Suspension adjustment method, apparatus, device, medium, product, and vehicle

Abstract

The application relates to a suspension adjustment method, device, equipment, medium, product and vehicle, and relates to the technical field of data processing. At least the technical problems of low accuracy of determining 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 in the related art are solved. The method comprises the following steps: determining a first position parameter of each connection position point relative to a chassis plane based on multiple connection position points of the vehicle and the chassis plane, the chassis plane comprising multiple corner position points; determining a reference plane based on the multiple connection position points, the reference plane comprising at least one connection position point in the multiple connection position points; determining a second position parameter of each corner position point in the multiple corner position points relative to the reference plane based on the multiple corner position points and the reference plane; and determining whether to adjust multiple suspensions based on the first position parameter and the second position parameter of each suspension in the multiple suspensions.

Description

Technical Field

[0001] This application relates to the field of data processing technology, specifically to a suspension adjustment method, device, equipment, medium, product, and vehicle. Background Technology

[0002] With the continuous development of vehicle technology, the requirements for vehicle electrification and intelligence are becoming increasingly stringent, and models equipped with air suspension are gradually becoming more common. While air suspension offers advantages such as better comfort, handling, and energy economy, some potentially improper operation can cause irreversible damage to it. Conversely, imposing strict restrictions on air suspension adjustments would significantly reduce its applicability and negatively impact the user experience.

[0003] In related technologies, the height parameters of four air suspensions are collected in real time and compared with a threshold height. Air suspensions that meet the height parameter standard are counted, and when the cumulative number of compliant air suspensions reaches three, the height of the last non-compliant air suspension is controlled to be within the error range corresponding to the threshold height. While this allows for air suspension height adjustment, it requires three air suspensions to meet the standard before the height of the last air suspension can be adjusted. If this condition is not met, and multiple air suspensions have non-compliant height parameters, the height of the non-compliant air suspension cannot be adjusted. Therefore, the accuracy of determining whether the vehicle's air suspension height needs adjustment is low, and the effect of adjusting the air suspension height is poor. Summary of the Invention

[0004] This application provides a suspension adjustment method, apparatus, device, medium, product, and vehicle to at least solve the technical problems in related technologies, such as low accuracy in determining whether the height of a vehicle's air suspension needs adjustment and poor effectiveness in adjusting the air suspension height. The technical solution of this application is as follows:

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

[0006] Based on the aforementioned technical means, this application can determine a first position parameter indicating the positional relationship between each connection point and the center point of the chassis plane, based on the connection point between each of the vehicle's multiple suspensions and the wheel, and the vehicle's chassis plane. Then, based on the multiple connection points, a reference plane including at least one of the multiple connection points is further determined. Furthermore, a second position parameter is determined for each of the multiple corner position points included in the chassis plane relative to the reference plane. Thus, based on the vehicle's chassis plane, the positional relationship between the multiple connection points, the multiple corner position points, and the corresponding parameters, the distance between the corner position points and the reference plane can be determined. By further combining the positional relationship between the connection points and the center point of the chassis plane, and the distance between the corner position points and the reference plane, it is possible to accurately determine whether multiple suspensions need adjustment. In this way, it is possible to accurately determine whether the height of the vehicle's air suspension needs adjustment based on the vehicle's parameters, improving the effectiveness of air suspension height adjustment.

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

[0008] Based on the above technical means, this application can determine the position information of each connection point according to the positional relationship between each connection point and the center point of the chassis plane, and thus accurately determine a plane as the reference plane of the chassis plane based on the position information of each connection point.

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

[0010] Based on the aforementioned technical means, this application can further determine the positional information of each corner position point among multiple corner position points, thereby determining the positional relationship between each corner position point and the reference plane. Therefore, based on the positional 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 one possible implementation, determining a reference plane based on multiple connection points includes: determining a first vector based on a first group of connection points and a second vector based on a second group of connection points, wherein at least two connection points in the first group are different from at least two connection points in the second group, the first vector indicates the connection relationship between the at least two connection points in the first group, and the second vector indicates the connection relationship between the at least two connection points in the second group; determining the normal vectors of the first and second vectors; and determining a reference plane based on the normal vectors and any one of the multiple connection points.

[0012] Based on the aforementioned technical means, this application can determine a first vector and a second vector based on a first set of position points and a second set of position points, each containing different connection point locations. Thus, the first and second vectors represent multiple connection point locations, and a reference plane can be determined based on the normal vectors of the first and second vectors, and any one of the multiple connection point locations. This reference plane is determined based on the principle that a plane is determined by a line and a point; therefore, a reference plane related to multiple connection point locations can be determined based on these multiple connection point locations.

[0013] In one possible implementation, determining the reference plane based on a plurality of connection points includes: determining at least three arbitrary connection points from the plurality of connection points; and determining the reference plane based on the at least three connection points.

[0014] Based on the aforementioned technical means, this application can determine a corresponding reference plane based on the principle of determining a surface using any three or more connection points from a plurality of connection points, where the three points are not on the same line. This allows for the determination of a reference plane associated with the plurality of connection points.

[0015] In one possible implementation, 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 adjustment of multiple suspensions if the difference corresponding to at least one of the multiple suspensions is greater than a preset threshold; and allowing adjustment of multiple suspensions if the difference corresponding to each of the multiple suspensions is less than or equal to the preset threshold.

[0016] Based on the aforementioned technical means, this application can intuitively determine the road surface smoothness at the vehicle's location by specifically considering the relationship between the difference between the determined first position parameter and the second position parameter and a preset threshold. By analyzing the vehicle's actual parameters, the state of the vehicle's suspension can be intuitively determined through data, thereby accurately determining whether multiple suspension adjustments are necessary.

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

[0018] Based on the aforementioned technical means, this application can determine the chassis plane of the vehicle based on the wheelbase parameters and track parameters, and combine the travel length of each suspension in multiple suspensions to determine the positional relationship of each connection point in multiple connection points relative to the chassis plane, thereby accurately determining the chassis plane and multiple connection points.

[0019] According to a second aspect of this application, a suspension adjustment device is provided, comprising: a processing module and an acquisition module; the processing module is configured to determine a first position parameter of each connection point relative to the chassis plane based on a plurality of connection point points of a vehicle and a chassis plane of the vehicle, wherein the plurality of connection point points are connection point points between each suspension and a wheel in a plurality of suspensions of the vehicle, and the first position parameter is used to indicate the positional relationship between the connection point and the center point of the chassis plane, the chassis plane including a plurality of angular position points, each angular position point corresponding to a connection point between a suspension and the chassis; the processing module is further configured to determine a reference plane based on the plurality of connection point points, the reference plane including at least one of the plurality of connection point points; the processing module is further configured to determine a second position parameter of each angular position point relative to the reference plane based on the plurality of angular position points and the reference plane, the second position parameter indicating the distance between the angular position point and the reference plane; the processing module is further configured to determine 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.

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

[0021] In one possible implementation, the processing module is specifically configured to determine the position information of each of the plurality of corner position points; the processing module is specifically configured to determine a second position parameter of each corner position point relative to the reference plane based on the position information of each corner position point and the reference plane.

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

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

[0024] In one possible implementation, the processing module is specifically configured to determine the difference between a first position parameter and a second position parameter corresponding to each of the plurality of suspensions; the processing module is specifically configured 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 configured 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 the preset threshold.

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

[0026] According to a third aspect provided in this application, an electronic device is provided, comprising: a processor and a memory; wherein the memory is used to store one or more programs, the one or more programs including computer execution instructions, and when the electronic device is running, the processor executes the computer execution instructions stored in the memory, and the electronic device executes the method described in the first aspect and any possible implementation thereof.

[0027] According to the fourth aspect provided in this application, a computer-readable storage medium is provided, wherein when computer instructions stored in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device performs the method described in the first aspect and any possible implementation thereof.

[0028] According to the fifth aspect provided in this application, a computer program product is provided, the computer program product including computer instructions, which, when executed on an electronic device, cause the electronic device to perform the method described in the first aspect and any possible implementation thereof.

[0029] According to the sixth aspect provided in this application, a vehicle is provided, the vehicle including a suspension adjustment device as described in the second aspect, the vehicle being used to implement the method of the first aspect and any possible implementation thereof.

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

[0031] (1) This application can determine a first position parameter indicating the positional relationship between each connection point and the center point of the chassis plane based on the connection point between each of the multiple suspensions of a 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 further determined. Further, a second position parameter is determined for each of the multiple corner position points included in the chassis plane relative to the reference plane. Thus, based on the chassis plane of the vehicle, the positional relationship between the multiple connection points, the multiple corner position points, and the corresponding parameters, the distance between the corner position points and the reference plane can be determined. By further combining the positional relationship between the connection points and the center point of the chassis plane, and the distance between the corner position points and the reference plane, it is possible to accurately determine whether multiple suspensions need adjustment. In this way, it is possible to accurately determine whether the height of the vehicle's air suspension needs adjustment based on the vehicle's parameters, improving the effectiveness of adjusting the air suspension height.

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

[0033] (3) This 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) This application can determine a first vector and a second vector based on a first set of position points and a second set of position points, which include different connection position points. Thus, the first vector and the second vector represent multiple connection position points, and a reference plane can be determined based on the normal vectors of the first vector and the second vector, and any one of the multiple connection position points. This reference plane is determined based on the principle that a plane is determined by a line and a point. Therefore, a reference plane related to multiple connection position points can be determined based on multiple connection position points.

[0035] (5) This application can determine the corresponding reference plane based on any three or more connection points from a plurality of connection points, according to the principle of determining a surface based on three points that are not on the same line. Thus, a reference plane related to the plurality of connection points is determined.

[0036] (6) This application can intuitively determine the road surface smoothness at the vehicle's location based on the relationship between the difference between the determined first position parameter and the second position parameter and a preset threshold. By using the actual parameters of the vehicle, the state of the vehicle's suspension can be intuitively determined through data, thereby accurately determining whether multiple suspensions need to be adjusted.

[0037] (7) Based on the wheelbase parameters and track parameters of the vehicle, this application can determine the chassis plane of the vehicle, and combine the travel length of each of the multiple suspensions to determine the positional relationship of each of the multiple connection points relative to the chassis plane, thereby accurately determining the chassis plane and the multiple connection points.

[0038] It should be noted that the technical effects of any of the implementation methods in aspects two through six can be found in the technical effects of the corresponding implementation methods in aspect one, and will not be repeated here.

[0039] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0040] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application, and do not constitute an undue limitation of this application.

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

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

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

[0044] Figure 4 This is a flowchart illustrating a suspension adjustment method according to an exemplary embodiment;

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

[0046] Figure 6 This is a flowchart illustrating yet another suspension adjustment method according to an exemplary embodiment;

[0047] Figure 7 This is a flowchart illustrating yet another suspension adjustment method according to an exemplary embodiment;

[0048] Figure 8 This is a flowchart illustrating yet another suspension adjustment method according to an exemplary embodiment;

[0049] Figure 9 This is a block diagram illustrating a suspension adjustment device according to an exemplary embodiment;

[0050] Figure 10 This is a block diagram illustrating yet another suspension adjustment device according to an exemplary embodiment;

[0051] Figure 11 This is a block diagram illustrating an electronic device according to an exemplary embodiment;

[0052] Figure 12 This is a schematic diagram of the structure of a computer system for an electronic device according to an exemplary embodiment. Detailed Implementation

[0053] To enable those skilled in the art to better understand the technical solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0054] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0055] Currently, when a vehicle equipped with air suspension is parked, such as Figure 1 As shown, if one wheel of a vehicle is on the curb (i.e., one wheel is higher than the others), the wheel on the curb and its diagonal wheel bear most of the vehicle's load, resulting in a lower air suspension height (less travel and compression). Conversely, the two diagonal wheels, being suspended and bearing less load, have higher air suspension heights (more travel and extension). In this situation, lowering the height of all four air suspensions is risky because the air suspensions on the two suspended wheels cannot be lowered by deflating the air, potentially causing the vehicle's chassis to bottom out, and the adjustment cannot be completed. Conversely, raising the height of all four air suspensions could lead to excessive airbag pressure on the side of the curb and its diagonal wheel, posing a risk of airbag deployment.

[0056] Furthermore, identifying scenarios where air suspension height adjustment is not permitted based on height differences between multiple air suspension units (e.g., the left-right height difference of air suspension on a coaxial wheel, or the height difference between air suspension on the front and rear wheels) could significantly limit the application scenarios of air suspension. For example... Figure 2 As shown, for example, when a vehicle is parked on a slope and the vehicle body is being leveled, a significant height difference between the front and rear air suspensions can prevent adjustment. On a flat road, the air suspension is capable of adjustment, but height limitations may prevent this function from being implemented. Therefore, accurately identifying road surface unevenness, preventing the vehicle chassis from bottoming out, minimizing ineffective air suspension adjustments, and preserving the applicable range of the air suspension as much as possible are urgent technical problems that need to be solved.

[0057] The suspension adjustment method provided in this application embodiment can be applied to suspension adjustment systems. Figure 3 A schematic diagram of one possible structure of the suspension adjustment system is shown. For example... 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 point relative to the chassis plane based on multiple connection point points of the vehicle and the chassis plane of the vehicle. The multiple connection point points are the connection point between each of the multiple suspensions 32 of the vehicle and the wheel. The first position parameter is used to indicate the positional relationship between the connection point and the center point of the chassis plane. The chassis plane includes multiple corner point points, and each corner point corresponds to a connection point between a suspension 32 and the chassis.

[0059] The controller 31 is used to determine a reference plane based on a plurality of connection point locations, the reference plane including at least one of the plurality of connection point locations.

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

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

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

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

[0064] In one possible implementation, controller 31 is used to determine the position information of each of a plurality of corner position points.

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

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

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

[0068] Controller 31 is used to determine a reference plane based on the normal vector and any one of the multiple connection point locations.

[0069] In one possible implementation, controller 31 is configured to determine any three or more connection points from a plurality of connection point locations.

[0070] Controller 31 is used to determine a reference plane based on at least three connection point locations.

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

[0072] The controller 31 is used to prohibit adjustment of the plurality of suspensions 32 when the difference between at least one of the suspensions 32 is greater than a preset threshold.

[0073] The controller 31 is configured to allow adjustment of multiple suspensions 32 when the difference between each suspension 32 is less than or equal to a preset threshold.

[0074] In one possible implementation, the controller 31 is used to acquire the vehicle's wheelbase and track parameters, as well as the travel length of each of the plurality of suspensions 32.

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

[0076] The embodiments of this application can autonomously identify when a vehicle is on an uneven road surface such as a curb, thereby determining whether the air suspension adjustment is permitted. This prevents the risk of bottoming out caused by improper operation, prevents frequent adjustments under conditions where the adjustment cannot be completed, and avoids the risk of potential hardware damage, while preserving the applicability of the air suspension as much as possible.

[0077] For ease of understanding, the suspension adjustment method provided in this application will be described in detail below with reference to the accompanying drawings.

[0078] Figure 4 This is a flowchart illustrating a suspension adjustment method according to an exemplary embodiment, 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 multiple connection points of the vehicle and the chassis plane of the vehicle, determine a first position parameter of each connection point relative to the chassis plane.

[0080] Among them, the multiple connection points are the connection 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 point and the center point of the chassis plane. The chassis plane includes multiple corner position points, and each corner position point corresponds to a connection point between the suspension and the chassis.

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

[0082] In some embodiments of the present application, before step S401, the suspension adjustment method may further include: obtaining the wheelbase parameters and track width parameters of the vehicle, as well as the travel length of each of the multiple suspensions; and determining the chassis plane and multiple connection points based on the wheelbase parameters, track width parameters, and travel length of each suspension.

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

[0084] Furthermore, 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. The vehicle's chassis plane is used as the XY plane, the intersection of the wheel diagonals is used as the origin, and the downward direction is the positive Z-axis. This allows determination of the relative coordinates of the connection points between the four air suspensions and the wheels.

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

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

[0087] Specifically, based on the wheelbase parameter L, track width parameter W, and the travel length H of each suspension, the coordinates of multiple connection points can be determined as follows: (The connection point is located at the left front.) Connecting point on the right front Connection point at the left rear Connection point at the right rear

[0088] In this embodiment, the vehicle chassis plane can be determined based on the vehicle's wheelbase and track parameters, and the positional relationship of each of the multiple connection points relative to the chassis plane can be determined by combining the travel length of each of the multiple suspensions, thereby accurately determining the chassis plane and the multiple connection points.

[0089] S402. Determine the reference plane based on multiple connection points.

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

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

[0092] S601. Based on the first position parameter of each of the multiple connection position points relative to the chassis plane, determine the position information of each connection position point.

[0093] Optionally, the position information of each connection point can be represented by the coordinates of the driving position, or by the relative positional relationship between each connection point and the chassis plane (the center point of the chassis plane).

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

[0095] S602. Based on the position information of each connection point, determine the reference plane corresponding to the chassis plane.

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

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

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

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

[0100] S701. Determine a first vector based on a first group of multiple connected location points, and determine a second vector based on a second group of multiple connected location points.

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

[0102] Optionally, the connection point included in the first set of position points can be the connection point corresponding to the suspension on one diagonal among the multiple suspensions included in the vehicle, and the connection point included in the second set of position points can be the connection point corresponding to the suspension on the other diagonal among the multiple suspensions included in the vehicle.

[0103] Alternatively, the connection points included in the first set of position points can be the connection points corresponding to the suspension on one side of the multiple suspensions included in the vehicle (e.g., the two suspensions on the left side of the vehicle), and the connection points included in the second set of position points can be the connection points corresponding to the suspension on the other side of the multiple suspensions included in the vehicle (e.g., the two suspensions on the rear wheels of the vehicle).

[0104] Thus, based on the connecting point groups included in each group of points, a corresponding vector can be determined. (Based on the connecting point to the left front...) Connecting point on the right front Connection point at the left rear Connection point at the right rear The first vector can be determined as The second vector is

[0105] S702. Determine the normal vectors of the first and second vectors.

[0106] Optionally, based on the first and second vectors, a normal vector perpendicular to both vectors can be determined mathematically.

[0107] Specifically, based on the first vector Second vector The cross product of the two vectors yields the normal vector n = (A, B, C) = (L, W, H1 - H4) · (L, - W, H2 - H3) perpendicular to the first and second vectors.

[0108] S703. Determine the reference plane based on the normal vector and any one of the multiple connection points.

[0109] Optionally, a corresponding plane (i.e., a reference plane) can be determined based on a known vector (i.e., the normal vector) and a point not on the normal vector (i.e., any connecting point).

[0110] That is, the dot product of any point (x,y,z) and the normal vector (A,B,C) determines a plane (i.e., the parameter D in the plane equation), which is perpendicular to the normal vector and passes through the point (x,y,z). Thus, we can determine that D = -(A,B,C)*(x,y,z) = -(Ax + By + Cz).

[0111] Furthermore, connect the normal vector n = (A, B, C) = (L, W, H1 - H4) · (L, - W, H2 - H3) with any connecting point (e.g., the connecting point to the left front). Substituting these values ​​into D = -(A,B,C)*(x,y,z) = -(Ax + By + Cz) will determine the result.

[0112] Furthermore, based on the normal vector n=(A,B,C)=(L,W,H1-H4)·(L,-W,H2-H3), we can determine A, B, and C in the plane equation, thereby determining the plane equation of the reference plane.

[0113] In this embodiment, a first vector and a second vector can be determined based on a first set of position points and a second set of position points, each containing different connection point locations. The first and second vectors then represent multiple connection point locations, and a reference plane can be determined based on the normal vectors of the first and second vectors, and any one of the multiple connection point locations. This reference plane is determined based on the principle that a plane is determined by a line and a point; thus, a reference plane related to multiple connection point locations can be determined.

[0114] In some embodiments of the present application, in a suspension adjustment method, the step S402 of "determining a reference plane based on multiple connection points" may specifically include: determining at least three arbitrary connection points from multiple connection points, and determining a reference plane based on the at least three connection points.

[0115] Optionally, the plane corresponding to any three of the multiple connection points can be determined. This is based on the principle that three points determine a plane. Specifically, a vector can be obtained from the first and second connection points, and another vector can be obtained from the second and third connection points. Thus, the plane equation of the reference plane can be determined based on these two vectors and any one of the three connection points (e.g., the second connection point).

[0116] In this embodiment, the reference plane can be determined based on the principle of determining a surface based on any three or more connection points from a plurality of connection points, where three points are not on the same line. This determines the reference plane associated with the plurality of connection points.

[0117] S403. Based on multiple angular position points and a reference plane, determine the second position parameter of each angular position point relative to the reference plane.

[0118] The second position parameter is used to indicate the distance between the angular position point and the reference plane.

[0119] In some embodiments, such as Figure 8 As shown in the embodiment of this application, in a suspension adjustment method, the above step S403 may specifically include S801-S802.

[0120] S801. Determine the position information of each corner position point among multiple corner position points.

[0121] Optionally, since a three-dimensional coordinate system is constructed with the vehicle's chassis plane as the XY plane and the intersection of the wheel diagonals as the origin, the coordinates of multiple corner positions can be determined based on the wheelbase parameter L and the track width parameter W, including the left front corner position. Right front corner position point Left rear corner position point Right rear corner position point

[0122] S802. Based on the position information of each corner position point and the reference plane, determine the second position parameter of each corner position point relative to the reference plane.

[0123] Optionally, by substituting the coordinates of each corner point into the plane equation z = -(Ax + By + D) / C of the defined reference plane, the distance between each corner point and the projection direction of the reference plane can be obtained.

[0124] For example, for any corner position point (e.g., the corner position point to the left front) Substituting this into the plane equation z = -(Ax + By + D) / C of the reference plane, the distance between the angular position point and the reference plane can be determined.

[0125] Thus, after determining the distance between each corner position point and the reference plane, the smoothness of the road surface can be determined by combining the distance between each connection position point and the chassis plane.

[0126] In this embodiment, the 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. Therefore, 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.

[0127] S404. Based on the first position parameter and the second position parameter corresponding to each of the multiple suspensions, determine whether to adjust the multiple suspensions.

[0128] In some embodiments, in a suspension adjustment method provided by this application, step S404 may specifically include: determining the difference between a first position parameter and a second position parameter corresponding to each of the 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.

[0129] In this embodiment, the road surface smoothness at the vehicle's location can be intuitively determined based on the relationship between the difference between the determined first position parameter and the second position parameter and a preset threshold. By using the actual parameters of the vehicle, the state of the vehicle's suspension can be intuitively determined through data, thereby accurately determining whether multiple suspension adjustments are needed.

[0130] In this embodiment, the application can determine a first position parameter indicating the positional relationship between each connection point and the center point of the chassis plane based on the connection point between each of the vehicle's multiple suspensions and the wheel, and the vehicle's chassis plane. 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 is determined for each of the multiple corner point points included in the chassis plane relative to the reference plane. Thus, based on the vehicle's chassis plane, the positional relationship between the multiple connection points, the multiple corner point points, and the corresponding parameters, the distance between the corner point points and the reference plane can be determined. By further combining the positional relationship between the connection point points and the center point of the chassis plane, and the distance between the corner point points and the reference plane, it is possible to accurately determine whether multiple suspensions need adjustment. In this way, it is possible to accurately determine whether the height of the vehicle's air suspension needs adjustment based on the vehicle's parameters, improving the effectiveness of air suspension height adjustment.

[0131] This embodiment of the application obtains the actual height of the four air suspension units, calculates the reference planes for the four air suspension units, and calculates the height values ​​of the four air suspension units on the reference planes. By comparing the difference between the actual height of the four air suspension units and their height on the reference planes with a preset threshold, it determines whether there is an uneven road surface. If so, it requests the suspension execution module to pause the adjustment of the suspension height. In this way, it can autonomously identify when 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 due to improper operation, preventing frequent adjustments under conditions where the adjustment cannot be completed, and preventing the risk of potential hardware damage, while preserving the applicable range of the air suspension as much as possible.

[0132] The foregoing primarily describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the aforementioned functions, the suspension adjustment device or electronic device includes corresponding hardware structures and / or software modules for performing each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0133] This application embodiment can, according to the above method, exemplarily divide the suspension adjustment device or electronic device into functional modules. For example, the suspension adjustment device or electronic device may include functional modules corresponding to each functional division, or two or more functions may be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division; in actual implementation, there may be other division methods.

[0134] Figure 9 This is a block diagram illustrating a suspension adjustment device according to an exemplary embodiment. (Refer to...) Figure 9 The suspension adjustment device 900 includes a processing module 901 and an acquisition module 902.

[0135] Processing module 901 is configured to determine a first position parameter of each connection point relative to the chassis plane based on multiple connection point locations of the vehicle and the chassis plane of the vehicle. The multiple connection point locations are the connection point locations between each suspension and a wheel in multiple suspensions of the vehicle. The first position parameter is used to indicate the positional relationship between the connection point and the center point of the chassis plane. The chassis plane includes multiple angular position points, and each angular position point corresponds to a connection point between a suspension and the chassis. Processing module 901 is also configured to determine a reference plane based on the multiple connection point locations. The reference plane includes at least one connection point among the multiple connection point locations. Processing module 901 is also configured to determine a second position parameter of each angular position point 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. Processing module 901 is also configured to determine whether to adjust multiple suspensions based on the first position parameter and the second position parameter corresponding to each suspension in the multiple suspensions.

[0136] In one possible implementation, the processing module 901 is specifically used to determine the position information of each connection point based on a first position parameter of each connection point 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 point.

[0137] In one possible implementation, the processing module 901 is specifically used to determine the position information of each of the plurality of corner position points; the processing module 901 is specifically used to determine a second position parameter of each corner position point relative to the reference plane based on the position information of each corner position point and the reference plane.

[0138] In one possible implementation, the processing module 901 is specifically configured to determine a first vector based on a first group of connection points among a plurality of connection point locations, and to determine a second vector based on a second group of connection point locations among a plurality of connection point locations, wherein at least two connection point locations included in the first group of connection point locations are different from at least two connection point locations included in the second group of connection point locations, the first vector is used to indicate the connection relationship between at least two connection point locations included in the first group of connection point locations, and the second vector is used to indicate the connection relationship between at least two connection point locations included in the second group of connection point locations; the processing module 901 is specifically configured to determine the normal vectors of the first vector and the second vector; the processing module 901 is specifically configured to determine a reference plane based on the normal vectors and any one of the multiple connection point locations.

[0139] In one possible implementation, the processing module 901 is specifically configured to determine at least three arbitrary connection points from a plurality of connection point points; the processing module 901 is specifically configured to determine a reference plane based on the at least three connection point points.

[0140] In one possible implementation, the processing module 901 is specifically configured to determine the difference between the first position parameter and the second position parameter corresponding to each of the plurality of suspensions; the processing module 901 is specifically configured 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 configured 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 the preset threshold.

[0141] In one possible implementation, the acquisition module 902 is used to acquire the wheelbase parameters and track width parameters of the vehicle, as well as the travel length of each of the multiple suspensions; the processing module 901 is also used to determine the chassis plane and multiple connection point based on the wheelbase parameters, track width parameters and travel length of each suspension.

[0142] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0143] Figure 10 This is a block diagram illustrating yet another suspension adjustment device according to an exemplary embodiment. (Refer to...) Figure 10 The suspension adjustment device 1000 includes: a data acquisition module, a data calculation module, a judgment module, and an adjustment execution module.

[0144] The system includes a data acquisition module for acquiring suspension height information (height sensor values); a data calculation module for calculating the reference plane corresponding to the chassis plane and the distance between the suspension connection point and the reference plane; a judgment module for determining whether the road surface is smooth based on the actual suspension height (i.e., the distance between the connection point and the chassis plane) and the distance between the corner point and the reference plane; and an adjustment execution module for determining whether to pause the adjustment of the air springs based on the road surface smoothness.

[0145] Figure 11 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Figure 11 As shown, the electronic device 1100 includes, but is not limited to, a processor 1101 and a memory 1102.

[0146] The aforementioned memory 1102 is used to store the executable instructions of the processor 1101. It is understood that the processor 1101 is configured to execute instructions to implement the suspension adjustment method in the above embodiments.

[0147] It should be noted that those skilled in the art will understand that Figure 11 The electronic device structure shown does not constitute a limitation on the electronic device; the electronic device may include, but is not limited to, other electronic devices. Figure 11 This may indicate more or fewer components, or combinations of certain components, or different component arrangements.

[0148] Processor 1101 is the control center of the electronic device. It connects various parts of the electronic device via various interfaces and lines. By running or executing software programs and / or modules stored in memory 1102, and by calling data stored in memory 1102, it performs various functions and processes data, thereby providing overall monitoring of the electronic device. Processor 1101 may include one or more processing units. Optionally, processor 1101 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into processor 1101.

[0149] The memory 1102 can be used to store software programs and various data. The memory 1102 may primarily include a program storage area and a data storage area. The program storage area may store the operating system, application programs required by at least one functional module (such as a processing module, a storage module, etc.), etc. Furthermore, the memory 1102 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0150] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 1102 including instructions, which can be executed by a processor 1101 of an electronic device 1100 to implement the suspension adjustment method in the above embodiments.

[0151] In actual implementation, Figure 9 The functions of the processing module 901 can all be provided by Figure 11 The processor 1101 calls the computer program stored in the memory 1102 to implement the function. The specific execution process can be found in the description of the suspension adjustment method in the previous embodiment, and will not be repeated here.

[0152] Optionally, the computer-readable storage medium may be a non-transitory computer-readable storage medium, such as a read-only memory (ROM), random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device.

[0153] In an exemplary embodiment, this 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 embodiments.

[0154] It should be noted that when one or more instructions in the computer-readable storage medium or computer program product are executed by the processor of the electronic device, they implement the various processes of the above-described suspension adjustment method embodiments and achieve the same technical effect as the above-described suspension adjustment method. To avoid repetition, they will not be described again here.

[0155] Figure 12 A schematic diagram of the structure of a computer system for an electronic device is shown. It should be noted that... Figure 12 The computer system of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0156] like Figure 12As shown, the computer system includes a Central Processing Unit (CPU), which can perform various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) or loaded from storage into Random Access Memory (RAM), such as executing the methods described in the above embodiments. The RAM also stores various programs and data required for system operation. The CPU, ROM, and RAM are interconnected via a bus. Input / Output (I / O) interfaces are also connected to the bus. The I / O interfaces are used to implement functions such as data input, output, communication, and storage; the storage function can be specifically implemented through removable media.

[0157] The following components are connected to the I / O interface: input sections including keyboards, mice, etc.; output sections including cathode ray tubes (CRTs), liquid crystal displays (LCDs), and speakers; storage sections including hard drives; and communication sections including network interface cards such as LAN (Local Area Network) cards and modems. The communication sections perform communication processing via networks such as the Internet. Drives are also connected to the I / O interface as needed. Removable media, such as disks, optical discs, magneto-optical discs, semiconductor memories, etc., are installed on the drive as needed so that computer programs read from them can be installed into the storage section as required.

[0158] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium. When the computer program is executed by a central processing unit (CPU), it performs various functions defined in the system of this application.

[0159] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0160] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above 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.

[0161] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0162] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the classified units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0163] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0164] If the integrated unit is implemented as 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 embodiments of this application, essentially, or the part that contributes to the prior art, or a complete or partial classification of the technical solution, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0165] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A suspension adjustment method, characterized in that, The method includes: Based on multiple connection points of the vehicle and the chassis plane of the vehicle, a first position parameter is determined for each connection point relative to the chassis plane. The multiple connection points are the connection 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 point and the center point of the chassis plane. The chassis plane includes multiple corner position points, and each corner position point corresponds to a connection point between the suspension and the chassis. Based on the plurality of connection points, a reference plane is determined, wherein the reference plane includes at least one of the plurality of connection points; Based on the plurality of corner position points and the reference plane, a second position parameter is determined for each of the plurality of corner position points relative to the reference plane, the second position parameter being used to indicate the distance between the corner position point and the reference plane; Determine the difference between the first position parameter and the second position parameter corresponding to each of the plurality of suspensions; If the difference between at least one of the plurality of suspensions is greater than a preset threshold, adjustment of the plurality of suspensions is prohibited. When the difference 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.

2. The method according to claim 1, characterized in that, Determining the reference plane based on the plurality of connection points includes: Based on the first position parameter of each of the plurality of connection point points relative to the chassis plane, determine the position information of each of the connection point points; Based on the position information of each of the connection 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 corner position points relative to the reference plane based on the plurality of corner position points and the reference plane includes: Determine the position information of each of the plurality of corner position points; Based on the position information of each corner point and the reference plane, a second position parameter of each corner point relative to the reference plane is determined.

4. The method according to any one of claims 1-3, characterized in that, Determining the reference plane based on the plurality of connection points includes: A first vector is determined based on a first group of connection points among the plurality of connection points, and a second vector is determined based on a second group of connection points among the plurality of connection points. The first group of connection points includes at least two connection points that are different from the second group of connection points. The first vector is used to indicate the connection relationship between the at least two connection points included in the first group of connection points, and the second vector is used to indicate the connection relationship between the at least two connection points included in the second group of connection points. Determine the normal vectors of 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 points.

5. The method according to any one of claims 1-3, characterized in that, Determining the reference plane based on the plurality of connection points includes: Determine any three connection points from the plurality of connection point locations; The reference plane is determined based on the at least three connection points.

6. The method according to any one of claims 1-3, characterized in that, Before determining a first position parameter of each connection point relative to the chassis plane based on multiple connection point points of the vehicle and the chassis plane of the vehicle, the method further includes: Obtain the wheelbase and track width parameters of the vehicle, as well as the travel length of each of the plurality of suspensions; Based on the wheelbase parameter, the track width parameter, and the travel length of each suspension, the chassis plane and the plurality of connection points are determined.

7. A suspension adjustment device, characterized in that, The suspension adjustment device includes: a processing module; The processing module is used to determine a first position parameter of each connection point relative to the chassis plane based on multiple connection point points of the vehicle and the chassis plane of the vehicle. The multiple connection point points are the connection point 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 point and the center point of the chassis plane. The chassis plane includes multiple corner point points, and each corner point corresponds to a connection point between the suspension and the chassis. The processing module is further configured to determine a reference plane based on the plurality of connection point locations, wherein the reference plane includes at least one of the plurality of connection point locations. The processing module is further configured to determine a second position parameter of each of the plurality of corner position points relative to the reference plane based on the plurality of corner position points and the reference plane, wherein the second position parameter is used to indicate the distance between the corner position point and the reference plane; The processing module is further configured to determine the difference between the first position parameter and the second position parameter corresponding to each of the plurality of suspensions; The processing module is further configured 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 further configured 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 the preset threshold.

8. An electronic device, characterized in that, include: A processor and a memory; wherein the memory is used to store one or more programs, the one or more programs including computer-executable instructions, and when the electronic device is running, the processor executes the computer-executable instructions stored in the memory, and the electronic device performs the method of any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, When the computer instructions stored in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device performs the method as described in any one of claims 1-6.

10. A computer program product, characterized in that, The computer program product includes computer instructions that, when executed on an electronic device, cause the electronic device to perform the method as described in any one of claims 1-6.

11. A vehicle, characterized in that, The vehicle includes the suspension adjustment device as described in claim 7, and the vehicle is used to implement the method as described in any one of claims 1-6.

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