% compared with the body movement amplitude in the original state.

[0126] Reference Figure 3 , showing a schematic diagram of the effect of increasing vehicle damping on vehicle body posture provided in another embodiment of the present invention.

[0127] The vehicle speed is 20kph, and the vehicle is driving on an uneven road surface. The test is about the vehicle body control ability under the uneven road surface in the basement. Figure 3 It can be seen that the body movement amplitude after increasing the damping is reduced by 24.87% compared with the body movement amplitude in the original state.

[0128] In some embodiments of the present invention, when the vehicle satisfies the damping improvement condition and the damping of the vehicle is improved, the vehicle is in a target damping control state; the method includes:

[0129] If the vehicle satisfies at least one of the following conditions: the vehicle's driving surface is not the flat road surface, there is an object impacted by the vehicle on the driving road surface, the vehicle speed is not less than the vehicle speed threshold, and the vehicle does not have the risk of the vehicle body posture being out of control, the vehicle is controlled to exit the target damping control state.

[0130] In an embodiment of the present invention, if the vehicle satisfies the damping improvement condition, the vehicle may enter the target damping control state, and by improving the damping of the vehicle, the control strength of the vehicle for the body posture is improved. When the vehicle is in the target damping control state, if the vehicle satisfies at least one of the following conditions: the vehicle's driving road surface is not a flat road surface, there is a vehicle impact object on the driving road surface, the vehicle speed is not less than the vehicle speed threshold, and the vehicle does not have a body posture out-of-control risk, the vehicle is controlled to exit the target damping control state. It should be noted that when the vehicle is in the target damping control state, if the unsprung acceleration is greater than the preset unsprung acceleration threshold, it is considered that there is a vehicle impact object on the driving road surface. If the roll angular velocity is less than the preset roll angular velocity threshold or the pitch angular velocity is less than the preset pitch angular velocity threshold within a period of time, it is considered that the vehicle does not have a body posture out-of-control risk. The preset roll angular velocity threshold may be 12 deg / s, and the preset pitch angular velocity threshold may be 15 deg / s. Emphasizing that the roll angular velocity within a period of time is less than the preset roll angular velocity threshold or the pitch angular velocity is less than the preset pitch angular velocity threshold is to avoid the erroneous judgment of whether the vehicle has a body posture out-of-control risk caused by the sine wave motion.

[0131] In an embodiment of the present invention, the damping of the vehicle is associated with the control strength of the vehicle's body posture. The continuous damping control system of the vehicle can obtain the vehicle speed, pitch angular velocity, roll angular velocity and unsprung acceleration of the vehicle during driving, and determine the driving road condition of the vehicle according to the unsprung acceleration and / or the vehicle speed; the driving road condition is used to indicate whether the driving road of the vehicle is a flat road and whether there is a vehicle impact object on the driving road; the body posture state of the vehicle is determined based on the pitch angular velocity and / or the roll angular velocity; the body posture state is used to indicate whether the vehicle has a risk of body posture loss of control; based on the driving road condition, the vehicle speed, and the body posture state, it is determined whether the vehicle meets the preset damping increase condition; if the vehicle meets the damping increase condition, the vehicle damping is increased to increase the control strength of the vehicle for the body posture, which can effectively identify the road condition of the flat road at low speed, and decouple it from other working conditions, which can effectively ensure that the driving comfort on the flat road is not deteriorated; by greatly strengthening the control strength of the body posture in this state, the body motion posture can be effectively controlled, the low-speed stability can be improved, and the user can be prevented from motion sickness.

[0132] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0133] Reference Figure 4 , shows a structural block diagram of a vehicle damping control device provided in an embodiment of the present invention, which is applied to a continuous damping control system of a vehicle, wherein the damping of the vehicle is associated with the control intensity of the vehicle body posture; specifically, the following modules may be included:

[0134] An acquisition module 401 is used to acquire the vehicle speed, pitch angular velocity, roll angular velocity and unsprung acceleration of the vehicle during driving;

[0135] A driving road condition determination module 402 is used to determine the driving road condition of the vehicle according to the unsprung acceleration and / or the vehicle speed; the driving road condition is used to indicate whether the driving road of the vehicle is a flat road and whether there is a vehicle impact object on the driving road;

[0136] A vehicle body posture state determination module 403 is used to determine the vehicle body posture state of the vehicle based on the pitch angular velocity and / or the roll angular velocity; the vehicle body posture state is used to indicate whether the vehicle has a risk of losing control of the vehicle body posture;

[0137] A judgment module 404, configured to judge whether the vehicle meets a preset damping improvement condition based on the driving road condition, the vehicle speed, and the vehicle body posture state;

[0138] The improving module 405 is configured to improve the control strength of the vehicle with respect to the body posture by improving the damping of the vehicle if the vehicle meets the damping improvement condition.

[0139] In an optional embodiment of the present invention, the judgment module includes:

[0140] The confirmation submodule is used to confirm that the vehicle meets the damping improvement condition if the driving road surface is the flat road surface, there is no vehicle impact object on the driving road surface, the vehicle speed is less than a preset vehicle speed threshold, and the vehicle has the risk of losing control of the vehicle body posture.

[0141] In an optional embodiment of the present invention, the driving road condition determination module includes:

[0142] a target vehicle speed determination submodule, configured to determine a target vehicle speed and a first target unsprung acceleration of the vehicle at at least one moment in a preset first time period according to the unsprung acceleration and the vehicle speed;

[0143] The judging submodule is used to judge whether the driving road surface is the flat road surface based on the target vehicle speed and the first target unsprung acceleration.

[0144] In an optional embodiment of the present invention, the driving road condition determination module includes:

[0145] a second target unsprung acceleration determination submodule, configured to determine a second target unsprung acceleration of the vehicle at at least one time within a preset second time period according to the unsprung acceleration, and to determine whether the second target unsprung acceleration is less than a preset unsprung acceleration threshold;

[0146] The vehicle impact object confirmation submodule is used to confirm that the vehicle impact object does not exist on the driving road surface if the second target unsprung acceleration is less than the unsprung acceleration threshold.

[0147] In an optional embodiment of the present invention, the vehicle body posture state determination module includes:

[0148] A pitch angular velocity determination submodule, used to determine whether the pitch angular velocity is greater than a preset pitch angular velocity threshold;

[0149] A roll angle velocity determination submodule, used to determine whether the roll angle velocity is greater than a preset roll angle velocity threshold;

[0150] The vehicle body posture out-of-control risk confirmation submodule is used to confirm that the vehicle has the risk of the vehicle body posture out-of-control if the pitch angular velocity is greater than the pitch angular velocity threshold, or the roll angular velocity is greater than the roll angular velocity threshold.

[0151] In an optional embodiment of the present invention, the vehicle has at least one axle tower top; the raising module comprises:

[0152] A speed acquisition submodule, used for acquiring the axle tower top body speed of the axle tower top during the driving process of the vehicle; the axle tower top body speed is the speed of the axle tower top relative to the driving road surface;

[0153] A damping to be added determining submodule, used for determining the damping to be added of the vehicle according to the axle tower top vehicle body speed and the vehicle speed;

[0154] An adding submodule is used to increase the control strength of the vehicle with respect to the vehicle body posture by increasing the damping to be increased.

[0155] In an optional embodiment of the present invention, when the vehicle satisfies the damping improvement condition and the damping of the vehicle is improved, the vehicle is in a target damping control state; the device comprises:

[0156] An exit control module is used to control the vehicle to exit the target damping control state if the vehicle satisfies at least one of the following conditions: the vehicle's driving surface is not the flat surface, there is an object that the vehicle impacts on the driving surface, the vehicle speed is not less than the vehicle speed threshold, and the vehicle does not have the risk of the vehicle body posture being out of control.

[0157] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0158] In addition, an embodiment of the present invention further provides an electronic device, such as Figure 5 As shown, it includes a processor 501, a communication interface 502, a memory 503 and a communication bus 504, wherein the processor 501, the communication interface 502, and the memory 503 communicate with each other through the communication bus 504.

[0159] Memory 503, used for storing computer programs;

[0160] The processor 501 is used to execute the program stored in the memory 503, and implements the following steps:

[0161] Obtaining the vehicle speed, pitch angular velocity, roll angular velocity and unsprung acceleration of the vehicle during driving;

[0162] Determining a driving surface condition of the vehicle according to the unsprung acceleration and / or the vehicle speed; the driving surface condition is used to indicate whether the driving surface of the vehicle is a flat surface and whether there is a vehicle impact object on the driving surface;

[0163] Based on the pitch angular velocity and / or the roll angular velocity, determining a body posture state of the vehicle; the body posture state is used to indicate whether there is a risk of body posture loss of control of the vehicle;

[0164] Based on the road surface condition, the vehicle speed, and the vehicle body posture state, determining whether the vehicle meets a preset damping improvement condition;

[0165] If the vehicle satisfies the damping increase condition, the control strength of the vehicle with respect to the vehicle body posture is increased by increasing the damping of the vehicle.

[0166] In an optional embodiment of the present invention, judging whether the vehicle meets a preset damping improvement condition based on the driving road condition, the vehicle speed, and the vehicle body posture state includes:

[0167] If the driving road surface is the flat road surface, there is no object that the vehicle impacts on the driving road surface, the vehicle speed is less than a preset vehicle speed threshold, and the vehicle is at risk of losing control of the body posture, then it is confirmed that the vehicle meets the damping improvement condition.

[0168] In an optional embodiment of the present invention, determining the driving road condition of the vehicle according to the unsprung acceleration and / or the vehicle speed includes:

[0169] Determining a target vehicle speed and a first target unsprung acceleration of the vehicle at at least one time within a preset first time period according to the unsprung acceleration and the vehicle speed;

[0170] Based on the target vehicle speed and the first target unsprung acceleration, it is determined whether the traveling road surface is the flat road surface.

[0171] In an optional embodiment of the present invention, determining the driving road condition of the vehicle according to the unsprung acceleration and / or the vehicle speed includes:

[0172] determining a second target unsprung acceleration of the vehicle at at least one time within a preset second time period according to the unsprung acceleration, and determining whether the second target unsprung acceleration is less than a preset unsprung acceleration threshold;

[0173] If the second target unsprung acceleration is less than the unsprung acceleration threshold, it is confirmed that the vehicle impact object does not exist on the driving road surface.

[0174] In an optional embodiment of the present invention, determining the body posture state of the vehicle based on the pitch angular velocity and / or the roll angular velocity includes:

[0175] Determining whether the pitch angular velocity is greater than a preset pitch angular velocity threshold;

[0176] Determining whether the roll angular velocity is greater than a preset roll angular velocity threshold;

[0177] If the pitch angular velocity is greater than the pitch angular velocity threshold, or the roll angular velocity is greater than the roll angular velocity threshold, it is confirmed that the vehicle has the risk of losing control of the body posture.

[0178] In an optional embodiment of the present invention, the vehicle has at least one axle tower top; and the step of increasing the control strength of the vehicle with respect to the vehicle body posture by increasing the damping of the vehicle comprises:

[0179] Acquire the axle tower top body speed of the axle tower top during the driving process of the vehicle; the axle tower top body speed is the speed of the axle tower top relative to the driving road surface;

[0180] Determining the damping to be increased of the vehicle according to the axle tower top vehicle body speed and the vehicle speed;

[0181] By increasing the damping to be increased, the control strength of the vehicle with respect to the vehicle body posture is improved.

[0182] In an optional embodiment of the present invention, when the vehicle satisfies the damping improvement condition and the damping of the vehicle is improved, the vehicle is in a target damping control state; the method includes:

[0183] If the vehicle satisfies at least one of the following conditions: the vehicle's driving surface is not the flat road surface, there is an object impacted by the vehicle on the driving road surface, the vehicle speed is not less than the vehicle speed threshold, and the vehicle does not have the risk of the vehicle body posture being out of control, the vehicle is controlled to exit the target damping control state.

[0184] The communication bus mentioned in the above terminal can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0185] The communication interface is used for communication between the above terminal and other devices.

[0186] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0187] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0188] like Figure 6As shown, in another embodiment provided by the present invention, a computer-readable storage medium 601 is also provided, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes a vehicle damping control method described in the above embodiment.

[0189] In another embodiment of the present invention, a computer program product including instructions is provided. When the computer program product is run on a computer, the computer executes a vehicle damping control method described in the above embodiment.

[0190] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk (SSD)), etc.

[0191] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0192] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0193] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A method for controlling vehicle damping, characterized in that: A continuous damping control system applied to a vehicle, wherein the damping of the vehicle is associated with the control intensity of the vehicle's body posture; the method comprises: Obtaining the vehicle speed, pitch angular velocity, roll angular velocity and unsprung acceleration of the vehicle during driving; Determining a driving surface condition of the vehicle according to the unsprung acceleration and / or the vehicle speed; the driving surface condition is used to indicate whether the driving surface of the vehicle is a flat surface and whether there is a vehicle impact object on the driving surface; Based on the pitch angular velocity and / or the roll angular velocity, determining a body posture state of the vehicle; the body posture state is used to indicate whether there is a risk of body posture loss of control of the vehicle; Based on the road surface condition, the vehicle speed, and the vehicle body posture state, determining whether the vehicle meets a preset damping improvement condition; If the vehicle satisfies the damping increase condition, the control strength of the vehicle with respect to the vehicle body posture is increased by increasing the damping of the vehicle.

2. The method according to claim 1, characterized in that The determining whether the vehicle satisfies a preset damping improvement condition based on the road surface condition, the vehicle speed, and the vehicle body posture state includes: If the driving road surface is the flat road surface, there is no object that the vehicle impacts on the driving road surface, the vehicle speed is less than a preset vehicle speed threshold, and the vehicle is at risk of losing control of the body posture, then it is confirmed that the vehicle meets the damping improvement condition.

3. The method according to claim 1, characterized in that Determining the driving road condition of the vehicle according to the unsprung acceleration and / or the vehicle speed includes: Determining a target vehicle speed and a first target unsprung acceleration of the vehicle at at least one time within a preset first time period according to the unsprung acceleration and the vehicle speed; Based on the target vehicle speed and the first target unsprung acceleration, it is determined whether the traveling road surface is the flat road surface.

4. The method according to claim 1, characterized in that Determining the driving road condition of the vehicle according to the unsprung acceleration and / or the vehicle speed includes: determining a second target unsprung acceleration of the vehicle at at least one time within a preset second time period according to the unsprung acceleration, and determining whether the second target unsprung acceleration is less than a preset unsprung acceleration threshold; If the second target unsprung acceleration is less than the unsprung acceleration threshold, it is confirmed that the vehicle impact object does not exist on the driving road surface.

5. The method according to claim 1, characterized in that: The determining of the vehicle body posture state based on the pitch angular velocity and / or the roll angular velocity comprises: Determining whether the pitch angular velocity is greater than a preset pitch angular velocity threshold; Determining whether the roll angular velocity is greater than a preset roll angular velocity threshold; If the pitch angular velocity is greater than the pitch angular velocity threshold, or the roll angular velocity is greater than the roll angular velocity threshold, it is confirmed that the vehicle has the risk of losing control of the body posture.

6. The method according to claim 1, characterized in that The vehicle has at least one axle tower top; and the control strength of the vehicle with respect to the vehicle body posture is improved by improving the damping of the vehicle, including: Acquire the axle tower top body speed of the axle tower top during the driving process of the vehicle; the axle tower top body speed is the speed of the axle tower top relative to the driving road surface; Determining the damping to be increased of the vehicle according to the axle tower top vehicle body speed and the vehicle speed; By increasing the damping to be increased, the control strength of the vehicle with respect to the vehicle body posture is improved.

7. The method according to claim 2, characterized in that: When the vehicle satisfies the damping increase condition and the damping of the vehicle is increased, the vehicle is in a target damping control state; the method comprises: If the vehicle satisfies at least one of the following conditions: the vehicle's driving surface is not the flat road surface, there is an object impacted by the vehicle on the driving road surface, the vehicle speed is not less than the vehicle speed threshold, and the vehicle does not have the risk of the vehicle body posture being out of control, the vehicle is controlled to exit the target damping control state.

8. A vehicle damping control device, characterized in that: A continuous damping control system applied to a vehicle, wherein the damping of the vehicle is associated with the control intensity of the vehicle's body posture; the device comprises: An acquisition module, used for acquiring the vehicle speed, pitch angular velocity, roll angular velocity and unsprung acceleration of the vehicle during driving; A driving road condition determination module, used to determine the driving road condition of the vehicle according to the unsprung acceleration and / or the vehicle speed; the driving road condition is used to indicate whether the driving road of the vehicle is a flat road and whether there is a vehicle impact object on the driving road; A vehicle body posture state determination module, used to determine the vehicle body posture state of the vehicle based on the pitch angular velocity and / or the roll angular velocity; the vehicle body posture state is used to indicate whether the vehicle has a risk of losing control of the vehicle body posture; A judgment module, used for judging whether the vehicle meets a preset damping improvement condition based on the driving road condition, the vehicle speed, and the vehicle body posture state; The improving module is used for improving the control strength of the vehicle with respect to the vehicle body posture by improving the damping of the vehicle if the vehicle meets the damping improvement condition.

9. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; The memory is used to store computer programs; The processor is used to implement the method according to any one of claims 1 to 7 when executing the program stored in the memory.

10. One or more computer-readable media having instructions stored thereon, which, when executed by one or more processors, cause the processors to perform the method of any one of claims 1-7.

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