A vehicle damping control method and device, electronic equipment and readable medium

Abstract

The application provides a vehicle damping control method and device, electronic equipment and readable medium, which are applied to a continuous damping control system, the vehicle damping is associated with the control strength of the vehicle body posture; the vehicle speed, the pitch angular velocity, the roll angular velocity and the sprung mass acceleration of the vehicle in the driving process are obtained; the driving road surface condition of the vehicle is determined according to the sprung mass acceleration and / or the vehicle speed; the driving road surface condition is used to indicate whether the driving road surface of the vehicle is a flat road surface and whether there is a vehicle impact object on the driving road surface; the vehicle body posture state of the vehicle is determined based on the pitch angular velocity and / or the roll angular velocity; the vehicle body posture state is used to indicate whether the vehicle body posture of the vehicle has a risk of losing control; whether the vehicle satisfies the damping improvement condition is judged based on the driving road surface condition, the vehicle speed and the vehicle body posture state; if the vehicle satisfies 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 the comfort on the flat road surface is ensured not to be deteriorated.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle damping control method, a vehicle damping control device, an electronic device and a computer readable medium. BACKGROUND

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

[0003] When the vehicle drives at a low speed through a complex road condition such as a pothole section, an uneven ground, and a side slope, the body of the vehicle can have a large bump and roll. In order to avoid these problems, the vehicle can increase the damping of the shock absorber by controlling the CDC system, increase the hardness of the suspension system, and strengthen the control of the body posture. However, when the vehicle drives at a low speed to a relatively flat road condition in a high damping state, the high damping of the vehicle reduces the driving comfort of the user on the flat road condition. SUMMARY

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

[0005] Embodiments of the present application disclose a vehicle damping control method applied to a continuous damping control system of a vehicle, wherein the damping of the vehicle is associated with the control strength of the body posture of the vehicle; the method comprises:

[0006] obtaining a vehicle speed, a pitch angular velocity, a roll angular velocity and a sprung mass acceleration of the vehicle in a driving process;

[0007] determining a driving road condition of the vehicle according to the sprung mass 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;

[0008] 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 the vehicle has a risk of body posture out of control;

[0009] judging whether the vehicle satisfies a preset damping increasing condition based on the driving road condition, the vehicle speed and the body posture state;

[0010] If the vehicle meets the damping increase condition, the control strength of the vehicle against the vehicle body posture is increased by increasing the damping of the vehicle.

[0011] Optionally, the determining whether the vehicle meets a preset damping increase condition based on the driving road surface condition, the vehicle speed, and the vehicle body posture state comprises:

[0012] 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 vehicle body posture out-of-control, it is determined that the vehicle meets the damping increase condition.

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

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

[0015] determining whether the driving road surface is the flat road surface based on the target vehicle speed and the first target unsprung acceleration.

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

[0017] determining a second target unsprung acceleration of the vehicle at at least one time point in 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 determined that there is no vehicle impact object on the driving road surface.

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

[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 determined that the vehicle has the risk of vehicle body posture out-of-control.

[0023] Optionally, the vehicle has at least one axle tower top; the control strength of the vehicle for the vehicle body posture is improved by increasing the damping of the vehicle, comprising:

[0024] The axle tower top vehicle body speed of the axle tower top in the driving process of the vehicle is obtained; the axle tower top vehicle body speed is the speed of the axle tower top relative to the driving surface;

[0025] According to the axle tower top vehicle body speed and the vehicle speed, the damping to be increased of the vehicle is determined;

[0026] The control strength of the vehicle for the vehicle body posture is improved by increasing the damping to be increased.

[0027] Optionally, in the case that the vehicle meets the damping increasing condition and the damping of the vehicle is increased, the vehicle is in a target damping control state; the method comprises:

[0028] If the vehicle meets at least one of the following conditions: the driving surface of the vehicle is not the flat surface, the driving surface exists the vehicle impact object, the vehicle speed is not less than the vehicle speed threshold, and the vehicle does not exist the vehicle body posture out-of-control risk, the vehicle is controlled to exit the target damping control state.

[0029] The embodiment of the application also discloses a vehicle damping control device applied to a continuous damping control system of a vehicle, wherein the damping of the vehicle is associated with the control strength of the vehicle body posture of the vehicle; the device comprises:

[0030] The acquisition module is used to acquire the vehicle speed, the pitch angular velocity, the roll angular velocity and the sprung mass acceleration of the vehicle in the driving process;

[0031] The driving surface condition determination module is used to determine the driving surface condition of the vehicle according to the sprung mass 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 the driving surface exists the vehicle impact object;

[0032] The vehicle body posture state determination module 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 exists the vehicle body posture out-of-control risk;

[0033] The judgment module is used to judge whether the vehicle meets the preset damping increasing condition based on the driving surface condition, the vehicle speed and the vehicle body posture state;

[0034] The improving module is configured to improve the control strength of the vehicle on the body posture by improving the damping of the vehicle if the vehicle meets the damping improving condition.

[0035] Optionally, the judging module comprises:

[0036] The confirming sub-module is configured to confirm that the vehicle meets the damping improving 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 body posture out-of-control risk.

[0037] Optionally, the driving road surface condition determining module comprises:

[0038] The target vehicle speed determining sub-module is configured to determine a target vehicle speed and a first target unsprung mass acceleration of the vehicle at at least one time point within a preset first time period according to the unsprung mass acceleration and the vehicle speed.

[0039] The judging sub-module is configured to judge whether the driving road surface is the flat road surface based on the target vehicle speed and the first target unsprung mass acceleration.

[0040] Optionally, the driving road surface condition determining module comprises:

[0041] The second target unsprung mass acceleration determining sub-module is configured to determine a second target unsprung mass acceleration of the vehicle at at least one time point within a preset second time period according to the unsprung mass acceleration, and judge whether the second target unsprung mass acceleration is less than a preset unsprung mass acceleration threshold.

[0042] The vehicle impact object confirming sub-module is configured to confirm that there is no vehicle impact object on the driving road surface if the second target unsprung mass acceleration is less than the unsprung mass acceleration threshold.

[0043] Optionally, the body posture state determining module comprises:

[0044] The pitch angular velocity judging sub-module is configured to judge whether the pitch angular velocity is greater than a preset pitch angular velocity threshold.

[0045] The roll angular velocity judging sub-module is configured to judge whether the roll angular velocity is greater than a preset roll angular velocity threshold.

[0046] The body posture out-of-control risk confirming sub-module is configured to confirm that the vehicle has the body posture out-of-control risk 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; and the improving module comprises:

[0048] a speed obtaining sub-module, configured to obtain an axle top vehicle body speed of the axle top in the driving process of the vehicle; the axle top vehicle body speed is a speed of the axle top relative to the driving surface;

[0049] a to-be-increased damping determining sub-module, configured to determine a to-be-increased damping of the vehicle according to the axle top vehicle body speed and the vehicle speed;

[0050] an increasing sub-module, configured to increase a control strength of the vehicle for the vehicle body posture by increasing the to-be-increased damping.

[0051] Optionally, in a case where the vehicle meets the damping increasing condition and the damping of the vehicle is increased, the vehicle is in a target damping control state; the device comprises:

[0052] an exiting control module, configured to control the vehicle to exit the target damping control state if the vehicle meets at least one of the following conditions: the driving surface of the vehicle is not the flat surface, the driving surface has the vehicle impact object, the vehicle speed is not less than the vehicle speed threshold, and the vehicle does not have the vehicle body posture out-of-control risk.

[0053] The embodiment of the present application further discloses an electronic device, including a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus;

[0054] The memory is used for storing a computer program.

[0055] The processor is used for executing the program stored on the memory, and realizes the method as described in the embodiment of the present application.

[0056] The embodiment of the present application further discloses one or more computer readable media, which store instructions, and when executed by one or more processors, make the processor execute the method as described in the embodiment of the present application.

[0057] The embodiment of the present application has the following advantages:

[0058] In the embodiment of the present application, the damping of the vehicle is associated with the control strength of the vehicle body posture. The continuous damping control system of the vehicle can acquire the vehicle speed, the pitch angular velocity, the roll angular velocity and the sprung acceleration of the vehicle in the driving process, determine the driving road surface condition of the vehicle according to the sprung acceleration and / or the vehicle speed, the driving road surface condition is used to indicate whether the driving road surface of the vehicle is a flat road surface and whether there is a vehicle impact object on the driving road surface, 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 body posture of the vehicle is out of control, judge whether the vehicle meets the preset damping increase condition based on the driving road surface condition, the vehicle speed and the vehicle body posture state, if the vehicle meets the damping increase condition, increase the damping of the vehicle to increase the control strength of the vehicle body posture, which can effectively identify the road condition of the flat road surface at low speed and decouple from other working conditions, effectively ensure that the comfort on the flat road surface is not deteriorated, greatly strengthen the control strength of the vehicle body posture in this state, effectively control the vehicle body motion posture, improve the low-speed stability and prevent the user from getting car sickness. BRIEF DESCRIPTION OF DRAWINGS

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

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

[0061] Figure 3 is another schematic diagram of the influence of the increase of the vehicle damping on the vehicle body posture provided in the embodiment of the present application;

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

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

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

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

[0066] In order to facilitate understanding of the technical solutions and technical effects of the embodiments of the present application, the prior art of the present application will be briefly described below.

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

[0068] During driving of the vehicle, the vehicle judges 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 posture of the body, the vehicle can control the CDC system according to a preset program to adjust the damping of the shock absorber, thereby controlling the body movement and avoiding excessive bumping or tilting of the body posture, and improving the stability and comfort of the vehicle.

[0069] When the vehicle drives at a low speed of 40 kph (kilometers per hour) through complex road conditions such as pothole sections, uneven ground and side slopes, the body of the vehicle can have a large bump and tilt. In order to avoid these problems, the vehicle increases the current in the damper by controlling the CDC system, increases the damping of the shock absorber, and increases the hardness of the suspension system to strengthen the control of the body posture. However, when the vehicle drives at a high damping state at a low speed to a relatively flat road, the high damping of the vehicle reduces the driving comfort of the user on the flat road.

[0070] Reference Figure 1 A step flowchart of a control method of vehicle damping provided in an embodiment of the present application is shown, which is applied to a continuous damping control system of a vehicle, and the damping of the vehicle is associated with the control strength of the body posture of the vehicle. Specifically, it can include the following steps:

[0071] Step 101, obtaining the vehicle speed, pitch angle speed, roll angle speed and sprung acceleration of the vehicle during driving;

[0072] In an embodiment of the present application, the 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 application, the damping of the vehicle includes the damping of the shock absorber. The damping of the shock absorber can affect the softness and hardness 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 on the body posture. When the vehicle drives to a flat road with an object that can impact the vehicle, the hard suspension system cannot absorb and buffer the impact as soft suspension system, thereby affecting the driving comfort of the vehicle.

[0074] In the embodiments of the present application, the vehicle comprises a speed sensor, a pitch angular velocity sensor, a roll angular velocity sensor and an unsprung acceleration sensor. The vehicle can collect the vehicle speed, the pitch angular velocity, the roll angular velocity and the unsprung acceleration during the driving of the vehicle by using the sensors. The driving road surface of the vehicle comprises a flat road surface and a non-flat road surface. The pitch angular velocity refers to the angular velocity of the inclination or pitch movement of the vehicle in the front-rear direction, the roll angular velocity refers to the angular velocity of the inclination or roll movement of the vehicle in the left-right direction, and the unsprung acceleration refers to the acceleration of the unsprung part of the suspension system of the vehicle. The unsprung part of the suspension system comprises the wheels and the tires.

[0075] In step 102, the driving road surface condition of the vehicle is determined according to the unsprung acceleration and / or the vehicle speed. The driving road surface condition is used to indicate whether the driving road surface of the vehicle is a flat road surface and whether there is a vehicle impact object on the driving road surface.

[0076] In the embodiments of the present application, the continuous damping control system can determine the driving road surface condition of the vehicle according to the unsprung acceleration and the vehicle speed during the driving of the vehicle. The driving road surface condition is used to indicate whether the driving road surface of the vehicle is a flat road surface and whether there is a vehicle impact object on the driving road surface. The vehicle impact object refers to the object on the driving road surface that will cause the vehicle to be impacted, such as a speed bump, a small pit and the like.

[0077] In some embodiments of the present application, the determination of the driving road surface condition of the vehicle according to the unsprung acceleration and / or the vehicle speed comprises:

[0078] According to the unsprung acceleration and the vehicle speed, the target vehicle speed and the first target unsprung acceleration of the vehicle at at least one time point in a preset first time period are determined.

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

[0080] In the embodiments of the present application, when the continuous damping control system determines whether the driving road surface of the vehicle is a flat road surface according to the sprung mass acceleration and the vehicle speed during the driving of the vehicle, the target vehicle speed and the first target sprung mass acceleration of the vehicle at at least one time point in a preset first time period can be determined according to the sprung mass acceleration and the vehicle speed collected by the sensor during the driving of the vehicle. Then, whether the driving road surface of the vehicle is a flat road surface can be determined based on the target vehicle speed and the first target sprung mass acceleration. Specifically, the continuous damping control system can calculate the product of the target vehicle speed and the first target sprung mass acceleration at each time point, then calculate the sum of the products corresponding to all time points, and compare the sum of the products with 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 the flat road surface refers to a relatively smooth road surface without significant bumps, and on the flat road surface, there may also be small potholes and other vehicle impact objects. The non-flat road surface refers to a road surface with large undulations or defects.

[0081] In a specific example, during the driving of the vehicle, the continuous damping control system can collect the sprung mass acceleration and the vehicle speed data obtained by the sensor every 3 milliseconds in a time period of 2 seconds, as the first target sprung mass acceleration and the target vehicle speed, respectively. Then, the product of the first target sprung mass acceleration and the target vehicle speed at each sampling time point is calculated, and the sum of the products corresponding to all sampling time points is taken as an index for determining the road surface condition. Specifically, the sum of the products is compared with 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 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, and the road surface grade is level two or higher. The preset grade division data is determined according to factors such as the type of the vehicle.

[0082] In some embodiments of the present application, the determination of the driving road surface condition of the vehicle according to the sprung mass acceleration and / or the vehicle speed comprises:

[0083] determining a second target sprung mass acceleration of the vehicle at at least one time point in a preset second time period according to the sprung mass acceleration, and determining whether the second target sprung mass acceleration is less than a preset sprung mass acceleration threshold value;

[0084] if the second target sprung mass acceleration is less than the sprung mass acceleration threshold value, it is determined that there is no vehicle impact object on the driving road surface.

[0085] In the embodiments of the present application, the continuous damping control system can determine whether there is a vehicle impact object on the driving road surface according to the sprung mass acceleration during the driving of the vehicle. The driving road surface includes a flat road surface.

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

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

[0088] In step 103, a 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 out-of-control;

[0089] In the embodiment of the present application, the continuous damping control system can determine the body posture state of the vehicle based on the pitch angular velocity and the roll angular velocity during the driving process of the vehicle. The body posture state can indicate whether the vehicle has a risk of body posture out-of-control. It should be noted that the risk of body posture out-of-control refers to the problem of large body pitching and rolling of the vehicle. If the vehicle has a risk of body posture out-of-control, the control strength of the vehicle for the body posture needs to be increased.

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

[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 preset pitch angular velocity threshold, or the roll angular velocity is greater than the preset roll angular velocity threshold, it is confirmed that the vehicle has the risk of body posture out-of-control.

[0094] Specifically, the continuous damping control system can determine whether the pitch angular velocity is greater than a preset pitch angular velocity threshold value and whether the roll angular velocity is greater than a preset roll angular velocity threshold value when determining the vehicle body posture state of the vehicle based on the pitch angular velocity and the roll angular velocity during vehicle driving. If the pitch angular velocity is greater than the pitch angular velocity threshold value or the roll angular velocity is greater than the roll angular velocity threshold value, it is determined that the vehicle has a risk of vehicle body posture out-of-control. The pitch angular velocity threshold value can be 18 deg / s (degree per second), and the roll angular velocity threshold value can be 15 deg / s. The pitch angular velocity threshold value and the roll angular velocity threshold value are generally in a numerical range of 10-20 deg / s.

[0095] In step 104, it is determined whether the vehicle satisfies a preset damping increasing condition based on the driving road surface condition, the vehicle speed, and the vehicle body posture state.

[0096] In the embodiments of the present application, the continuous damping control system can determine whether the vehicle satisfies a preset damping increasing condition based on the driving road surface condition, the vehicle speed, and the vehicle body posture state. If the vehicle satisfies the damping increasing condition, the vehicle can enter a target damping control state, and the control strength of the vehicle on the vehicle body posture can be increased by increasing the damping of the vehicle.

[0097] In some embodiments of the present application, the determination of whether the vehicle satisfies the preset damping increasing condition based on the driving road surface 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 vehicle impact object on the driving road surface, the vehicle speed is less than the preset vehicle speed threshold value, and the vehicle has the risk of vehicle body posture out-of-control, it is determined that the vehicle satisfies the damping increasing condition.

[0099] In the embodiments of the present application, the continuous damping control system can determine whether the vehicle satisfies a preset damping increasing condition based on the driving road surface condition, the vehicle speed, and the vehicle body posture state. Specifically, if the driving road surface condition indicates that the driving road surface is a flat road surface and there is no vehicle impact object on the driving road surface, the vehicle speed is less than the preset vehicle speed threshold value, and the vehicle body posture state indicates that the vehicle has the risk of vehicle body posture out-of-control, it is determined that the vehicle satisfies the damping increasing condition.

[0100] It should be noted that the preset vehicle speed threshold can be 40 kph. The 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 skyhook damping control system. When the vehicle is in a high-speed driving state, the skyhook damping control system can provide sufficient damping for the vehicle to control the body posture of the vehicle. When the vehicle is in a low-speed driving state, the skyhook damping control system cannot provide sufficient damping for the vehicle to control the body posture of the vehicle, and thus the continuous damping control system is needed to increase the damping in the shock absorber.

[0101] In step 105, if the vehicle satisfies the damping increase condition, the control strength of the vehicle for the body posture is increased by increasing the damping of the vehicle.

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

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

[0104] In some embodiments of the present application, the vehicle has at least one axle tower top, and the control strength of the vehicle for the body posture is increased by increasing the damping of the vehicle, including:

[0105] The axle tower top body speed of the axle tower top in the driving process of the vehicle is obtained. The axle tower top body speed is the speed of the axle tower top relative to the driving surface;

[0106] The damping to be increased of the vehicle is determined according to the axle tower top body speed and the vehicle speed.

[0107] The control strength of the vehicle for the body posture is increased by increasing the damping to be increased.

[0108] In the embodiment of the present application, the vehicle can include a front axle tower top and a rear axle tower top. The front axle tower top is the position where the front suspension system is connected to the body frame, and the rear axle tower top is the position where the rear suspension system is connected to the body frame. The axle tower top body speed refers to the speed of the front axle tower top and the rear axle tower top relative to the driving surface, reflecting the up-down movement (bouncing) and front-rear tilting (pitching) of the vehicle body during the driving process.

[0109] Since the axle tower top vehicle body speed reflects the up and down movement (bouncing) and the front and rear tilting (pitching) of the vehicle body during driving, and the vehicle has different needs for damping at different speeds, if the vehicle meets the damping increase condition, the continuous damping control system can determine the to-be-increased damping of the vehicle required to increase the control of the vehicle body posture according to the axle tower top vehicle body speed and the vehicle speed. Then, the continuous damping control system increases the to-be-increased damping by increasing the current of the damper, and increases the control strength of the vehicle for the vehicle body posture.

[0110] Specifically, the to-be-increased damping required to control the vehicle body posture can be determined according to the axle tower top vehicle body speed and the vehicle speed by the look-up table method. The to-be-increased damping is the damping required to be provided by the CDC system.

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

[0112]

[0113] Table 2: Relationship between rear axle tower top vehicle body speed and vehicle speed and damping provided by the skyhook damping control system

[0114]

[0115] According to the front axle tower top vehicle body speed and the vehicle speed and Table 1, the first damping provided by the skyhook damping control system on the current vehicle can be determined. The first to-be-increased damping 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 vehicle body speed and the vehicle speed and Table 1, the first to-be-increased damping of the CDC system can be determined.

[0116] According to the rear axle tower top vehicle body speed and the vehicle speed and Table 2, the second damping provided by the skyhook damping control system on the current vehicle can be determined. The second to-be-increased damping 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 vehicle body speed and the vehicle speed and Table 2, the second to-be-increased damping of the CDC system can be determined. It should be noted that in this case, the skyhook damping control system no longer provides the damping of the vehicle.

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

[0118] Table 3: Relationship between the current of the front damper and the speed of the front shock absorber and the first to-be-increased damping of the CDC system

[0119]

[0120] According to the velocity of the front damper, the first to-be-increased damping, and Table 3, the target current of the front damper can be determined. Then, the CDC system can adjust the current of the front damper to the target current to increase the first to-be-increased damping.

[0121] Table 4: An example of the relationship between the current of the rear damper and the velocity of the rear damper and the second to-be-increased damping of the CDC system

[0122]

[0123] According to the velocity of the rear damper, the second to-be-increased damping, and Table 4, the target current of the rear damper can be determined. Then, the CDC system can adjust the current of the rear damper to the target current to increase the second to-be-increased damping.

[0124] Referring to Figure 2 , a schematic diagram of the influence of the increase of vehicle damping on the body posture in an embodiment of the present application is shown.

[0125] If the vehicle meets the damping increase condition, the vehicle can enter the target damping control state, and the control strength of the vehicle on the body posture is improved by increasing the damping of the vehicle. The speed of the vehicle is 35 kph, the driving surface of the vehicle is a flat and uneven road, and the body control ability under the uneven road is tested. According to Figure 2 It can be seen that the body motion amplitude after the damping is increased is reduced by 40% compared with the body motion amplitude in the original state.

[0126] Referring to Figure 3 , another schematic diagram of the influence of the increase of vehicle damping on the body posture in an embodiment of the present application is shown.

[0127] The speed of the vehicle is 20 kph, the driving surface of the vehicle is a left and right uneven road, and the body control ability under the left and right uneven road of the garage is tested. According to Figure 3 It can be seen that the body motion amplitude after the damping is increased is reduced by 24.87% compared with the body motion amplitude in the original state.

[0128] In some embodiments of the present application, when the vehicle meets the damping increase condition and the damping of the vehicle is increased, the vehicle is in the target damping control state; the method comprises:

[0129] If the vehicle meets at least one of the following conditions: the driving surface of the vehicle is not the flat road, the driving surface exists the vehicle impact object, the vehicle speed is not less than the vehicle speed threshold, and the vehicle does not exist the body posture out-of-control risk, the vehicle is controlled to exit the target damping control state.

[0130] In the embodiment of the present application, if the vehicle meets the damping increasing condition, the vehicle can enter the target damping control state, and the control strength of the vehicle on the vehicle body posture is increased by increasing the damping of the vehicle. When the vehicle is in the target damping control state, if the vehicle meets at least one of the following conditions: the driving road surface of the vehicle is not a flat road surface, there is a vehicle impact object on the driving road surface, the vehicle speed is not less than a vehicle speed threshold, and the vehicle does not have a vehicle 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 sprung mass acceleration is greater than a preset sprung mass 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 a preset roll angular velocity threshold or the pitch angular velocity is less than a preset pitch angular velocity threshold for a period of time, it is considered that the vehicle does not have a vehicle body posture out-of-control risk. The preset roll angular velocity threshold can be 12 deg / s, and the preset pitch angular velocity threshold can be 15 deg / s. The roll angular velocity less than the preset roll angular velocity threshold or the pitch angular velocity less than the preset pitch angular velocity threshold for a period of time is emphasized to avoid the judgment error of whether the vehicle has a vehicle body posture out-of-control risk caused by the sine wave motion.

[0131] In the embodiment of the present application, the damping of the vehicle is associated with the control strength of the vehicle body posture. The continuous damping control system of the vehicle can acquire the vehicle speed, the pitch angular velocity, the roll angular velocity and the sprung mass acceleration of the vehicle in the driving process, determine the driving road surface condition of the vehicle according to the sprung mass acceleration and / or the vehicle speed, and determine the vehicle body posture state of the vehicle according to the pitch angular velocity and / or the roll angular velocity. The driving road surface condition is used to indicate whether the driving road surface of the vehicle is a flat road surface and whether there is a vehicle impact object on the driving road surface. The vehicle body posture state is used to indicate whether the vehicle has a vehicle body posture out-of-control risk. The driving road surface condition, the vehicle speed and the vehicle body posture state are used to determine whether the vehicle meets the preset damping increasing condition. If the vehicle meets the damping increasing condition, the control strength of the vehicle on the vehicle body posture is increased by increasing the damping of the vehicle, which can effectively identify the road condition of the flat road surface at low speed, decouple from other working conditions, effectively ensure that the driving comfort on the flat road surface is not deteriorated, greatly strengthen the control strength on the vehicle body posture in this state, effectively control the vehicle body motion posture, improve the low-speed stability, and prevent the user from getting car sick.

[0132] It should be noted that for the method embodiment, in order to simply describe, all are expressed as a series of action combinations, but those skilled in the art should know that the embodiments of the present application are not limited by the action sequence described, because according to the embodiments of the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions involved are not necessarily necessary for the embodiments of the present application.

[0133] With reference to Figure 4 , a structure block diagram of a control device of vehicle damping provided in an embodiment of the present application is shown, which is applied to a continuous damping control system of a vehicle, damping of the vehicle being associated with control strength of a body posture of the vehicle; and specifically can include the following modules:

[0134] The acquisition module 401 is configured to acquire a vehicle speed, a pitch angular velocity, a roll angular velocity and a sprung mass acceleration of the vehicle in a driving process.

[0135] The driving road surface condition determination module 402 is configured to determine a driving road surface condition of the vehicle according to the sprung mass acceleration and / or the vehicle speed; the driving road surface condition is used to indicate whether the driving road surface of the vehicle is a flat road surface and whether there is a vehicle impact object on the driving road surface.

[0136] The body posture state determination module 403 is configured to determine 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 body posture out-of-control risk of the vehicle.

[0137] The judgment module 404 is configured to judge whether the vehicle satisfies a preset damping increasing condition based on the driving road surface condition, the vehicle speed and the body posture state.

[0138] The increasing module 405 is configured to increase the control strength of the vehicle for the body posture by increasing the damping of the vehicle if the vehicle satisfies the damping increasing condition.

[0139] In an optional embodiment of the present application, the judgment module comprises:

[0140] The confirmation sub-module is configured to confirm that the vehicle satisfies the damping increasing 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 body posture out-of-control risk.

[0141] In an optional embodiment of the present application, the driving road surface condition determination module comprises:

[0142] The target vehicle speed determination sub-module is configured to determine a target vehicle speed and a first target sprung mass acceleration of the vehicle at at least one time point in a preset first time period according to the sprung mass acceleration and the vehicle speed.

[0143] The judgment sub-module is configured to judge whether the driving road surface is the flat road surface based on the target vehicle speed and the first target sprung mass acceleration.

[0144] In an optional embodiment of the present application, the driving road surface condition determination module comprises:

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

[0146] a vehicle impact object confirmation sub-module, configured to confirm that the vehicle impact object does not exist on the driving surface if the second target unsprung acceleration is less than the unsprung acceleration threshold value.

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

[0148] a pitch angular velocity determination sub-module, configured to determine whether the pitch angular velocity is greater than a preset pitch angular velocity threshold value;

[0149] a roll angular velocity determination sub-module, configured to determine whether the roll angular velocity is greater than a preset roll angular velocity threshold value;

[0150] a vehicle body posture out-of-control risk confirmation sub-module, configured to confirm that the vehicle has the vehicle body posture out-of-control risk if the pitch angular velocity is greater than the pitch angular velocity threshold value or the roll angular velocity is greater than the roll angular velocity threshold value.

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

[0152] a speed acquisition sub-module, configured to acquire an axle tower top vehicle body speed of the axle tower top in the driving process of the vehicle; the axle tower top vehicle body speed is a speed of the axle tower top relative to the driving surface;

[0153] a to-be-increased damping determination sub-module, configured to determine a to-be-increased damping of the vehicle according to the axle tower top vehicle body speed and the vehicle speed;

[0154] an increasing sub-module, configured to increase the control strength of the vehicle on the vehicle body posture by increasing the to-be-increased damping.

[0155] In an optional embodiment of the present application, in a case where the vehicle meets the damping increasing condition and the damping of the vehicle is increased, the vehicle is in a target damping control state; and the device comprises:

[0156] an exit control module, configured to control the vehicle to exit the target damping control state if the vehicle meets at least one of the following conditions: the driving surface of the vehicle is not the flat surface, the vehicle impact object exists on the driving surface, the vehicle speed is not less than the vehicle speed threshold value, and the vehicle does not have the vehicle body posture out-of-control risk.

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

[0158] In addition, the embodiment of the present application also provides an electronic device, such as Figure 5 As shown in the figure, it comprises 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 complete the communication among each other through the communication bus 504,

[0159] The memory 503 is used for storing computer programs;

[0160] The processor 501 is used for executing the programs stored in the memory 503, and realizes the following steps:

[0161] Obtaining the vehicle speed, the pitch angular velocity, the roll angular velocity and the sprung mass acceleration of the vehicle in the driving process;

[0162] Determining the driving road surface condition of the vehicle according to the sprung mass acceleration and / or the vehicle speed; the driving road surface condition is used for indicating whether the driving road surface of the vehicle is a flat road surface and whether there is a vehicle impact object on the driving road surface;

[0163] Determining 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 for indicating whether there is a vehicle body posture out-of-control risk of the vehicle;

[0164] Judging whether the vehicle satisfies a preset damping increasing condition based on the driving road surface condition, the vehicle speed and the vehicle body posture state;

[0165] If the vehicle satisfies the damping increasing condition, increasing the control strength of the vehicle for the vehicle body posture by increasing the damping of the vehicle.

[0166] In an optional embodiment of the present application, the judging whether the vehicle satisfies the preset damping increasing condition based on the driving road surface condition, the vehicle speed and the vehicle body posture state comprises:

[0167] 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 vehicle body posture out-of-control risk, it is confirmed that the vehicle satisfies the damping increasing condition.

[0168] In an optional embodiment of the present application, the determining the driving road surface condition of the vehicle according to the sprung mass acceleration and / or the vehicle speed comprises:

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

[0170] judging whether the driving road surface is the flat road surface based on the target vehicle speed and the first target unsprung acceleration.

[0171] In an optional embodiment of the present application, the determination of the driving road surface condition of the vehicle according to the unsprung acceleration and / or the vehicle speed comprises:

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

[0173] if the second target unsprung acceleration is less than the unsprung acceleration threshold value, confirming that there is no object impacting the vehicle on the driving road surface.

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

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

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

[0177] if the pitch angular velocity is greater than the pitch angular velocity threshold value, or the roll angular velocity is greater than the roll angular velocity threshold value, confirming that the vehicle body posture of the vehicle is out of control.

[0178] In an optional embodiment of the present application, the vehicle has at least one axle tower top; and the improvement of the control strength of the vehicle on the vehicle body posture by increasing the damping of the vehicle comprises:

[0179] obtaining an axle tower top vehicle body speed of the axle tower top in the driving process of the vehicle; the axle tower top vehicle body speed is a speed of the axle tower top relative to the driving road surface;

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

[0181] improving the control strength of the vehicle on the vehicle body posture by increasing the to-be-increased damping.

[0182] In an optional embodiment of the present application, when the vehicle meets the damping increasing condition and the damping of the vehicle is increased, the vehicle is in a target damping control state; the method comprises:

[0183] If the vehicle meets at least one of the following conditions: the driving road surface of the vehicle is not the flat road surface, the driving road surface has the vehicle impact object, the vehicle speed is not less than the vehicle speed threshold, and the vehicle does not have the vehicle body posture out-of-control risk, the vehicle is controlled to exit the target damping control state.

[0184] The communication bus mentioned above 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 the convenience of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or only one type of bus.

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

[0186] The memory can include a Random Access Memory (RAM) and can also include a non-volatile memory, such as at least one disk memory. Optionally, the memory can also be at least one storage device located away from the aforementioned processor.

[0187] The processor mentioned above can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; can also be a Digital Signal Processing (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

[0188] As Figure 6As shown, in yet another embodiment provided by the present application, a computer readable storage medium 601 is also provided, in which instructions are stored, which, when executed on a computer, cause the computer to perform the vehicle damping control method described in the above embodiments.

[0189] In yet another embodiment provided by the present application, a computer program product containing instructions is also provided, which, when executed on a computer, cause the computer to perform the vehicle damping control method described in the above embodiments.

[0190] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the embodiments can be implemented 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, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. 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 one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be magnetic media (for example, floppy disk, hard disk, magnetic tape), optical media (for example, DVD), or semiconductor media (for example, solid state disk (SSD)) and the like.

[0191] It should be noted that in this document, relational terms such as first and second and the like can only be used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus including a series of elements includes not only those elements, but also other elements not explicitly listed or inherent to such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus including the element.

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

[0193] The above only describes the preferred embodiments of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling vehicle damping, characterized in that, A continuous damping control system for vehicles, wherein the vehicle's damping is correlated with the control strength of the vehicle's body posture; the method includes: The vehicle speed, pitch rate, roll rate, and unsprung acceleration are obtained during the driving process. The road surface condition of the vehicle is determined based on the unsprung acceleration and / or the vehicle speed; the road surface condition is used to indicate whether the road surface is smooth and whether there are any objects on the road surface that the vehicle will impact. Based on the pitch angular velocity and / or the roll angular velocity, the vehicle's body attitude state is determined; the body attitude state is used to indicate whether the vehicle has a risk of losing body attitude control. Based on the road surface conditions, vehicle speed, and vehicle body posture, determine whether the vehicle meets the preset damping increase conditions. If the vehicle meets the damping increase condition, then by increasing the vehicle's damping, the control strength of the vehicle regarding the vehicle body posture is improved.

2. The method according to claim 1, characterized in that, The step of determining whether the vehicle meets the preset damping increase condition based on the road surface conditions, vehicle speed, and vehicle posture includes: If the driving surface is a smooth surface, there are no objects on the driving surface that the vehicle will impact, the vehicle speed is less than a preset speed threshold, and the vehicle is at risk of losing control of its body posture, then the vehicle is confirmed to meet the damping increase conditions.

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

4. The method according to claim 1, characterized in that, Determining the road surface conditions of the vehicle based on the unsprung acceleration and / or the vehicle speed includes: Based on the unsprung acceleration, determine the second target unsprung acceleration of the vehicle at at least one moment within a preset second time period, and determine 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 there is no vehicle impact object on the road surface.

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

6. The method according to claim 1, characterized in that, The vehicle has at least one axle tower top; the improvement of the vehicle's control strength regarding its body posture by increasing the vehicle's damping includes: The vehicle body speed at the top of the axle tower is obtained during the vehicle's driving process; the vehicle body speed at the top of the axle tower is the speed of the top of the axle tower relative to the road surface. The damping to be added to the vehicle is determined based on the vehicle body speed at the top of the axle tower and the vehicle speed. By increasing the damping to be increased, the control strength of the vehicle for the body posture is improved.

7. The method according to claim 2, characterized in that, When the vehicle meets the damping increase condition and the vehicle's damping is increased, the vehicle is in a target damping control state; the method includes: If the vehicle meets at least one of the following conditions: the road surface on which the vehicle is traveling is not a smooth road surface, there is an object on the road surface that the vehicle will impact, the vehicle speed is not less than the vehicle speed threshold, and there is no risk of loss of vehicle posture control, then 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 for vehicles, wherein the vehicle's damping is correlated with the control strength of the vehicle's body attitude; the device includes: The acquisition module is used to acquire the vehicle speed, pitch rate, roll rate and unsprung acceleration of the vehicle during driving. The road surface condition determination module is used to determine the road surface condition of the vehicle based on the unsprung acceleration and / or the vehicle speed; the road surface condition is used to indicate whether the road surface is smooth and whether there are any objects impacting the vehicle on the road surface. The vehicle body attitude state determination module is used to determine the vehicle body attitude state based on the pitch angular velocity and / or the roll angular velocity; the vehicle body attitude state is used to indicate whether there is a risk of loss of vehicle body attitude control. The judgment module is used to determine whether the vehicle meets the preset damping increase conditions based on the road surface conditions, the vehicle speed, and the vehicle body posture. An enhancement module is used to enhance the control strength of the vehicle regarding the vehicle body posture by increasing the damping of the vehicle if the vehicle meets the damping enhancement 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; When the processor executes a program stored in the memory, it implements the method as described in any one of claims 1-7.

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

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