Suspension adjusting method, device, equipment, medium, product and vehicle

Abstract

The invention relates to a suspension adjusting method, device and equipment, a medium, a product and a vehicle, and relates to the technical field of data processing. The method at least solves the technical problems that in the related technology, the accuracy of judging whether the height of the air suspension of the vehicle needs to be adjusted or not is low, and the effect of adjusting the height of the air suspension is poor. Determining a first position parameter of each connection position point relative to a chassis plane, wherein the chassis plane comprises a plurality of angular position points; determining a reference plane based on the plurality of connection position points, the reference plane comprising at least one connection position point in the plurality of connection position points; determining a second position parameter of each of the plurality of angular position points relative to the reference plane based on the plurality of angular position points and the reference plane; and determining whether to adjust the plurality of suspensions based on the first position parameter and the second position parameter corresponding to each of the plurality of suspensions.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a suspension adjustment method, device, equipment, medium, product and vehicle. Background Art

[0002] With the continuous development of vehicle technology, the requirements for vehicle electrification and intelligence are getting higher and higher, and models equipped with air suspension are gradually becoming popular. Although air suspension can bring better comfort, passability, energy economy and other advantages, some potential unreasonable operations will cause irreversible damage to the air suspension. If the adjustment of the air suspension is strictly restricted, the applicable scenarios of the air suspension will be greatly reduced, affecting the user experience.

[0003] In the related art, the height parameters of four air suspensions are collected in real time, and the height parameters of the air suspensions are compared with the threshold height to count the air suspensions whose height parameters meet the standards. When the cumulative number of air suspensions that meet the standards reaches three, the height of the last air suspension that does not meet the standards is controlled to be within the error range corresponding to the threshold height. Although the height of the air suspension can be adjusted in this way, the height parameters of the last air suspension can only be adjusted when the height parameters of three air suspensions meet the standards. If this situation is not met, and there are multiple air suspensions whose height parameters do not meet the standards, the height of the air suspension whose sensitivity parameters do not meet the standards cannot be adjusted. Therefore, the accuracy of judging whether the height of the vehicle's air suspension needs to be adjusted is low, and the effect of adjusting the height of the air suspension is poor. Summary of the invention

[0004] The present application provides a suspension adjustment method, device, equipment, medium, product and vehicle to at least solve the technical problems in the related art of low accuracy in judging whether the height of the air suspension of the vehicle needs to be adjusted and poor effect of adjusting the height of the air suspension. The technical solution of the present application is as follows:

[0005] According to a first aspect of the present application, a suspension adjustment method is provided, the method comprising: determining a first position parameter of each connection position point relative to the chassis plane based on multiple connection position points of a vehicle and a chassis plane of the vehicle, the multiple connection position points being connection position points between each of multiple suspensions of the vehicle and a wheel, the first position parameter being used to indicate a positional relationship between the connection position point and a center point of the chassis plane, the chassis plane comprising multiple angular position points, one angular position point corresponding to one connection position point between a suspension and the chassis; determining a reference plane based on the multiple connection position points, the reference plane comprising at least one connection position point among the multiple connection position points; determining a second position parameter of each of the multiple angular position points relative to the reference plane based on the multiple angular position points and the reference plane, the second position parameter being used to indicate a distance between the angular position point and the reference plane; determining whether to adjust the multiple suspensions based on the first position parameter and the second position parameter corresponding to each of the multiple suspensions.

[0006] According to the above technical means, the present application can determine the first position parameter indicating the positional relationship between each connection position point and the center point of the chassis plane based on the connection position point between each of the multiple suspensions of the vehicle and the wheel, and the chassis plane of the vehicle. Then further based on the multiple connection position points, a reference plane including at least one of the multiple connection position points is determined. Further, the second position parameter of each of the multiple corner position points included in the chassis plane relative to the reference plane is determined. In this way, according to the chassis plane of the vehicle, the multiple connection position points, the positional relationship between the multiple corner position points and the corresponding parameters, the distance between the corner position point and the reference plane can be determined. Thus, by further combining the positional relationship between the connection position point and the center point of the chassis plane, and the distance between the corner position point and the reference plane, it can be accurately determined whether the multiple suspensions need to be adjusted. In this way, it is possible to accurately judge whether the height of the air suspension of the vehicle needs to be adjusted according to the parameters of the vehicle, thereby improving the effect of adjusting the height of the air suspension.

[0007] In a possible implementation, determining the reference plane based on multiple connection position points includes: determining the position information of each connection position point based on a first position parameter of each connection position point among the multiple connection position points relative to the chassis plane; and determining the reference plane corresponding to the chassis plane based on the position information of each connection position point.

[0008] According to the above technical means, the present application can determine the position information of each connection position point according to the positional relationship between each connection position point and the center point of the chassis plane, thereby accurately determining a plane as a reference plane of the chassis plane according to the position information of each connection position point.

[0009] In a possible implementation, the above-mentioned determining the second position parameter of each of the multiple angular position points relative to the reference plane based on the multiple angular position points and the reference plane includes: determining the position information of each of the multiple angular position points; and determining the second position parameter of each angular position point relative to the reference plane based on the position information of each angular position point and the reference plane.

[0010] According to the above technical means, the present application can further determine the position information of each of the multiple corner position points to determine the positional relationship between each corner position point and the reference plane. Thus, based on the position information of each corner position point and the reference plane, the distance between each corner position point and the reference plane can be accurately determined.

[0011] In a possible implementation, the above-mentioned determination of a reference plane based on multiple connection position points includes: determining a first vector based on a first position point group among the multiple connection position points, and determining a second vector based on a second position point group among the multiple connection position points, at least two connection position points included in the first position point group are different from at least two connection position points included in the second position point group, the first vector is used to indicate a connection relationship between at least two connection position points included in the first position point group, and the second vector is used to indicate a connection relationship between at least two connection position points included in the second position point group; determining a normal vector of the first vector and the second vector; and determining a reference plane based on the normal vector and any connection position point among the multiple connection position points.

[0012] According to the above technical means, the present application can determine the first vector and the second vector respectively based on the first position point group and the second position point group including different connection position points. Thus, the first vector and the second vector refer to multiple connection position points, and the reference plane can be determined according to the normal vector of the first vector and the second vector, and any connection position point among the multiple connection position points. This is a reference plane determined based on the principle of determining a surface by a straight line and a point. In this way, a reference plane related to multiple connection position points can be determined based on multiple connection position points.

[0013] In a possible implementation, determining the reference plane based on the multiple connection position points includes: determining any at least three connection position points from the multiple connection position points; and determining the reference plane based on the at least three connection position points.

[0014] According to the above technical means, the present application can determine the corresponding reference plane based on any at least three connection position points among the multiple connection position points, based on the principle of determining a surface according to three points that are not on a line, thereby determining the reference plane related to the multiple connection position points.

[0015] In a possible implementation, the above-mentioned determining whether to adjust multiple suspensions based on the first position parameter and the second position parameter corresponding to each of the multiple suspensions includes: determining the difference between the first position parameter and the second position parameter corresponding to each of the multiple suspensions; prohibiting the adjustment of the multiple suspensions when the difference corresponding to at least one of the multiple suspensions is greater than a preset threshold; allowing the adjustment of the multiple suspensions when the difference corresponding to each of the multiple suspensions is less than or equal to the preset threshold.

[0016] According to the above technical means, the present application can intuitively judge the road surface flatness of the vehicle's location based on the difference between the determined first position parameter and the second position parameter and the size relationship between the preset threshold. According to the actual parameters of the vehicle, the state of the vehicle suspension can be intuitively judged through the data, thereby accurately determining whether multiple suspensions need to be adjusted.

[0017] In a possible implementation, before determining the first position parameter of each connection position point relative to the chassis plane based on the multiple connection position points of the vehicle and the chassis plane of the vehicle, the method further includes: acquiring a wheelbase parameter and a track parameter of the vehicle, and a stroke length of each suspension among the multiple suspensions; and determining the chassis plane and the multiple connection position points based on the wheelbase parameter, the track parameter and the stroke length of each suspension.

[0018] According to the above-mentioned technical means, the present application can determine the chassis plane of the vehicle according to the wheelbase parameters and track parameters of the vehicle, and determine the positional relationship of each of the multiple connection position points relative to the chassis plane in combination with the stroke length of each of the multiple suspensions, thereby accurately determining the chassis plane and the multiple connection position points.

[0019] According to a second aspect provided by the present application, a suspension adjustment device is provided, the suspension adjustment device comprising: a processing module and an acquisition module; the processing module is used to determine a first position parameter of each connection position point relative to the chassis plane based on multiple connection position points of the vehicle and the chassis plane of the vehicle, the multiple connection position points are connection position points between each of the multiple suspensions of the vehicle and the wheel, the first position parameter is used to indicate the positional relationship between the connection position point and the center point of the chassis plane, the chassis plane comprises multiple angular position points, one angular position point corresponds to a connection position point between a suspension and the chassis; the processing module is also used to determine a reference plane based on the multiple connection position points, the reference plane comprises at least one connection position point among the multiple connection position points; the processing module is also used to determine a second position parameter of each of the multiple angular position points relative to the reference plane based on the multiple angular position points and the reference plane, the second position parameter is used to indicate the distance between the angular position point and the reference plane; the processing module is also used to determine whether to adjust the multiple suspensions based on the first position parameter and the second position parameter corresponding to each of the multiple suspensions.

[0020] In one possible implementation, the processing module is specifically used to determine the position information of each connection position point based on a first position parameter of each connection position point among a plurality of connection position points relative to the chassis plane; the processing module is specifically used to determine a reference plane corresponding to the chassis plane based on the position information of each connection position point.

[0021] In one possible implementation, the processing module is specifically used to determine the position information of each angular position point among multiple angular position points; the processing module is specifically used to determine the second position parameter of each angular position point relative to the reference plane based on the position information of each angular position point and the reference plane.

[0022] In one possible implementation, a processing module is specifically used to determine a first vector based on a first position point group among a plurality of connection position points, and to determine a second vector based on a second position point group among a plurality of connection position points, wherein at least two connection position points included in the first position point group are different from at least two connection position points included in the second position point group, the first vector is used to indicate a connection relationship between at least two connection position points included in the first position point group, and the second vector is used to indicate a connection relationship between at least two connection position points included in the second position point group; the processing module is specifically used to determine a normal vector of the first vector and the second vector; the processing module is specifically used to determine a reference plane based on the normal vector and any one of the plurality of connection position points.

[0023] In a possible implementation, the processing module is specifically used to determine any at least three connection position points from a plurality of connection position points; the processing module is specifically used to determine a reference plane based on the at least three connection position points.

[0024] In one possible implementation, the processing module is specifically used to determine the difference between a first position parameter and a second position parameter corresponding to each of a plurality of suspensions; the processing module is specifically used to prohibit adjustment of the plurality of suspensions when the difference corresponding to at least one of the plurality of suspensions is greater than a preset threshold; the processing module is specifically used to allow adjustment of the plurality of suspensions when the difference corresponding to each of the plurality of suspensions is less than or equal to a preset threshold.

[0025] In one possible implementation, the acquisition module is used to acquire the wheelbase parameters and track parameters of the vehicle, as well as the stroke length of each of the multiple suspensions; the processing module is also used to determine the chassis plane and multiple connection position points based on the wheelbase parameters, track parameters and the stroke length of each suspension.

[0026] According to the third aspect provided by the present application, an electronic device is provided, comprising: a processor and a memory; wherein the memory is used to store one or more programs, and the one or more programs include computer execution instructions. When the electronic device is running, the processor executes the computer execution instructions stored in the memory, and the electronic device executes the method of the above-mentioned first aspect and any possible implementation method thereof.

[0027] According to the fourth aspect provided by the present application, a computer-readable storage medium is provided. When the computer instructions stored in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device executes the method of the above-mentioned first aspect and any possible implementation method thereof.

[0028] According to the fifth aspect provided by the present application, a computer program product is provided, the computer program product comprising computer instructions, when the computer instructions are executed on an electronic device, the electronic device executes the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0029] According to a sixth aspect provided by the present application, a vehicle is provided, the vehicle comprising a suspension adjustment device as in the second aspect, and the vehicle is used to implement the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0030] Therefore, the above technical features of the present application have the following beneficial effects:

[0031] (1) The present application can determine a first position parameter indicating the positional relationship between each of the multiple suspensions of the vehicle and the wheel and the chassis plane of the vehicle. Then, based on the multiple connection points, a reference plane including at least one of the multiple connection points is determined. Further, a second position parameter of each of the multiple corner positions included in the chassis plane relative to the reference plane is determined. In this way, the distance between the corner position point and the reference plane can be determined based on the chassis plane of the vehicle, the multiple connection points, the positional relationship between the multiple corner positions and the corresponding parameters. Therefore, by further combining the positional relationship between the connection point and the center point of the chassis plane and the distance between the corner position point and the reference plane, it can be accurately determined whether the multiple suspensions need to be adjusted. In this way, it is possible to accurately judge whether the height of the air suspension of the vehicle needs to be adjusted based on the parameters of the vehicle, thereby improving the effect of adjusting the height of the air suspension.

[0032] (2) The present application can determine the position information of each connection position point based on the positional relationship between each connection position point and the center point of the chassis plane, thereby accurately determining a plane as a reference plane of the chassis plane based on the position information of each connection position point.

[0033] (3) The present application can further determine the position information of each of the multiple corner position points to determine the positional relationship between each corner position point and the reference plane. Thus, based on the position information of each corner position point and the reference plane, the distance between each corner position point and the reference plane can be accurately determined.

[0034] (4) The present application can determine the first vector and the second vector respectively based on the first position point group and the second position point group including different connection position points. Thus, the first vector and the second vector refer to multiple connection position points, and the reference plane can be determined according to the normal vector of the first vector and the second vector, and any connection position point among the multiple connection position points. This is a reference plane determined based on the principle of determining a surface by a straight line and a point. In this way, a reference plane related to multiple connection position points can be determined based on multiple connection position points.

[0035] (5) The present application can determine the corresponding reference plane based on any at least three connection points among the multiple connection points, according to the principle of determining a surface based on three points that are not on the same line, thereby determining the reference plane related to the multiple connection points.

[0036] (6) The present application can intuitively judge the road surface flatness of the vehicle based on the difference between the determined first position parameter and the second position parameter and the size relationship between the predetermined threshold. The state of the vehicle suspension can be intuitively judged through data based on the actual parameters of the vehicle, thereby accurately determining whether multiple suspensions need to be adjusted.

[0037] (7) The present application can determine the chassis plane of the vehicle based on the wheelbase parameters and track parameters of the vehicle, and determine the positional relationship of each of the multiple connection position points relative to the chassis plane in combination with the stroke length of each of the multiple suspensions, thereby accurately determining the chassis plane and the multiple connection position points.

[0038] It should be noted that the technical effects brought about by any implementation method in the second to sixth aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here.

[0039] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0041] Figure 1 is a schematic diagram of a vehicle parking position according to an exemplary embodiment;

[0042] Figure 2 is another schematic diagram of a vehicle parking position according to an exemplary embodiment;

[0043] Figure 3 is a structural schematic diagram of a suspension adjustment system according to an exemplary embodiment;

[0044] Figure 4 is a flow chart showing a suspension adjustment method according to an exemplary embodiment;

[0045] Figure 5 is a schematic diagram of a coordinate system according to an exemplary embodiment;

[0046] Figure 6 is a flow chart of another suspension adjustment method according to an exemplary embodiment;

[0047] Figure 7 is a flow chart of another suspension adjustment method according to an exemplary embodiment;

[0048] Figure 8 is a flow chart of another suspension adjustment method according to an exemplary embodiment;

[0049] Fig. 9 is a block diagram of a suspension adjustment device according to an exemplary embodiment;

[0050] Fig.10 is a block diagram of another suspension adjustment device according to an exemplary embodiment;

[0051] Fig.11 is a block diagram of an electronic device according to an exemplary embodiment;

[0052] Fig.12 The diagram is a schematic diagram showing the structure of a computer system of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0053] In order to enable ordinary persons in the art to better understand the technical solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0054] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0055] Currently, when a vehicle equipped with air suspension is parked, Figure 1 As shown, if one wheel of the vehicle is on the curb (i.e., one wheel of the vehicle is higher than the other wheels), the wheel parked on the curb and its diagonal wheel bear most of the load of the whole vehicle, and the height of the air suspension is relatively low (i.e., the stroke length of the air suspension is relatively short, and the air suspension is compressed), while the other two diagonal wheels are suspended in the air and bear a smaller load, so the height of the air suspension is relatively high (i.e., the stroke length of the air suspension is relatively long, and the air suspension is stretched). In this case, if the height of the four air suspensions is lowered, since the air suspension of the two suspended wheels cannot be lowered by deflation, there is a risk of the chassis of the vehicle being supported, and the adjustment cannot be completed; and if the height of the four air suspensions is raised, the air bag pressure of the air suspension on one side of the step and its diagonal position may be too high, and there is a risk of the air bag bursting.

[0056] Furthermore, if the scenarios where the height adjustment of the air suspension is not allowed are identified based on the height differences between multiple air suspensions (for example, the left and right height differences of the air suspensions of coaxial wheels, or the height differences of the air suspensions of front and rear wheels), the usage scenarios of the air suspension may be greatly limited. Figure 2 As shown in the figure, for example, when the vehicle is parked on a slope and the vehicle body is adjusted to a horizontal state, the height difference between the front and rear air suspensions is large and cannot be adjusted. On a flat road, the air suspension is capable of completing the adjustment, but the height limit may make this function impossible. Therefore, accurately identifying whether the road surface is flat, preventing the vehicle chassis from bottoming out, reducing ineffective adjustments to the air suspension, and retaining the applicable scope of the air suspension as much as possible are technical issues that need to be solved urgently.

[0057] The suspension adjustment method provided in the embodiment of the present application can be applicable to a suspension adjustment system. Figure 3 A structural schematic diagram of the suspension adjustment system is shown. Figure 3 As shown, the suspension adjustment system 30 includes: a controller 31 and a suspension 32. The controller 31 can be a vehicle controller or a suspension controller.

[0058] The controller 31 is used to determine a first position parameter of each connection position point relative to the chassis plane based on multiple connection position points of the vehicle and the chassis plane of the vehicle. The multiple connection position points are connection position points between each suspension 32 of the vehicle and a wheel. The first position parameter is used to indicate the positional relationship between the connection position point and the center point of the chassis plane. The chassis plane includes multiple angular position points, and one angular position point corresponds to a connection position point between a suspension 32 and the chassis.

[0059] The controller 31 is used to determine a reference plane based on the multiple connection location points, where the reference plane includes at least one connection location point among the multiple connection location points.

[0060] The controller 31 is used to determine a second position parameter of each of the multiple angular position points relative to the reference plane based on the multiple angular position points and the reference plane, where the second position parameter is used to indicate the distance between the angular position point and the reference plane.

[0061] The controller 31 is used to determine whether to adjust the multiple suspensions 32 based on the first position parameter and the second position parameter corresponding to each suspension 32 in the multiple suspensions 32.

[0062] In a possible implementation manner, the controller 31 is configured to determine the position information of each connection point based on a first position parameter of each connection point among the multiple connection points relative to the chassis plane.

[0063] The controller 31 is used to determine a reference plane corresponding to the chassis plane based on the position information of each connection position point.

[0064] In a possible implementation, the controller 31 is configured to determine position information of each corner position point among the multiple corner position points.

[0065] The controller 31 is used to determine a second position parameter of each angular position point relative to the reference plane based on the position information of each angular position point and the reference plane.

[0066] In one possible embodiment, the controller 31 is used to determine a first vector based on a first position point group among multiple connection position points, and to determine a second vector based on a second position point group among multiple connection position points, wherein at least two connection position points included in the first position point group are different from at least two connection position points included in the second position point group, and the first vector is used to indicate a connection relationship between at least two connection position points included in the first position point group, and the second vector is used to indicate a connection relationship between at least two connection position points included in the second position point group.

[0067] The controller 31 is used to determine the normal vectors of the first vector and the second vector.

[0068] The controller 31 is used to determine a reference plane based on the normal vector and any connection position point among the multiple connection position points.

[0069] In a possible implementation manner, the controller 31 is configured to determine any at least three connection location points from a plurality of connection location points.

[0070] The controller 31 is used to determine a reference plane based on at least three connection position points.

[0071] In a possible implementation manner, the controller 31 is configured to determine a difference between a first position parameter and a second position parameter corresponding to each suspension 32 of the plurality of suspensions 32 .

[0072] The controller 31 is used to prohibit adjusting the multiple suspensions 32 when the difference corresponding to at least one suspension 32 among the multiple suspensions 32 is greater than a preset threshold.

[0073] The controller 31 is used to allow the multiple suspensions 32 to be adjusted when the difference value corresponding to each suspension 32 in the multiple suspensions 32 is less than or equal to a preset threshold.

[0074] In a possible implementation manner, the controller 31 is used to obtain a wheelbase parameter and a track parameter of the vehicle, and a stroke length of each suspension 32 among the plurality of suspensions 32 .

[0075] The controller 31 is used to determine the chassis plane and a plurality of connection position points based on the wheelbase parameter, the track parameter and the travel length of each suspension 32 .

[0076] The embodiment of the present application can autonomously identify that the vehicle is on an uneven road surface such as a curb, thereby determining whether adjustment of the air suspension is allowed, preventing the risk of bottoming out caused by unreasonable operation, preventing frequent adjustments under conditions where adjustment cannot be made into place and the risk of possible hardware damage, and retaining the scope of application of the air suspension as much as possible.

[0077] For ease of understanding, the suspension adjustment method provided in the present application is specifically introduced below with reference to the accompanying drawings.

[0078] Figure 4 is a flow chart of a suspension adjustment method according to an exemplary embodiment, which is applied to an electronic device (controller), such as Figure 4 As shown, the suspension adjustment method includes the following S401-S404:

[0079] S401. Based on a plurality of connection position points of a vehicle and a chassis plane of the vehicle, determine a first position parameter of each connection position point relative to the chassis plane.

[0080] Among them, the multiple connection position points are the connection position points between each of the multiple suspensions of the vehicle and the wheel, the first position parameter is used to indicate the positional relationship between the connection position point and the center point of the chassis plane, the chassis plane includes multiple angular position points, and one angular position point corresponds to a connection position point between the suspension and the chassis.

[0081] Specifically, the first position parameter is used to indicate the distance between the connection position point and the chassis plane (ie, the distance from the point to the plane).

[0082] In some embodiments, in a suspension adjustment method provided by an embodiment of the present application, before the above step S401, the method may also include: obtaining the wheelbase parameters and track parameters of the vehicle, and the stroke length of each suspension in a plurality of suspensions; based on the wheelbase parameters, track parameters and the stroke length of each suspension, determining the chassis plane and a plurality of connection position points.

[0083] Optionally, the wheelbase parameter L and track parameter W of the vehicle can be directly obtained from the basic parameters of the vehicle, and the stroke length H of each suspension can be detected by a height sensor installed on the suspension.

[0084] Further, such as Figure 5As shown, based on the wheelbase parameter L, track parameter W and the travel length H of each suspension, a three-dimensional coordinate system can be constructed, with the chassis plane of the vehicle as the XY plane, the intersection of the wheel diagonals as the origin, and the positive direction of the Z axis as the downward direction. In this way, the relative position coordinates of the connection points between the four air suspensions and the wheels can be determined.

[0085] It should be noted that downward is the positive direction of the Z axis in order to facilitate the direct use of the value of the height sensor to determine the stroke length H of the suspension. When the wheel moves upward (that is, the stroke length of the air suspension decreases), the parameter collected by the height sensor is a negative value.

[0086] In this way, based on the constructed three-dimensional coordinate system, the relative positions between the chassis plane and multiple connection position points can be determined according to the wheelbase parameter L, the track parameter W and the stroke length H of each suspension.

[0087] Specifically, according to the wheelbase parameter L, the track parameter W and the travel length H of each suspension, the coordinates of the multiple connection points can be determined as follows: the left front connection point Right front connection point Left rear connection point Right rear connection point

[0088] In an embodiment of the present application, the present application can determine the chassis plane of the vehicle based on the wheelbase parameters and track parameters of the vehicle, and determine the positional relationship of each of the multiple connection position points relative to the chassis plane in combination with the stroke length of each of the multiple suspensions, thereby accurately determining the chassis plane and the multiple connection position points.

[0089] S402: Determine a reference plane based on multiple connection position points.

[0090] The reference plane includes at least one connection position point among a plurality of connection position points.

[0091] In some embodiments, Figure 6 As shown, in a suspension adjustment method provided in an embodiment of the present application, the above step S402 may specifically include S601-S602.

[0092] S601. Determine position information of each connection point among a plurality of connection points based on a first position parameter of each connection point relative to a chassis plane.

[0093] Optionally, the position information of each connection position point may be represented by a running coordinate, or may be represented by a relative position relationship between each connection position point and the chassis plane (the center point of the chassis plane).

[0094] Optionally, since a three-dimensional coordinate system is constructed with the chassis plane of the vehicle as the XY plane, after determining the first position parameter of each connection point relative to the chassis plane, the relative position coordinates of the connection points between the four air suspensions and the wheels can be determined.

[0095] S602: Determine a reference plane corresponding to the chassis plane based on the position information of each connection position point.

[0096] Optionally, after determining the position information of each connection location point, a plane passing through at least one connection location point among the multiple connection location points may be determined as a reference plane corresponding to the chassis plane.

[0097] Optionally, in three-dimensional coordinates, the plane equation of the reference plane may be: Ax+By+Cz+D=0. Based on the position information (coordinates) of each connection point, the plane equation of the reference plane may be determined.

[0098] In an embodiment of the present application, the present application can determine the position information of each connection position point based on the positional relationship between each connection position point and the center point of the chassis plane, thereby accurately determining a plane as a reference plane of the chassis plane based on the position information of each connection position point.

[0099] In some embodiments, Figure 7 As shown, in a suspension adjustment method provided in an embodiment of the present application, the above step S402 may specifically include S701-S703.

[0100] S701. Determine a first vector based on a first group of location points among a plurality of connection location points, and determine a second vector based on a second group of location points among a plurality of connection location points.

[0101] Among them, at least two connection position points included in the first position point group are different from at least two connection position points included in the second position point group, the first vector is used to indicate the connection relationship between the at least two connection position points included in the first position point group, and the second vector is used to indicate the connection relationship between the at least two connection position points included in the second position point group.

[0102] Optionally, the connection position points included in the first position point group may be connection position points corresponding to suspensions on one diagonal line among multiple suspensions included in the vehicle, and the connection position points included in the second position point group may be connection position points corresponding to suspensions on another diagonal line among multiple suspensions included in the vehicle.

[0103] Alternatively, the connection position points included in the first position point group may be connection position points corresponding to the suspensions on one side of the vehicle (for example, two suspensions on the left side of the vehicle), and the connection position points included in the second position point group may be connection position points corresponding to the suspensions on the other side of the vehicle (for example, two suspensions corresponding to the rear wheels of the vehicle).

[0104] In this way, a corresponding vector can be determined based on the connection position points included in each position point group. Right front connection point Left rear connection point Right rear connection point The first vector can be determined as Second direction

[0105] The amount is

[0106] S702: Determine the normal vectors of the first vector and the second vector.

[0107] Optionally, based on the first vector and the second vector, a normal vector perpendicular to both vectors may be determined by a mathematical method.

[0108] Specifically, based on the first vector and the second vector By cross-producting the first and second vectors, we can get the normal vector n=(A,B,C)=(L,W,H1-H4)·(L,-W,H2-H3).

[0109] S703: Determine a reference plane based on the normal vector and any connection point among the multiple connection points.

[0110] Optionally, a corresponding plane (ie, a reference plane) can be determined based on a known vector (ie, a normal vector) and a point that is not on the normal vector (ie, any connection position point).

[0111] That is, the dot product of any point (x, y, z) and the normal vector (A, B, C) can determine a plane (that is, determine the parameter D in the plane equation), which is perpendicular to the normal vector and passes through the point (x, y, z). In this way, it can be determined that D = -(A, B, C)*(x, y, z) = -(Ax+By+Cz).

[0112] Further, the normal vector n = (A, B, C) = (L, W, H1-H4) · (L, -W, H2-H3) and any connection point (for example, the connection point in the left front ), and then substitute it into D = -(A,B,C)*(x,y,z) = -(Ax+By+Cz), we can determine

[0113]

[0114] Moreover, according to the normal vector n=(A,B,C)=(L,W,H1-H4)·(L,-W,H2-H3), A, B, C in the plane equation can be determined, thereby determining the plane equation of the reference plane.

[0115] In an embodiment of the present application, the present application can determine the first vector and the second vector respectively based on the first position point group and the second position point group including different connection position points. Thus, the first vector and the second vector refer to multiple connection position points, and the reference plane can be determined according to the normal vector of the first vector and the second vector, and any connection position point among the multiple connection position points. This is a reference plane determined based on the principle of determining a surface by a straight line and a point. In this way, a reference plane related to multiple connection position points can be determined based on multiple connection position points.

[0116] In some embodiments, in a suspension adjustment method provided by an embodiment of the present application, the "determining a reference plane based on multiple connection position points" in the above step S402 may specifically include: determining any at least three connection position points from multiple connection position points, and determining a reference plane based on the at least three connection position points.

[0117] Optionally, the planes corresponding to the three connection points can be determined based on any three connection points among the multiple connection points. This is achieved based on the principle of determining a surface based on three points. Specifically, a vector can be obtained through the first connection point and the second connection point among the three connection points, and another vector can be obtained based on the second connection point and the third connection point, so that the plane equation of the reference plane can be determined based on these two vectors and any one of the three connection points (for example, the second connection point).

[0118] In the embodiment of the present application, the present application can determine the corresponding reference plane based on any at least three connection position points among the multiple connection position points, according to the principle of determining a surface based on three points that are not on a line, thereby determining the reference plane related to the multiple connection position points.

[0119] S403: Based on the multiple angular position points and the reference plane, determine a second position parameter of each of the multiple angular position points relative to the reference plane.

[0120] The second position parameter is used to indicate the distance between the corner position point and the reference plane.

[0121] In some embodiments, Figure 8As shown, in a suspension adjustment method provided in an embodiment of the present application, the above step S403 may specifically include S801-S802.

[0122] S801: Determine position information of each corner position point among a plurality of corner position points.

[0123] Optionally, since the three-dimensional coordinate system is constructed with the chassis plane of the vehicle as the XY plane and the intersection of the wheel diagonals as the origin, the coordinates of multiple corner position points can be determined based on the wheelbase parameter L and the wheelbase parameter W: the left front corner position point Right front corner position point Left rear corner point Right rear corner position point

[0124] S802: Based on the position information of each corner position point and the reference plane, determine a second position parameter of each corner position point relative to the reference plane.

[0125] Optionally, the coordinates of each angular position point are substituted into the plane equation z=-(Ax+By+D) / C of the determined reference plane to obtain the distance between each angular position point and the projection direction of the reference plane.

[0126] For example, for any corner position point (for example, the left front corner position point ), and then substitute it into the plane equation z = -(Ax + By + D) / C of the reference plane to determine the distance between the corner point and the reference plane.

[0127] In this way, after determining the distance between each corner position point and the reference plane, the distance between each connection position point and the chassis plane can be combined to determine whether the road surface is flat.

[0128] In the embodiment of the present application, the present application can further determine the position information of each of the multiple corner position points to determine the positional relationship between each corner position point and the reference plane. Thus, based on the position information of each corner position point and the reference plane, the distance between each corner position point and the reference plane can be accurately determined.

[0129] S404: Determine whether to adjust the multiple suspensions based on the first position parameter and the second position parameter corresponding to each of the multiple suspensions.

[0130] In some embodiments, in a suspension adjustment method provided by an embodiment of the present application, the above-mentioned step S404 may specifically include: determining the difference between a first position parameter and a second position parameter corresponding to each of a plurality of suspensions; prohibiting adjustment of the plurality of suspensions when the difference corresponding to at least one of the plurality of suspensions is greater than a preset threshold; or allowing adjustment of the plurality of suspensions when the difference corresponding to each of the plurality of suspensions is less than or equal to a preset threshold.

[0131] In the embodiment of the present application, the present application can intuitively judge the road surface flatness of the vehicle location based on the difference between the determined first position parameter and the second position parameter and the size relationship between the preset threshold value. According to the actual parameters of the vehicle, the state of the vehicle suspension can be intuitively judged through the data, thereby accurately determining whether multiple suspensions need to be adjusted.

[0132] In an embodiment of the present application, the present application can determine a first position parameter indicating the positional relationship between each connection position point and the center point of the chassis plane based on the connection position point between each of the multiple suspensions of the vehicle and the wheel, and the chassis plane of the vehicle. Then, based on the multiple connection position points, a reference plane including at least one of the multiple connection position points is determined. Further, a second position parameter of each of the multiple corner position points included in the chassis plane relative to the reference plane is determined. In this way, according to the chassis plane of the vehicle, the multiple connection position points, the positional relationship between the multiple corner position points and the corresponding parameters, the distance between the corner position point and the reference plane can be determined. Thus, by further combining the positional relationship between the connection position point and the center point of the chassis plane, and the distance between the corner position point and the reference plane, it can be accurately determined whether the multiple suspensions need to be adjusted. In this way, it is possible to accurately judge whether the height of the air suspension of the vehicle needs to be adjusted according to the parameters of the vehicle, thereby improving the effect of adjusting the height of the air suspension.

[0133] The embodiment of the present application obtains the actual heights of the four air suspensions, calculates the reference planes of the four air suspensions, and calculates the height values ​​of the four air suspensions on the reference planes; through the relationship between the difference between the actual heights of the four air suspensions and the heights on the reference planes and the preset threshold, it is determined whether there is an uneven road surface. If so, the execution module of the suspension is requested to suspend adjusting the height of the suspension. In this way, it is possible to autonomously identify that the vehicle is on an uneven road surface such as a curb, thereby prohibiting the adjustment of the air suspension, preventing the risk of bottoming out caused by unreasonable operation, preventing frequent adjustments under conditions where adjustment cannot be made in place and the risk of hardware damage that may result, and retaining the scope of application of the air suspension as much as possible.

[0134] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to achieve the above functions, the suspension adjustment device or electronic device includes a hardware structure and / or software module corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0135] The embodiment of the present application can divide the functional modules of the suspension adjustment device or the electronic device according to the above method. For example, the suspension adjustment device or the electronic device can include various functional modules corresponding to the various functional divisions, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0136] Fig. 9 is a block diagram of a suspension adjustment device according to an exemplary embodiment. Fig. 9 The suspension adjustment device 900 includes: a processing module 901 and an acquisition module 902 .

[0137] Processing module 901 is used to determine a first position parameter of each connection position point relative to a chassis plane based on multiple connection position points of the vehicle and a chassis plane of the vehicle, wherein the multiple connection position points are connection position points between each of the multiple suspensions of the vehicle and a wheel, and the first position parameter is used to indicate a positional relationship between the connection position point and a center point of the chassis plane, and the chassis plane includes multiple angular position points, and one angular position point corresponds to a connection position point between a suspension and the chassis; processing module 901 is also used to determine a reference plane based on the multiple connection position points, and the reference plane includes at least one connection position point among the multiple connection position points; processing module 901 is also used to determine a second position parameter of each of the multiple angular position points relative to the reference plane based on the multiple angular position points and the reference plane, and the second position parameter is used to indicate a distance between the angular position point and the reference plane; processing module 901 is also used to determine whether to adjust the multiple suspensions based on the first position parameter and the second position parameter corresponding to each of the multiple suspensions.

[0138] In one possible implementation, the processing module 901 is specifically used to determine the position information of each connection position point based on the first position parameter of each connection position point among the multiple connection position points relative to the chassis plane; the processing module 901 is specifically used to determine the reference plane corresponding to the chassis plane based on the position information of each connection position point.

[0139] In one possible implementation, the processing module 901 is specifically used to determine the position information of each angular position point among multiple angular position points; the processing module 901 is specifically used to determine the second position parameter of each angular position point relative to the reference plane based on the position information of each angular position point and the reference plane.

[0140] In one possible implementation, the processing module 901 is specifically used to determine a first vector based on a first position point group among a plurality of connection position points, and to determine a second vector based on a second position point group among a plurality of connection position points, wherein at least two connection position points included in the first position point group are different from at least two connection position points included in the second position point group, the first vector is used to indicate a connection relationship between at least two connection position points included in the first position point group, and the second vector is used to indicate a connection relationship between at least two connection position points included in the second position point group; the processing module 901 is specifically used to determine a normal vector of the first vector and the second vector; the processing module 901 is specifically used to determine a reference plane based on the normal vector and any connection position point among a plurality of connection position points.

[0141] In a possible implementation, the processing module 901 is specifically used to determine any at least three connection position points from a plurality of connection position points; the processing module 901 is specifically used to determine a reference plane based on the at least three connection position points.

[0142] In one possible implementation, the processing module 901 is specifically used to determine the difference between a first position parameter and a second position parameter corresponding to each of a plurality of suspensions; the processing module 901 is specifically used to prohibit adjustment of the plurality of suspensions when the difference corresponding to at least one of the plurality of suspensions is greater than a preset threshold; the processing module 901 is specifically used to allow adjustment of the plurality of suspensions when the difference corresponding to each of the plurality of suspensions is less than or equal to a preset threshold.

[0143] In one possible implementation, the acquisition module 902 is used to acquire the wheelbase parameters and track parameters of the vehicle, and the stroke length of each suspension among the multiple suspensions; the processing module 901 is also used to determine the chassis plane and multiple connection position points based on the wheelbase parameters, track parameters and the stroke length of each suspension.

[0144] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0145] Fig.10 is a block diagram of another suspension adjustment device according to an exemplary embodiment. Fig.10 The suspension adjustment device 1000 includes: a data acquisition module, a data calculation module, a judgment module and an adjustment execution module.

[0146] Among them, the data acquisition module is used to obtain the height information of the suspension (height sensor value); the data calculation module is used to calculate the reference plane corresponding to the chassis plane, and calculate the distance between the connection position point of the suspension and the reference plane; the judgment module is used to judge whether the road surface is flat according to the actual height of the suspension (that is, the distance between the connection position point and the chassis plane) and the distance between the angular position point and the reference plane; the adjustment execution module is used to determine whether to suspend the adjustment of the air spring according to the flatness of the road surface.

[0147] Fig.11 FIG. 1 is a block diagram of an electronic device according to an exemplary embodiment. Fig.11 As shown, the electronic device 1100 includes but is not limited to: a processor 1101 and a memory 1102 .

[0148] The memory 1102 is used to store executable instructions of the processor 1101. It can be understood that the processor 1101 is configured to execute instructions to implement the suspension adjustment method in the above embodiment.

[0149] It should be noted that those skilled in the art can understand that Fig.11 The electronic device structure shown in the figure does not constitute a limitation on the electronic device, and the electronic device may include Fig.11 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0150] The processor 1101 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 1102, and calling data stored in the memory 1102, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. The processor 1101 may include one or more processing units. Optionally, the processor 1101 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 1101.

[0151] The memory 1102 may be used to store software programs and various data. The memory 1102 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one functional module (such as a processing module, a storage module, etc.), etc. In addition, the memory 1102 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0152] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 1102 including instructions. The above instructions can be executed by the processor 1101 of the electronic device 1100 to implement the suspension adjustment method in the above embodiment.

[0153] In actual implementation, Fig. 9 The functions of the processing module 901 in Fig.11 The processor 1101 in the embodiment calls the computer program stored in the memory 1102. The specific execution process can refer to the description of the suspension adjustment method in the above embodiment, which will not be repeated here.

[0154] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0155] In an exemplary embodiment, the present application also provides a computer program product including one or more instructions, which can be executed by the processor 1101 of the electronic device 1100 to complete the suspension adjustment method in the above embodiment.

[0156] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the electronic device, the various processes of the above-mentioned suspension adjustment method embodiment are implemented, and the same technical effect as the above-mentioned suspension adjustment method can be achieved. To avoid repetition, they will not be repeated here.

[0157] Fig.12 A schematic diagram of the structure of a computer system of an electronic device is shown. It should be noted that: Fig.12 The computer system of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0158] like Fig.12As shown, the computer system includes a central processing unit (CPU), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) or the program loaded from the storage part to the random access memory (RAM), such as executing the method in the above embodiment. In the RAM, various programs and data required for system operation are also stored. The CPU, ROM and RAM are connected to each other through a bus. The input / output (I / O) interface is also connected to the bus. The I / O interface is used to implement functions such as data input, output, communication, and storage, and the storage function can be specifically implemented by removable media.

[0159] The following components are connected to the I / O interface: an input part including a keyboard, a mouse, etc.; an output part including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage part including a hard disk, etc.; and a communication part including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication part performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as needed. Removable media, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., are installed on the drive as needed so that a computer program read therefrom is installed into the storage part as needed.

[0160] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication part, and / or installed from a removable medium. When the computer program is executed by a central processing unit (CPU), various functions defined in the system of the present application are executed.

[0161] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. This propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0162] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0163] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0164] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0165] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0166] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the full classification part or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute the full classification part or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, ROM, RAM, disk or CD and other media that can store program code.

[0167] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A suspension adjustment method, characterized in that: The method comprises: Based on a plurality of connection position points of a vehicle and a chassis plane of the vehicle, determining a first position parameter of each connection position point relative to the chassis plane, wherein the plurality of connection position points are connection position points between each of a plurality of suspensions of the vehicle and a wheel, and the first position parameter is used to indicate a positional relationship between the connection position point and a center point of the chassis plane, wherein the chassis plane includes a plurality of angular position points, and one angular position point corresponds to one connection position point between the suspension and the chassis; Based on the multiple connection location points, determining a reference plane, the reference plane including at least one connection location point among the multiple connection location points; Based on the multiple angular position points and the reference plane, determine a second position parameter of each of the multiple angular position points relative to the reference plane, where the second position parameter is used to indicate a distance between the angular position point and the reference plane; Based on the first position parameter and the second position parameter corresponding to each of the plurality of suspensions, it is determined whether to adjust the plurality of suspensions.

2. The method according to claim 1, characterized in that The step of determining a reference plane based on the plurality of connection position points comprises: Determine position information of each of the plurality of connection location points based on the first position parameter of each of the connection location points relative to the chassis plane; Based on the position information of each of the connection position points, the reference plane corresponding to the chassis plane is determined.

3. The method according to claim 2, characterized in that The step of determining a second position parameter of each of the plurality of angular position points relative to the reference plane based on the plurality of angular position points and the reference plane comprises: Determine the position information of each of the plurality of corner position points; Based on the position information of each of the angular position points and the reference plane, a second position parameter of each of the angular position points relative to the reference plane is determined.

4. The method according to any one of claims 1 to 3, characterized in that The step of determining a reference plane based on the plurality of connection position points comprises: Determining a first vector based on a first position point group among the plurality of connection position points, and determining a second vector based on a second position point group among the plurality of connection position points, wherein at least two connection position points included in the first position point group are different from at least two connection position points included in the second position point group, the first vector is used to indicate a connection relationship between the at least two connection position points included in the first position point group, and the second vector is used to indicate a connection relationship between the at least two connection position points included in the second position point group; determining a normal vector between the first vector and the second vector; The reference plane is determined based on the normal vector and any one of the plurality of connection location points.

5. The method according to any one of claims 1 to 3, characterized in that: The step of determining a reference plane based on the plurality of connection position points comprises: Determine at least three arbitrary connection position points from the plurality of connection position points; The reference plane is determined based on the at least three connection location points.

6. The method according to any one of claims 1 to 3, characterized in that The determining whether to adjust the plurality of suspensions based on the first position parameter and the second position parameter corresponding to each of the plurality of suspensions comprises: determining a difference between the first position parameter and the second position parameter corresponding to each of the plurality of suspensions; When the difference value corresponding to at least one of the plurality of suspensions is greater than a preset threshold, prohibiting adjustment of the plurality of suspensions; In a case where the difference value corresponding to each of the plurality of suspensions is less than or equal to the preset threshold, the plurality of suspensions are allowed to be adjusted.

7. The method according to any one of claims 1 to 3, characterized in that Before determining a first position parameter of each connection point relative to the chassis plane based on a plurality of connection points of the vehicle and the chassis plane of the vehicle, the method further comprises: Acquire a wheelbase parameter and a track parameter of the vehicle, and a stroke length of each of the plurality of suspensions; The chassis plane and the plurality of connection location points are determined based on the wheelbase parameter, the track width parameter and the travel length of each of the suspensions.

8. A suspension adjustment device, characterized in that: The suspension adjustment device comprises: a processing module; The processing module is used to determine a first position parameter of each connection position point relative to the chassis plane based on a plurality of connection position points of a vehicle and a chassis plane of the vehicle, wherein the plurality of connection position points are connection position points between each of a plurality of suspensions of the vehicle and a wheel, and the first position parameter is used to indicate a positional relationship between the connection position point and a center point of the chassis plane, and the chassis plane includes a plurality of angular position points, and one angular position point corresponds to one connection position point between the suspension and the chassis; The processing module is further used to determine a reference plane based on the multiple connection location points, wherein the reference plane includes at least one connection location point among the multiple connection location points; The processing module is further used to determine, based on the multiple angular position points and the reference plane, a second position parameter of each of the multiple angular position points relative to the reference plane, wherein the second position parameter is used to indicate a distance between the angular position point and the reference plane; The processing module is further used to determine whether to adjust the multiple suspensions based on the first position parameter and the second position parameter corresponding to each of the multiple suspensions.

9. An electronic device, characterized in that: include: A processor and a memory; wherein the memory is used to store one or more programs, and the one or more programs include computer-executable instructions. When the electronic device is running, the processor executes the computer-executable instructions stored in the memory, and the electronic device executes the method described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: When the computer instructions stored in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device executes the method as claimed in any one of claims 1 to 7.

11. A computer program product, characterized in that The computer program product comprises computer instructions, and when the computer instructions are executed on an electronic device, the electronic device executes the method according to any one of claims 1 to 7.

12. A vehicle, characterized in that: The vehicle comprises the suspension adjustment device according to claim 8, and the vehicle is used to implement the method according to any one of claims 1-7.

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