Suspension control method, device, equipment, air suspension system and vehicle

Abstract

A suspension control method, device, equipment, air suspension system, and vehicle. The method includes: upon receiving a joint adjustment instruction for suspension height and suspension stiffness, determining an adjustment order between suspension height and suspension stiffness based on the vehicle state, the pressure difference between each air chamber of a multi-chamber air spring in the suspension, the suspension stiffness adjustment direction in the joint adjustment instruction, and the type of event that triggers the joint adjustment instruction; and adjusting the suspension height and suspension stiffness according to the adjustment order. Through the present application, the adjustment order is determined by integrating multiple aspects of information, so that the suspension height and suspension stiffness can be adjusted according to different adjustment orders in different scenarios, thereby ensuring the driving experience in multiple scenarios and avoiding energy waste as much as possible.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a suspension control method, device, equipment, air suspension system, vehicle, and computer-readable storage medium. Background Art

[0002] The air suspension system can adjust the suspension height by inflating and deflating the air spring; when the air spring is a multi-chamber air spring, the suspension stiffness can also be adjusted by controlling the switching state of the stiffness control solenoid valve, where the stiffness control solenoid valve is a normally open switching valve.

[0003] When the suspension height and stiffness need to be adjusted due to switching of air suspension modes or the need to control the body posture during vehicle movement, the suspension height and stiffness are generally adjusted according to the default adjustment order. For example, the default is to adjust the suspension height first and then the suspension stiffness, or to adjust the suspension stiffness first and then the suspension height by default. In some scenarios, if the stiffness control solenoid valve needs to be energized to achieve stiffness adjustment, and there is no difference in driving experience between adjusting the suspension height first and then the suspension stiffness and adjusting the suspension stiffness first and then the suspension height, it is obvious that adjusting the suspension height first and then the suspension stiffness is beneficial to saving energy consumption. If the default is to adjust the suspension stiffness first and then the suspension height, it will lead to energy waste.

[0004] In summary, the most suitable adjustment order is different in different scenarios. Following the default adjustment order will affect the driving experience or cause energy waste. Summary of the Invention

[0005] The present application provides a suspension control method, device, equipment, air suspension system, vehicle and computer-readable storage medium, which can solve the technical problems in the prior art that the default adjustment sequence will affect the driving experience or cause energy waste.

[0006] In a first aspect, an embodiment of the present application provides a suspension control method, the suspension control method comprising:

[0007] When receiving a combined adjustment command for suspension height and suspension stiffness, determining the order of adjusting the suspension height and suspension stiffness based on the vehicle state, the pressure difference between each air chamber of the multi-chamber air spring in the suspension, the suspension stiffness adjustment direction in the combined adjustment command, and the type of event that triggered the combined adjustment command;

[0008] Adjust the suspension height and suspension stiffness according to the adjustment sequence described.

[0009] In conjunction with the first aspect, in one embodiment, determining the adjustment order between the suspension height and the suspension stiffness based on the vehicle state, the pressure difference between each air chamber of the multi-chamber air spring in the suspension, the suspension stiffness adjustment direction in the joint adjustment instruction, and the event type that triggers the joint adjustment instruction includes:

[0010] detecting whether the event type triggering the joint adjustment instruction is a suspension mode switching event;

[0011] If it is a suspension mode switching event, check whether the vehicle state is stationary;

[0012] If the vehicle is stationary, the pressure difference between each air chamber of the multi-chamber air spring in the suspension is detected to be less than or equal to a threshold value;

[0013] If both are less than or equal to the threshold, then when the suspension stiffness adjustment direction in the joint adjustment instruction is to increase, the adjustment order is determined to be adjusting the suspension height first and then adjusting the suspension stiffness;

[0014] If both are less than or equal to the threshold, when the suspension stiffness adjustment direction in the joint adjustment instruction is to adjust the suspension stiffness first and then adjust the suspension height.

[0015] In combination with the first aspect, in one embodiment, after detecting whether the event type triggering the joint adjustment instruction is a suspension mode switching event, the method further includes:

[0016] If it is not a suspension mode switching event, the adjustment sequence is determined to be adjusting the suspension stiffness first and then adjusting the suspension height.

[0017] In combination with the first aspect, in one embodiment, after detecting whether the vehicle is in a stationary state, the method further includes:

[0018] If the vehicle state is a moving state, the adjustment sequence is determined to be adjusting the suspension stiffness first and then adjusting the suspension height.

[0019] In combination with the first aspect, in one embodiment, after detecting whether the pressure difference between each air chamber of the multi-chamber air spring in the suspension is less than or equal to the threshold, the method further includes:

[0020] If there is at least one set of pressure differences between any two air chambers that is greater than a threshold, the adjustment sequence is determined to be adjusting the suspension stiffness first and then adjusting the suspension height.

[0021] In a second aspect, an embodiment of the present application provides a suspension control device, the suspension control device comprising:

[0022] a determination module configured to, upon receiving a combined adjustment instruction for suspension height and suspension stiffness, determine an adjustment sequence for the suspension height and suspension stiffness based on a vehicle state, a pressure difference between two air chambers of a multi-chamber air spring in the suspension, a suspension stiffness adjustment direction in the combined adjustment instruction, and a type of event triggering the combined adjustment instruction, and send the adjustment sequence to an adjustment module;

[0023] The adjustment module is used to adjust the suspension height and suspension stiffness according to the adjustment sequence.

[0024] In conjunction with the second aspect, in one embodiment, the determining module is specifically configured to:

[0025] detecting whether the event type triggering the joint adjustment instruction is a suspension mode switching event;

[0026] If it is a suspension mode switching event, check whether the vehicle state is stationary;

[0027] If the vehicle is stationary, the pressure difference between each air chamber of the multi-chamber air spring in the suspension is detected to be less than or equal to a threshold value;

[0028] If both are less than or equal to the threshold, then when the suspension stiffness adjustment direction in the joint adjustment instruction is to increase, the adjustment order is determined to be adjusting the suspension height first and then adjusting the suspension stiffness;

[0029] If both are less than or equal to the threshold, when the suspension stiffness adjustment direction in the joint adjustment instruction is to adjust the suspension stiffness first and then adjust the suspension height.

[0030] In conjunction with the second aspect, in one embodiment, the determining module is specifically configured to:

[0031] If it is not a suspension mode switching event, the adjustment sequence is determined to be adjusting the suspension stiffness first and then adjusting the suspension height.

[0032] In conjunction with the second aspect, in one embodiment, the determining module is specifically configured to:

[0033] If the vehicle state is a moving state, the adjustment sequence is determined to be adjusting the suspension stiffness first and then adjusting the suspension height.

[0034] In conjunction with the second aspect, in one embodiment, the determining module is specifically configured to:

[0035] If there is at least one set of pressure differences between any two air chambers that is greater than a threshold, the adjustment sequence is determined to be adjusting the suspension stiffness first and then adjusting the suspension height.

[0036] In a third aspect, an embodiment of the present application provides an air suspension system, which includes the suspension control device as described in the second aspect.

[0037] In a fourth aspect, an embodiment of the present application provides a vehicle, comprising the air suspension system as described in the third aspect.

[0038] In the fifth aspect, an embodiment of the present application provides a suspension control device, which includes a processor, a memory, and a suspension control program stored on the memory and executable by the processor, wherein when the suspension control program is executed by the processor, the steps of the suspension control method described in the first aspect are implemented.

[0039] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a suspension control program is stored, wherein when the suspension control program is executed by a processor, the steps of the suspension control method described in the first aspect are implemented.

[0040] The beneficial effects of the technical solutions provided in the embodiments of the present application include:

[0041] In an embodiment of the present application, when a combined adjustment command for suspension height and suspension stiffness is received, the order in which the suspension height and suspension stiffness are adjusted is determined based on the vehicle state, the pressure difference between each air chamber of the multi-chamber air spring in the suspension, the suspension stiffness adjustment direction in the combined adjustment command, and the type of event that triggered the combined adjustment command; and the suspension height and suspension stiffness are adjusted according to the adjustment order. By integrating various information into the embodiment of the present application to determine the adjustment order, the suspension height and suspension stiffness can be adjusted according to different adjustment orders in different scenarios, thereby ensuring a good driving experience in multiple scenarios and minimizing energy waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a flow chart of the first embodiment of the suspension control method of the present application;

[0043] Figure 2 A detailed flowchart of determining an adjustment sequence in one embodiment is shown;

[0044] Figure 3 A schematic diagram of a detailed process for determining an adjustment sequence in another embodiment;

[0045] Figure 4 This is a schematic diagram of the functional modules of an embodiment of the suspension control device of the present application;

[0046] Figure 5 This is a schematic diagram of the hardware structure of the suspension control device involved in the embodiment of the present application. DETAILED DESCRIPTION

[0047] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0048] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0049] In a first aspect, an embodiment of the present application provides a suspension control method.

[0050] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the suspension control method of this application. Figure 1 As shown, the suspension control method includes:

[0051] Step S10: When a combined adjustment instruction for suspension height and suspension stiffness is received, determining the adjustment order of the suspension height and suspension stiffness based on the vehicle state, the pressure difference between each air chamber of the multi-chamber air spring in the suspension, the suspension stiffness adjustment direction in the combined adjustment instruction, and the type of event that triggers the combined adjustment instruction;

[0052] In this embodiment, there are two adjustment sequences between the suspension height and the suspension stiffness:

[0053] Adjustment sequence 1: first adjust the suspension height and then adjust the suspension stiffness;

[0054] Adjustment sequence 2: Adjust the suspension stiffness first and then adjust the suspension height.

[0055] For a given scenario, whether adjusting according to adjustment sequence 1 or adjustment sequence 2 achieves the same goal (i.e., adjusting the stiffness to the desired stiffness and the height to the desired height), and from the perspective of the driving experience, there is no difference between the two adjustment methods. However, since adjustment sequence 1 saves more energy than adjustment sequence 2, adjustment sequence 1 is clearly the preferred adjustment order.

[0056] For another scenario, whether adjusting according to adjustment sequence 1 or adjustment sequence 2, the same purpose can be achieved (i.e., adjusting the stiffness to the desired stiffness and the height to the desired height). However, from the perspective of driving experience, adjustment sequence 2 can provide a better driving experience than adjustment sequence 1; and from the perspective of energy saving, adjustment through adjustment sequence 1 can save energy compared to adjustment sequence 2. In this case, it is necessary to determine the adjustment sequence based on the importance of driving experience and energy saving. For example, generally speaking, the driving experience is more important and needs to be met first, so the adjustment sequence is determined to be adjustment sequence 2.

[0057] In summary, when receiving a joint adjustment instruction for the suspension height and suspension stiffness, it is necessary to determine whether the two adjustment sequences will lead to different driving experiences under the current scenario. If so, the adjustment sequence with a better driving experience should be selected; if the driving experiences are the same, a more energy-efficient solution should be selected to save energy.

[0058] Specifically, whether the two adjustment sequences will lead to different driving experiences in the current scenario is determined by the vehicle state, the pressure difference between the two air chambers of the multi-chamber air spring in the suspension, the suspension stiffness adjustment direction in the joint adjustment instruction, and the event type that triggers the joint adjustment instruction.

[0059] Step S20: adjusting the suspension height and suspension stiffness according to the adjustment sequence.

[0060] In this embodiment, after determining the adjustment sequence, the suspension height and suspension stiffness can be adjusted according to the adjustment sequence. For example, if adjustment sequence 1 is determined, the suspension height is first adjusted to the desired height and then the suspension stiffness is adjusted to the desired stiffness; if adjustment sequence 2 is determined, the suspension stiffness is first adjusted to the desired stiffness and then the suspension height is adjusted to the desired height.

[0061] In an embodiment of the present application, when a combined adjustment command for suspension height and suspension stiffness is received, the order in which the suspension height and suspension stiffness are adjusted is determined based on the vehicle state, the pressure difference between each air chamber of the multi-chamber air spring in the suspension, the suspension stiffness adjustment direction in the combined adjustment command, and the type of event that triggered the combined adjustment command; and the suspension height and suspension stiffness are adjusted according to the adjustment order. By integrating various information into the embodiment of the present application to determine the adjustment order, the suspension height and suspension stiffness can be adjusted according to different adjustment orders in different scenarios, thereby ensuring a good driving experience in multiple scenarios and minimizing energy waste.

[0062] Furthermore, in one embodiment, referring to Figure 2 , Figure 2 FIG. 1 is a detailed flow chart of determining the adjustment sequence in one embodiment. Figure 2As shown, the method of determining the adjustment sequence between the suspension height and the suspension stiffness based on the vehicle state, the pressure difference between each air chamber of the multi-chamber air spring in the suspension, the suspension stiffness adjustment direction in the joint adjustment instruction, and the event type that triggers the joint adjustment instruction includes:

[0063] Step S101, detecting whether the event type triggering the joint adjustment instruction is a suspension mode switching event;

[0064] In this embodiment, generally speaking, the types of events that trigger the joint adjustment command can be divided into two categories: one is suspension mode switching events, and the other is non-suspension mode switching events. Non-suspension mode switching events include roll suppression events (i.e., when the vehicle turns, the vehicle's posture is detected to be rolling, and the suspension height and suspension stiffness need to be adjusted to suppress roll) and pitch suppression events (i.e., when the vehicle accelerates or decelerates, the vehicle's posture is detected to be pitching, and the suspension height and suspension stiffness need to be adjusted to suppress pitch).

[0065] Taking the suspension controller as the executor of this embodiment as an example, the vehicle controller sends a joint adjustment instruction to the suspension controller in the form of a message, and uses different characters to identify the event type that triggers the joint adjustment instruction in a specific position of the message. For example, 0 is used to identify the event type that triggers the joint adjustment instruction as a suspension mode switching event, and 1 is used to identify the event type that triggers the joint adjustment instruction as a roll suppression event or a pitch suppression event.

[0066] When the suspension controller receives the joint adjustment instruction sent by the vehicle controller, it determines the event type that triggers the joint adjustment instruction based on the identification character of the specific bit in the joint adjustment instruction.

[0067] Step S102: If it is a suspension mode switching event, then detect whether the vehicle is in a stationary state;

[0068] In this embodiment, when the event type triggering the combined adjustment command is determined to be a suspension mode switching event, it is necessary to further determine whether the vehicle is stationary or in motion. This can be determined based on the vehicle speed. For example, if the vehicle speed is less than 5 km / h, the vehicle is determined to be stationary; otherwise, the vehicle is determined to be in motion. The "5 km / h" value here is for illustrative purposes only and can be flexibly set based on actual needs and is not a limitation here.

[0069] Step S103: If the vehicle is in a stationary state, detecting whether the pressure difference between each air chamber of the multi-chamber air spring in the suspension is less than or equal to a threshold;

[0070] In this embodiment, a multi-chamber air spring refers to an air spring with two or more air chambers. A three-chamber air spring is used as an example, comprising air chamber 1, air chamber 2, and air chamber 3. Specifically, pressure difference 1, pressure difference 2, and pressure difference 3 are detected to determine whether they are all less than or equal to a threshold value. Pressure sensor 1 can be used to collect air pressure value 1 within air chamber 1, and pressure sensor 2 can be used to collect air pressure value 2 within air chamber 2. The absolute value of the difference between pressure values ​​1 and 2 is calculated to obtain pressure difference 1. Similarly, pressure differences 2 and 3 can be obtained.

[0071] Step S104: If both are less than or equal to the threshold, then when the suspension stiffness adjustment direction in the joint adjustment instruction is to increase, the adjustment order is determined to be adjusting the suspension height first and then adjusting the suspension stiffness;

[0072] Step S105 , if both are less than or equal to the threshold, then when the suspension stiffness adjustment direction in the joint adjustment instruction is to adjust the suspension stiffness first and then adjust the suspension height, the adjustment sequence is determined to be: adjusting the suspension stiffness first and then adjusting the suspension height.

[0073] In this embodiment, if the event type that triggers the joint adjustment instruction is a suspension mode switching event, the vehicle state is stationary, and the pressure difference between the two air chambers of the multi-chamber air spring in the suspension is less than or equal to the threshold, then it means that at this time, there is no difference in adjusting the suspension height first and then adjusting the suspension stiffness or adjusting the suspension stiffness first and then adjusting the suspension height from the perspective of driving experience, so it is necessary to consider which adjustment order is more energy-efficient.

[0074] Taking a three-chamber air spring as an example, stiffness control solenoid valve 1 controls the flow of gas between chamber 1 (volume V1) and chamber 2 (volume V2), while stiffness control solenoid valve 2 controls the flow of gas between chamber 1 and chamber 3 (volume V3). The stiffness control solenoid valves are normally open and close when activated. When both solenoid valves 1 and 2 are de-energized, the air spring's adjustable volume is V1 + V2 + V3, resulting in the lowest suspension stiffness. When solenoid valve 1 is de-energized and solenoid valve 2 is energized, the air spring's adjustable volume is V1 + V2, resulting in medium-low suspension stiffness. When solenoid valve 1 is energized and solenoid valve 2 is de-energized, the air spring's adjustable volume is V1 + V3, resulting in medium-high suspension stiffness. When both solenoid valves 1 and 2 are energized, the air spring's adjustable volume is V1, resulting in the highest suspension stiffness.

[0075] Based on this, if the two adjustment sequences are indistinguishable from the perspective of driving experience, when the combined adjustment instruction indicates an increase in suspension stiffness adjustment direction, if the corresponding stiffness control solenoid valve is activated first and then the height is adjusted, the stiffness control solenoid valve will continue to be energized and consume energy during the height adjustment process. If the stiffness control solenoid valve is activated later, it will not be energized and consume energy during the height adjustment process, thus saving the stiffness control solenoid valve's energy consumption (14V×1.1A×4) during the height adjustment process (generally 10 seconds). Therefore, based on the above conditions, when the combined adjustment instruction indicates an increase in suspension stiffness adjustment direction, the adjustment sequence is determined to be adjusting the suspension height first and then adjusting the suspension stiffness.

[0076] Correspondingly, when the combined adjustment command indicates a smaller suspension stiffness, the corresponding stiffness control solenoid valve is de-energized first, saving energy during height adjustment. Therefore, based on the aforementioned conditions, when the combined adjustment command indicates a smaller suspension stiffness, the adjustment sequence is determined to be first adjusting the suspension stiffness and then adjusting the suspension height.

[0077] Furthermore, in one embodiment, referring to Figure 3 , Figure 3 FIG. 1 is a schematic diagram of a detailed process for determining the adjustment sequence in another embodiment. Figure 3 As shown, after step S101, the following steps are further included:

[0078] If it is not a suspension mode switching event, the adjustment sequence is determined to be adjusting the suspension stiffness first and then adjusting the suspension height.

[0079] In this embodiment, if it is not a suspension mode switching event, the adjustment sequence is directly determined to be adjusting the suspension stiffness first and then adjusting the suspension height, so as to ensure the riding experience and driving safety.

[0080] Further, in one embodiment, continue to refer to Figure 3 ,like Figure 3 As shown, after step S102, the following steps are further included:

[0081] If the vehicle state is a moving state, the adjustment sequence is determined to be adjusting the suspension stiffness first and then adjusting the suspension height.

[0082] In this embodiment, if the vehicle is in motion, passengers can strongly perceive changes in stiffness. Therefore, the adjustment sequence is to adjust suspension stiffness first, followed by suspension height. This allows passengers to experience the resulting stiffness changes while ensuring overall vehicle comfort and controllability.

[0083] Furthermore, in one embodiment, continue to refer to Figure 3 ,like Figure 3As shown, after step S103, the following steps are further included:

[0084] If there is at least one set of pressure differences between any two air chambers that is greater than a threshold, the adjustment sequence is determined to be adjusting the suspension stiffness first and then adjusting the suspension height.

[0085] In this embodiment, assuming stiffness control solenoid valve 1 is open and stiffness control solenoid valve 2 is closed, the air pressures in all three chambers are equal. When the load increases, the air pressures 1 and 2 in chambers 1 and 2 increase. However, because stiffness control solenoid valve 2 is closed, the air pressure 3 in chamber 3 remains unchanged. This results in the pressure difference between chambers 1 and 3 exceeding the threshold, and the pressure difference between chambers 2 and 3 exceeding the threshold. In this case, if the height is adjusted first and then the stiffness, the pressure difference between the chambers will cause the height to change again during the stiffness adjustment process. This will cause the occupant to experience two separate height changes, affecting the ride experience. Therefore, when at least one pairwise pressure difference between the air chambers exceeds the threshold, the adjustment sequence is determined to be to adjust the suspension stiffness first, followed by the suspension height. This allows the occupant to perceive a more continuous height change, improving the ride experience.

[0086] In a second aspect, an embodiment of the present application also provides a suspension control device.

[0087] In one embodiment, referring to Figure 4 , Figure 4 This is a functional module diagram of an embodiment of the suspension control device of this application. Figure 4 As shown, the suspension control device includes:

[0088] a determination module 10 for, upon receiving a combined adjustment instruction for suspension height and suspension stiffness, determining an adjustment sequence for the suspension height and suspension stiffness based on a vehicle state, a pressure difference between two air chambers of a multi-chamber air spring in the suspension, a suspension stiffness adjustment direction in the combined adjustment instruction, and a type of event triggering the combined adjustment instruction, and sending the adjustment sequence to an adjustment module 20;

[0089] The adjustment module 20 is used to adjust the suspension height and suspension stiffness according to the adjustment sequence.

[0090] Furthermore, in one embodiment, the determination module 10 is specifically configured to:

[0091] detecting whether the event type triggering the joint adjustment instruction is a suspension mode switching event;

[0092] If it is a suspension mode switching event, check whether the vehicle state is stationary;

[0093] If the vehicle is stationary, the pressure difference between each air chamber of the multi-chamber air spring in the suspension is detected to be less than or equal to a threshold value;

[0094] If both are less than or equal to the threshold, then when the suspension stiffness adjustment direction in the joint adjustment instruction is to increase, the adjustment order is determined to be adjusting the suspension height first and then adjusting the suspension stiffness;

[0095] If both are less than or equal to the threshold, when the suspension stiffness adjustment direction in the joint adjustment instruction is to adjust the suspension stiffness first and then adjust the suspension height.

[0096] Furthermore, in one embodiment, the determination module 10 is specifically configured to:

[0097] If it is not a suspension mode switching event, the adjustment sequence is determined to be adjusting the suspension stiffness first and then adjusting the suspension height.

[0098] Furthermore, in one embodiment, the determination module 10 is specifically configured to:

[0099] If the vehicle state is a moving state, the adjustment sequence is determined to be adjusting the suspension stiffness first and then adjusting the suspension height.

[0100] Furthermore, in one embodiment, the determination module 10 is specifically configured to:

[0101] If there is at least one set of pressure differences between any two air chambers that is greater than a threshold, the adjustment sequence is determined to be adjusting the suspension stiffness first and then adjusting the suspension height.

[0102] Among them, the functional implementation of each module in the above-mentioned suspension control device corresponds to each step in the above-mentioned suspension control method embodiment, and its functions and implementation processes are no longer detailed here.

[0103] In a third aspect, an embodiment of the present application provides an air suspension system.

[0104] In this embodiment, the air suspension system includes the suspension control device as described in the second aspect. Of course, the air suspension system also includes other conventional components, such as multi-chamber air springs, shock absorbers, guide mechanisms, etc., which will not be described in detail here.

[0105] In a fourth aspect, an embodiment of the present application provides a vehicle.

[0106] In this embodiment, the vehicle includes the air suspension system as described in the third aspect. Of course, the vehicle also includes other conventional systems, such as a power system, a braking system, a steering system, a driving system, an electrical system, an air conditioning system, a safety system, etc., which will not be described in detail here.

[0107] In a fifth aspect, an embodiment of the present application provides a suspension control device, which may be an electronic control unit.

[0108] Reference Figure 5 , Figure 5FIG2 is a schematic diagram of the hardware structure of the suspension control device involved in the embodiment of the present application. In the embodiment of the present application, the suspension control device may include a processor, a memory, a communication interface, and a communication bus.

[0109] The communication bus may be of any type and is used to interconnect the processor, memory, and communication interface.

[0110] Communication interfaces include input / output (I / O) interfaces, physical interfaces, and logical interfaces, which interconnect components within the suspension control device and connect the suspension control device to other devices (such as other computing devices or user devices). Physical interfaces can include Ethernet, fiber optic, and ATM interfaces; user devices can include displays and keyboards.

[0111] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0112] The processor may be a general-purpose processor that can call a suspension control program stored in a memory and execute the suspension control method provided in the embodiments of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the suspension control program is called can be referred to in the various embodiments of the suspension control method of the present application and will not be repeated here.

[0113] Those skilled in the art will understand that Figure 5 The hardware structure shown in the figure does not constitute a limitation to the present application and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0114] In a sixth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0115] The computer-readable storage medium of the present application stores a suspension control program, wherein when the suspension control program is executed by a processor, the steps of the suspension control method described above are implemented.

[0116] Among them, the method implemented when the suspension control program is executed can refer to the various embodiments of the suspension control method of this application, and will not be repeated here.

[0117] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0118] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit the "first", "second" and "third" to different types.

[0119] In the description of the embodiments of this application, the words "exemplary," "for example," or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary," "for example," or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "for example," or "for example" is intended to present the relevant concepts in a concrete manner.

[0120] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0121] In some processes described in the embodiments of the present application, multiple operations or steps are included that appear in a specific order. However, it should be understood that these operations or steps may not be performed in the order in which they appear in the embodiments of the present application or may be performed in parallel. The sequence numbers of the operations are only used to distinguish between different operations, and the sequence numbers themselves do not represent any order of execution. In addition, these processes may include more or fewer operations, and these operations or steps may be performed in sequence or in parallel, and these operations or steps may be combined.

[0122] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device to execute the methods described in each embodiment of the present application.

[0123] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A suspension control method, characterized in that: The suspension control method includes: When receiving a combined adjustment command for suspension height and suspension stiffness, determining the order of adjusting the suspension height and suspension stiffness based on the vehicle state, the pressure difference between each air chamber of the multi-chamber air spring in the suspension, the suspension stiffness adjustment direction in the combined adjustment command, and the type of event that triggered the combined adjustment command; Adjust the suspension height and suspension stiffness according to the adjustment sequence described.

2. The suspension control method according to claim 1, wherein: The step of determining the adjustment sequence between the suspension height and the suspension stiffness according to the vehicle state, the pressure difference between each air chamber of the multi-chamber air spring in the suspension, the suspension stiffness adjustment direction in the combined adjustment instruction, and the event type triggering the combined adjustment instruction includes: detecting whether the event type triggering the joint adjustment instruction is a suspension mode switching event; If it is a suspension mode switching event, check whether the vehicle state is stationary; If the vehicle is stationary, the pressure difference between each air chamber of the multi-chamber air spring in the suspension is detected to be less than or equal to a threshold value; If both are less than or equal to the threshold, then when the suspension stiffness adjustment direction in the joint adjustment instruction is to increase, the adjustment order is determined to be adjusting the suspension height first and then adjusting the suspension stiffness; If both are less than or equal to the threshold, when the suspension stiffness adjustment direction in the joint adjustment instruction is to adjust the suspension stiffness first and then adjust the suspension height.

3. The suspension control method according to claim 2, wherein: After detecting whether the event type triggering the joint adjustment instruction is a suspension mode switching event, the method further includes: If it is not a suspension mode switching event, the adjustment sequence is determined to be adjusting the suspension stiffness first and then adjusting the suspension height.

4. The suspension control method according to claim 2, wherein: After detecting whether the vehicle state is a stationary state, the method further includes: If the vehicle state is a moving state, the adjustment sequence is determined to be adjusting the suspension stiffness first and then adjusting the suspension height.

5. The suspension control method according to claim 2, wherein: After detecting whether the pressure differences between the two air chambers of the multi-chamber air spring in the suspension are both less than or equal to the threshold, the method further includes: If there is at least one set of pressure differences between any two air chambers that is greater than a threshold, the adjustment sequence is determined to be adjusting the suspension stiffness first and then adjusting the suspension height.

6. A suspension control device, characterized in that: The suspension control device includes: a determination module configured to, upon receiving a combined adjustment instruction for suspension height and suspension stiffness, determine an adjustment sequence for the suspension height and suspension stiffness based on a vehicle state, a pressure difference between two air chambers of a multi-chamber air spring in the suspension, a suspension stiffness adjustment direction in the combined adjustment instruction, and a type of event triggering the combined adjustment instruction, and send the adjustment sequence to an adjustment module; The adjustment module is used to adjust the suspension height and suspension stiffness according to the adjustment sequence.

7. An air suspension system, characterized in that: The air suspension system includes the suspension control device according to claim 6 .

8. A vehicle, characterized in that: The vehicle includes the air suspension system of claim 7 .

9. A suspension control device, characterized in that: The suspension control device includes a processor, a memory, and a suspension control program stored in the memory and executable by the processor, wherein when the suspension control program is executed by the processor, the steps of the suspension control method according to any one of claims 1 to 5 are implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a suspension control program, wherein when the suspension control program is executed by a processor, the steps of the suspension control method according to any one of claims 1 to 5 are implemented.

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