A method and device for controlling a semi-active suspension of a vehicle

Abstract

The application provides a kind of automobile semi-active suspension control method and device, periodically obtains the suspension information and wheel speed information of each wheel of vehicle;Judge whether each wheel is in wheel hop vibration state, and whether control current has been output for wheel;If it is and has not been output, output preset basic control current;If it is and has been output, based on the current value of the control current of last output and preset incremental current value, current control current value is obtained;According to current control current value, determine output current value, and output control current;If it is not and has been output, based on the current value of the control current of last output and preset reduction current value, current control current value is obtained and control current is output.The suspension information and wheel speed information of wheel are used to judge whether wheel is in wheel hop vibration state, further, the control current value needed to be output is calculated according to the wheel hop vibration state of wheel, which can better adapt to current working condition and improve control effect.

Description

Technical Field

[0001] This invention relates to the field of automotive electronics technology, and in particular to a method and device for controlling a semi-active suspension in an automobile. Background Technology

[0002] When driving off-road or traversing irregular surfaces, vehicles may experience wheel hopping, a phenomenon where one or more wheels briefly lose contact with the ground and quickly regain contact. This can lead to loss of vehicle stability and even serious accidents such as rollovers. To prevent wheel hopping and improve vehicle stability, suspension system control technologies are commonly used to ensure vehicle stability and safety under complex road conditions.

[0003] Currently, the common method for controlling suspension systems is for the controller to use a height sensor to obtain information about the vehicle's suspension, and then directly determine whether wheel hop control needs to be activated or directly decide the output of wheel hop control. However, this method of directly using sensor information to achieve wheel hop control has certain limitations: when wheel hop occurs, although the controller outputs the corresponding control quantity, it may not be able to cover the current operating condition, meaning it cannot automatically adjust the control quantity to adapt to the current operating condition, resulting in unsatisfactory control performance. Furthermore, since there are many reasons that can cause changes in actuator performance, such as changes in shock absorber valve system performance due to prolonged use or overheating, these factors need to be included as input to the controller to improve control performance. However, this method is labor-intensive, inefficient, and difficult to implement. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a semi-active suspension control method and device for automobiles to solve the problem of difficulty in controlling vehicle wheel hop and poor control effect.

[0005] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0006] The first aspect of this invention discloses a semi-active suspension control method for automobiles, the method comprising:

[0007] Periodically acquire suspension information and wheel speed information for each wheel of the vehicle;

[0008] For each wheel, based on the suspension information and the wheel speed information, it is determined whether the wheel is in a wheel bounce vibration state and whether a control current has been output to the wheel.

[0009] If the wheel is in a state of vibration and no control current is output, then the preset basic control current is output.

[0010] If the wheel is in a state of oscillation and control current has been output, the current control current value is calculated based on the current value of the previously output control current and the preset incremental current value.

[0011] The output current value is determined based on the current control current value, and the control current is output based on the output current value;

[0012] If the wheel is not in a state of vibration and a control current has been output, the current value of the current value is calculated based on the previous output control current value and the preset reduction current value, and the control current corresponding to the current control current value is output.

[0013] Preferably, the method further includes:

[0014] If the wheel is not in a state of wheel bounce and no control current is output to the wheel, then return to the step of periodically acquiring the suspension information and wheel speed information of each wheel of the vehicle.

[0015] Preferably, the periodic acquisition of suspension information and wheel speed information for each wheel of the vehicle includes:

[0016] The suspension movement speed and suspension travel of each wheel of the vehicle are periodically obtained using pre-set height sensors.

[0017] Acquire vehicle bus data and extract suspension model signals and wheel speed information from the vehicle bus data;

[0018] The suspension movement speed, the suspension travel, and the suspension model signal are determined as the suspension information for each wheel of the vehicle.

[0019] Preferably, determining whether a wheel is in a wheel bounce vibration state based on the suspension information and the wheel speed information for each wheel includes:

[0020] For each wheel, the suspension state and wheel speed state of the wheel are determined based on the suspension information and the wheel speed information;

[0021] Based on the suspension state and wheel speed state of the wheel, it is determined whether the wheel is in a state of wheel bounce vibration.

[0022] Preferably, determining the suspension state and wheel speed state of the wheel based on the suspension information and the wheel speed information includes:

[0023] A first threshold and a second threshold are obtained based on the suspension mode signal in the suspension information;

[0024] The product of the suspension motion speed and the first threshold in the suspension information is calculated, and the sum of the product of the suspension travel and the second threshold in the suspension information is obtained to obtain the value of the suspension state of the wheel.

[0025] Obtain the current wheel speed information and the previous wheel speed information of the wheel;

[0026] Calculate the difference between the current wheel speed information and the previous wheel speed information, and compare the difference with a preset change threshold;

[0027] If the difference is not greater than the preset change threshold, then the wheel speed state of the wheel is determined to be 0.

[0028] If the difference is greater than the preset change threshold, then the wheel speed state is determined to be 1.

[0029] Preferably, determining whether the wheel is in a wheel bounce vibration state based on the suspension state and wheel speed state of the wheel includes:

[0030] Calculate the product between the value of the suspension state of the wheel and the value of the wheel speed state;

[0031] When the product is less than the preset vibration judgment threshold, it is determined that the wheel is not in a wheel bounce vibration state;

[0032] When the product is not less than a preset vibration judgment threshold, the wheel is determined to be in a wheel bounce vibration state.

[0033] Preferably, determining the output current value based on the current control current value includes:

[0034] Determine whether the current control current value is greater than the preset maximum control current value;

[0035] If it is greater than the preset maximum control current value, then the output current value is determined to be the preset maximum control current value;

[0036] If it is not greater than, then the output current value is determined to be the current control current value.

[0037] A second aspect of the present invention discloses a semi-active suspension control device for automobiles, the device comprising:

[0038] The acquisition unit is used to periodically acquire suspension information and wheel speed information of each wheel of the vehicle;

[0039] The judgment unit is used to determine, for each wheel, whether the wheel is in a wheel bounce vibration state and whether a control current has been output to the wheel based on the suspension information and the wheel speed information.

[0040] The first output unit is used to output a preset basic control current if the wheel is in a jumping vibration state and no control current is output.

[0041] The calculation unit is used to calculate the current control current value based on the current value of the previously output control current and the preset incremental current value if the vehicle is in a wheel-jumping vibration state and a control current has been output.

[0042] The second output unit is used to determine the output current value based on the current control current value, and to output the control current based on the output current value;

[0043] The third output unit is used to calculate the current control current value based on the current value of the previously output control current and the preset reduction current value if the vehicle is not in a wheel-jumping vibration state and a control current has already been output, and then output the control current corresponding to the current control current value.

[0044] Preferably, the device further includes:

[0045] The return unit is used to return to the acquisition unit if the wheel is not in a wheel bounce vibration state and no control current is output to the wheel.

[0046] Preferably, the acquisition unit includes:

[0047] The first acquisition module is used to periodically acquire the suspension movement speed and suspension travel of each wheel of the vehicle using a pre-set height sensor.

[0048] The second acquisition module is used to acquire vehicle bus data and extract suspension model signals and wheel speed information from the vehicle bus data.

[0049] The determination module is used to determine the suspension movement speed, the suspension travel, and the suspension model signal as the suspension information for each wheel of the vehicle.

[0050] Based on the above embodiments of the present invention, a semi-active suspension control method and apparatus for automobiles periodically acquires suspension information and wheel speed information of each wheel of the vehicle; determines whether each wheel is in a wheel hopping vibration state and whether a control current has been output to the wheel; if it is in a wheel hopping vibration state and has not been output, a preset basic control current is output; if it is in a wheel hopping vibration state and has been output, the current control current value is calculated based on the current value of the previously output control current and a preset incremental current value; the output current value is determined based on the current control current value and the control current is output; if it is not in a wheel hopping vibration state and has been output, the current control current value is calculated based on the current value of the previously output control current and a preset reduced current value and the control current is output. By determining whether a wheel is in a wheel hopping vibration state based on the suspension information and wheel speed information, and further calculating the required output control current value based on the wheel hopping vibration state, the method can better adapt to the current operating conditions and improve the control effect. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0052] Figure 1 A flowchart of a semi-active suspension control method for automobiles provided in an embodiment of the present invention;

[0053] Figure 2 A schematic diagram of a semi-active suspension control method for automobiles provided in an embodiment of the present invention;

[0054] Figure 3 This is a structural block diagram of a semi-active suspension control device for automobiles provided in an embodiment of the present invention. Detailed Implementation

[0055] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0056] In this application, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0057] As the background technology indicates, the common suspension system control method currently uses a controller to acquire vehicle suspension information via a height sensor, and then directly determines whether wheel hop control needs to be activated or directly decides the output of wheel hop control. However, the controller cannot automatically adjust the control input to adapt to the vehicle's current operating conditions, resulting in poor control performance. Furthermore, since actuator performance is affected by various factors, the controller needs to consider these factors when outputting wheel hop control, which is difficult to implement and results in low control efficiency.

[0058] Therefore, this invention provides a semi-active suspension control method and apparatus for automobiles, which periodically acquires suspension information and wheel speed information of each wheel of the vehicle; determines whether each wheel is in a wheel hopping vibration state and whether a control current has been output to the wheel; if it is in a wheel hopping vibration state and has not been output, a preset basic control current is output; if it is in a wheel hopping vibration state and has been output, the current control current value is calculated based on the current value of the previously output control current and a preset incremental current value; the output current value is determined based on the current control current value and the control current is output; if it is not in a wheel hopping vibration state and has been output, the current control current value is calculated based on the current value of the previously output control current and a preset reduced current value and the control current is output. By determining whether a wheel is in a wheel hopping vibration state based on the suspension information and wheel speed information, and further calculating the required output control current value based on the wheel hopping vibration state, this method can better adapt to the current operating conditions and improve the control effect.

[0059] See Figure 1 The flowchart illustrates a semi-active suspension control method for automobiles provided by an embodiment of the present invention. The method includes:

[0060] Step S101: Periodically acquire suspension information and wheel speed information for each wheel of the vehicle.

[0061] In the specific implementation step S101, a pre-set observation duration T is obtained, and the suspension information and wheel speed information of each wheel of the vehicle are continuously observed within the observation duration T, so as to determine whether the vehicle has wheel jumping based on the suspension information and wheel speed information of the wheel.

[0062] In practical applications, the suspension movement speed V and suspension travel H of each wheel are periodically acquired using pre-set height sensors. Secondly, vehicle bus data is acquired, and the suspension model signal M and wheel speed information V are extracted from the vehicle bus data. W Finally, the suspension motion speed V, suspension travel H, and suspension model signal M are determined as the suspension information for each wheel of the vehicle.

[0063] It should be noted that the height sensor is pre-installed at the observation point of the vehicle suspension. The height sensor collects real-time height data of the vehicle suspension and sends it to the vehicle's control system for processing. Based on the height data transmitted by the height sensor, the vehicle's control system calculates the difference between the current height and the previous height, divides it by the time interval, and obtains the suspension's speed.

[0064] It is understandable that suspension dynamic travel H refers to the tensile or compressive displacement of the suspension relative to its equilibrium position. Wheel speed information V W This refers to the wheel speed signal in the vehicle bus data.

[0065] Step S102: For each wheel, determine whether the wheel is in a wheel hopping vibration state and whether control current has been output to the wheel based on the suspension information and wheel speed information. If the wheel is in a wheel hopping vibration state and no control current has been output to the wheel, proceed to step S103; if the wheel is in a wheel hopping vibration state and control current has been output to the wheel, proceed to step S104; if the wheel is not in a wheel hopping vibration state and control current has been output to the wheel, proceed to step S106; if the wheel is not in a wheel hopping vibration state and no control current has been output to the wheel, return to step S101.

[0066] In the specific implementation of step S102, for each wheel of the vehicle, based on the suspension information and wheel speed information corresponding to the current wheel, it is determined whether the wheel is in a wheel bounce vibration state (that is, whether the wheel has a wheel bounce phenomenon) and whether the controller has output control current for the current wheel.

[0067] Specifically, the process of determining whether a wheel is in a state of wheel bounce vibration based on the current suspension information and wheel speed information of the wheel is shown in processes A1 and A2:

[0068] Process A1: For each wheel, determine the suspension status and wheel speed status of the wheel based on the suspension information and wheel speed information.

[0069] It should be noted that the process of determining the suspension state X1 of the wheel based on the suspension information is as follows:

[0070] First, based on the suspension mode signal M in the suspension information, the first threshold α and the second threshold β are obtained.

[0071] In other words, the first threshold α and the second threshold β are determined by the suspension mode signal M. For example, as shown in formula (1):

[0072] (1)

[0073] Specifically, when the suspension mode signal M=1, the first threshold α is α1 and the second threshold β is β1; when the suspension mode signal M=2, the first threshold α is α2 and the second threshold β is β2; when the suspension mode signal M=3, the first threshold α is α3 and the second threshold β is β3.

[0074] Secondly, calculate the product of the suspension motion speed V and the first threshold α in the suspension information, and calculate the product of the suspension travel H and the second threshold β in the suspension information.

[0075] Finally, the sum of these two products is calculated to obtain the value of the wheel's suspension state X1.

[0076] For example, as shown in formula (2):

[0077] (2)

[0078] Where V is the suspension speed and H is the suspension travel.

[0079] Understandably, the process of determining the value of wheel speed state X2 based on wheel speed information is as follows:

[0080] First, obtain the current wheel speed information. And the previous round of information .

[0081] Secondly, calculate the current wheel speed information. And the previous round of information The difference is calculated and compared with a preset change threshold V. Thres Compare the values. If the difference is not greater than the preset change threshold V, then... Thres If the difference is greater than the preset change threshold V, then the wheel speed is set to 0; Thres If so, the wheel speed state is determined to be 1.

[0082] For example, as shown in formula (3):

[0083] (3)

[0084] in, This refers to the wheel speed information obtained from the nth measurement, i.e., the current wheel speed information; This refers to the wheel speed information obtained from the (n-1)th measurement, i.e., the previous wheel speed information; VThres This is a preset threshold for change.

[0085] Process A2: Determine whether the wheel is in a state of wheel bounce vibration based on the suspension status and wheel speed status of the wheel.

[0086] Specifically, the product of the suspension state value and the wheel speed state value is calculated; and the product is then added to a preset vibration judgment threshold X. Thres Compare the results; when the product is less than the preset vibration judgment threshold X Thres When the wheel is not in a state of wheel bounce vibration, it is determined that the product is not less than the preset vibration judgment threshold X. Thres At that time, it was determined that the wheel was in a state of wheel bounce vibration.

[0087] For example, as shown in formula (4):

[0088] (4)

[0089] Where X1 represents the suspension state of the wheel; X2 represents the wheel speed; X Thres The preset vibration judgment threshold is set.

[0090] It is understandable that when S=0, it is determined that the wheel is not in a state of wheel bounce vibration; when S=1, it is determined that the wheel is in a state of wheel bounce vibration.

[0091] It should be noted that when it is determined that the vehicle's wheels are in a state of wheel hopping vibration (i.e., wheel hopping has occurred), a control current needs to be output to control the wheels so that they no longer hop. Furthermore, the magnitude of the control current depends on whether a control current has already been output. Based on this, please refer to the following steps for further explanation of the control current output.

[0092] Step S103: If the wheel is in a state of vibration and no control current is output, then output the preset basic control current.

[0093] In the specific implementation of step S103, if the wheel is in a wheel bounce vibration state and no control current is output for the wheel, a preset basic control current is obtained and a preset basic control current is output for the current wheel.

[0094] In other words, if the wheel is in a state of wheel bounce and no control current is output to the wheel, that is, the previous control current output to the wheel was 0 (Cout). n-1 If =0), then the preset basic control current C is output for the current wheel. base .

[0095] Step S104: If the wheel is in a jumping vibration state and a control current has been output, the current control current value is calculated based on the current value of the previously output control current and the preset incremental current value.

[0096] In the specific implementation of step S104, if the wheel is in a wheel bounce vibration state and a control current has been output to the wheel, the current value of the previously output control current is obtained; the current value of the previously output control current is added to the preset incremental current value to obtain the current control current value.

[0097] Understandably, when a wheel is in a state of wheel hopping vibration, if the output control current is still insufficient to control the wheel hopping phenomenon, the control current to the wheel is increased to further control the wheel hopping phenomenon.

[0098] Step S105: Determine the output current value based on the current control current value, and output the control current based on the output current value.

[0099] In the specific implementation of step S105, the current control current value is compared with the preset maximum control current value to determine the final output current value, and then the control current is output based on the final output current value.

[0100] In practical applications, it is determined whether the current control current value is greater than the preset maximum control current value; if the current control current value is greater than the preset maximum control current value, the output current value is determined to be the preset maximum control current value; if the current control current value is not greater than the preset maximum control current value, the output current value is determined to be the current control current value.

[0101] Step S106: If the wheel is not in a jumping vibration state and a control current has been output, calculate the current value based on the previous output control current value and the preset reduction current value, and output the control current corresponding to the current control current value.

[0102] In the specific implementation of step S106, if the wheel is not in a wheel bounce vibration state and a control current has been output to the wheel, the current value of the previously output control current is obtained; the current value of the previously output control current is subtracted from the preset reduction current value to obtain the current control current value, and the control current is output according to the current control current value.

[0103] In summary, when the wheel is in a state of wheel bounce vibration, it will affect the control output Cout. For example, as shown in formula (5):

[0104] (5)

[0105] Among them, Cout n C is the control current value output by the controller in step n;base Preset base control current; Cout n-1 Cinc is the control current value output by the controller in step n-1; Cinc is the preset incremental current value; Cdec is the preset decrease current value; Cmax is the preset maximum control current value; S n Used to indicate whether a wheel is experiencing wheel bounce or vibration.

[0106] It should be noted that, based on the content shown in formula (5), when Cout n When Cout is less than or equal to 0, the controller shuts off the output, meaning it does not output control current; when Cout... n When the value is greater than 0, the controller outputs a control current for the current wheel to control wheel bounce.

[0107] It is understandable that a unified control method is proposed for various working conditions of the wheel based on formula (5). The control logic can be completed by calibrating the preset basic control current, preset maximum control current value, preset incremental current value and preset reduced current value, which simplifies the calibration process.

[0108] In this embodiment of the invention, the system determines whether a wheel is in a wheel-jumping vibration state based on the wheel's suspension information and wheel speed information. Furthermore, it automatically calculates the required output control current value based on the wheel's wheel-jumping vibration state, and can automatically adjust the output control current value to better adapt to the current operating conditions, thus improving the control effect. In this invention, even when the performance of the shock absorbers in the semi-active suspension system changes, this method can still generate an effective control quantity, improving the robustness of the controller.

[0109] In order to better understand Figure 1 For further explanation, please refer to [link / reference]. Figure 2 The diagram shows a schematic of a semi-active suspension control method for automobiles provided by an embodiment of the present invention.

[0110] It should be noted that the wheel jump control logic can be understood as the controller outputting control current to the wheels.

[0111] like Figure 2 As shown, the semi-active suspension controller determines whether each wheel of the vehicle is in a state of wheel bounce vibration within the observation period T based on the suspension movement speed V, suspension height information (i.e., suspension travel H), wheel speed information Vw, and driving mode (i.e., suspension mode signal M).

[0112] If the judgment result indicates that the wheel is not in a wheel bounce vibration state and has not entered the wheel bounce control logic, then continue to observe based on the suspension movement speed V, suspension height information, wheel speed information Vw, and driving mode.

[0113] If the judgment result indicates that the wheel is in a wheel hopping vibration state, the wheel hopping control logic is entered. Further, it checks whether control current has been output. If no control current is output, a preset basic control current is output. The system continues to observe whether the wheel is in a wheel hopping vibration state. If the wheel is still in a wheel hopping vibration state, it indicates that the preset basic control current is insufficient for the current operating condition, meaning the preset basic control current is not large enough. In this case, a preset incremental current value is added to the preset basic control current based on the preset incremental current value, and this is output for the current wheel.

[0114] Understandably, the system continues to monitor whether the wheel is in a state of wheel hopping vibration. If the wheel is still in a state of wheel hopping vibration, the control current is further increased until the output control current value is the preset maximum control current value, or the wheel is no longer in a state of wheel hopping vibration.

[0115] It should be noted that if the wheel is not in a state of wheel bounce during continuous observation, the output control current should be gradually reduced.

[0116] Specifically, see formula (6), when Cout n When Cout is less than or equal to 0, the controller shuts off the output, and the flag E of the polling control logic is 0, meaning no control current is output; when Cout n When the value is greater than 0, the controller outputs control current for the current wheel, and the flag E of the wheel jump control logic is set to 1.

[0117] (6)

[0118] In this embodiment of the invention, the system determines whether the wheel is in a wheel bounce vibration state based on the wheel suspension information and wheel speed information. Furthermore, it calculates the control current value to be output based on the wheel bounce vibration state, which can better adapt to the current working conditions and improve the control effect.

[0119] Corresponding to the semi-active suspension control method for automobiles provided in the above embodiments of the present invention, see also... Figure 3 The diagram illustrates a structural block diagram of a semi-active suspension control device for automobiles according to an embodiment of the present invention. The device includes: an acquisition unit 301, a judgment unit 302, a first output unit 303, a calculation unit 304, a second output unit 305, and a third output unit 306.

[0120] The acquisition unit 301 is used to periodically acquire suspension information and wheel speed information of each wheel of the vehicle.

[0121] The judgment unit 302 is used to determine, for each wheel, whether the wheel is in a wheel bounce vibration state and whether control current has been output to the wheel based on suspension information and wheel speed information.

[0122] The first output unit 303 is used to output a preset basic control current if the wheel is in a jumping vibration state and no control current is output.

[0123] The calculation unit 304 is used to calculate the current control current value based on the current value of the previously output control current and the preset incremental current value if the wheel is in a state of wheel bounce vibration and a control current has been output.

[0124] The second output unit 305 is used to determine the output current value based on the current control current value, and output the control current based on the output current value.

[0125] The second output unit 305 is specifically used to: determine whether the current control current value is greater than the preset maximum control current value; if it is greater, determine that the output current value is the preset maximum control current value; if it is not greater, determine that the output current value is the current control current value.

[0126] The third output unit 306 is used to calculate the current control current value based on the current value of the previously output control current and the preset reduction current value if the vehicle is not in a wheel-jumping vibration state and has already output control current, and then output the control current corresponding to the current control current value.

[0127] In this embodiment of the invention, the system determines whether the wheel is in a wheel bounce vibration state based on the wheel suspension information and wheel speed information. Furthermore, it calculates the control current value to be output based on the wheel bounce vibration state, which can better adapt to the current working conditions and improve the control effect.

[0128] Combination Figure 3 The device also includes a return unit, which returns to the execution acquisition unit 301 if the wheel is not in a wheel bounce vibration state and no control current is output to the wheel.

[0129] Combination Figure 3 The content shown indicates that the acquisition unit 301 includes: a first acquisition module, a second acquisition module, and a determination module. The implementation principles of each module are as follows:

[0130] The first acquisition module is used to periodically acquire the suspension movement speed and suspension travel of each wheel of the vehicle using a pre-set height sensor.

[0131] The second acquisition module is used to acquire vehicle bus data and extract suspension model signals and wheel speed information from the vehicle bus data.

[0132] The determination module is used to determine the suspension motion speed, suspension travel, and suspension model signals as suspension information for each wheel of the vehicle.

[0133] Combination Figure 3The content shown indicates that the judgment unit 302 includes a determination submodule and a judgment submodule. The implementation principles of each module are as follows:

[0134] The determination submodule is used to determine the suspension state and wheel speed state of each wheel based on suspension information and wheel speed information.

[0135] Specifically, the determination submodule is used for:

[0136] The first threshold and the second threshold are obtained based on the suspension mode signal in the suspension information; the product of the suspension motion speed in the suspension information and the first threshold is calculated, and the sum of the product of the suspension travel and the second threshold in the suspension information is obtained to get the value of the suspension state of the wheel.

[0137] Obtain the current wheel speed information and the previous wheel speed information; calculate the difference between the current wheel speed information and the previous wheel speed information, and compare the difference with a preset change threshold; if the difference is not greater than the preset change threshold, determine that the wheel speed state is 0; if the difference is greater than the preset change threshold, determine that the wheel speed state is 1.

[0138] The judgment submodule is used to determine whether a wheel is in a state of wheel bounce vibration based on the wheel's suspension state and wheel speed state.

[0139] The judgment submodule is specifically used for:

[0140] Calculate the product between the suspension state value and the wheel speed state value of the wheel; when the product is less than the preset vibration judgment threshold, determine that the wheel is not in a wheel bounce vibration state; when the product is not less than the preset vibration judgment threshold, determine that the wheel is in a wheel bounce vibration state.

[0141] In summary, this invention provides a semi-active suspension control method and apparatus for automobiles. It periodically acquires suspension information and wheel speed information for each wheel of the vehicle; determines whether each wheel is in a wheel hopping vibration state and whether a control current has been output to the wheel; if in a wheel hopping vibration state and no control current has been output, a preset basic control current is output; if in a wheel hopping vibration state and control current has been output, the current control current value is calculated based on the previous output control current value and a preset incremental current value; the output current value is determined based on the current control current value, and the control current is output; if not in a wheel hopping vibration state and control current has been output, the current control current value is calculated based on the previous output control current value and a preset reduced current value, and the control current is output. By determining whether a wheel is in a wheel hopping vibration state based on the suspension information and wheel speed information, and further calculating the required output control current value based on the wheel hopping vibration state, this method can better adapt to the current operating conditions and improve the control effect.

[0142] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0143] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software 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 implementations should not be considered beyond the scope of this invention.

[0144] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A semi-active suspension control method for automobiles, characterized in that, The method includes: Periodically acquire suspension information and wheel speed information for each wheel of the vehicle; For each wheel, based on the suspension information and the wheel speed information, it is determined whether the wheel is in a wheel bounce vibration state and whether a control current has been output to the wheel. If the wheel is in a state of vibration and no control current is output, then the preset basic control current is output. If the wheel is in a state of oscillation and control current has been output, the current control current value is calculated based on the current value of the previously output control current and the preset incremental current value. The output current value is determined based on the current control current value, and the control current is output based on the output current value; If the wheel is not in a state of vibration and a control current has been output, the current value of the current value is calculated based on the previous output control current value and the preset reduction current value, and the control current corresponding to the current control current value is output.

2. The method according to claim 1, characterized in that, The method further includes: If the wheel is not in a state of wheel bounce and no control current is output to the wheel, then return to the step of periodically acquiring the suspension information and wheel speed information of each wheel of the vehicle.

3. The method according to claim 1, characterized in that, The periodic acquisition of suspension information and wheel speed information for each wheel of the vehicle includes: The suspension movement speed and suspension travel of each wheel of the vehicle are periodically obtained using pre-set height sensors. Acquire vehicle bus data and extract suspension model signals and wheel speed information from the vehicle bus data; The suspension movement speed, the suspension travel, and the suspension model signal are determined as the suspension information for each wheel of the vehicle.

4. The method according to claim 1, characterized in that, The step of determining whether a wheel is in a wheel bounce vibration state based on the suspension information and wheel speed information for each wheel includes: For each wheel, the suspension state and wheel speed state of the wheel are determined based on the suspension information and the wheel speed information; Based on the suspension state and wheel speed state of the wheel, it is determined whether the wheel is in a state of wheel bounce vibration.

5. The method according to claim 4, characterized in that, Determining the suspension state and wheel speed state of the wheel based on the suspension information and the wheel speed information includes: A first threshold and a second threshold are obtained based on the suspension mode signal in the suspension information; The product of the suspension motion speed and the first threshold in the suspension information is calculated, and the sum of the product of the suspension travel and the second threshold in the suspension information is obtained to obtain the value of the suspension state of the wheel. Obtain the current wheel speed information and the previous wheel speed information of the wheel; Calculate the difference between the current wheel speed information and the previous wheel speed information, and compare the difference with a preset change threshold; If the difference is not greater than the preset change threshold, then the wheel speed state of the wheel is determined to be 0. If the difference is greater than the preset change threshold, then the wheel speed state is determined to be 1.

6. The method according to claim 5, characterized in that, Determining whether a wheel is in a wheel bounce vibration state based on the suspension state and wheel speed state of the wheel includes: Calculate the product between the value of the suspension state of the wheel and the value of the wheel speed state; When the product is less than the preset vibration judgment threshold, it is determined that the wheel is not in a wheel bounce vibration state; When the product is not less than a preset vibration judgment threshold, the wheel is determined to be in a wheel bounce vibration state.

7. The method according to claim 1, characterized in that, Determining the output current value based on the current control current value includes: Determine whether the current control current value is greater than the preset maximum control current value; If it is greater than the preset maximum control current value, then the output current value is determined to be the preset maximum control current value; If it is not greater than, then the output current value is determined to be the current control current value.

8. A semi-active suspension control device for automobiles, characterized in that, The device includes: The acquisition unit is used to periodically acquire suspension information and wheel speed information of each wheel of the vehicle; The judgment unit is used to determine, for each wheel, whether the wheel is in a wheel bounce vibration state and whether a control current has been output to the wheel based on the suspension information and the wheel speed information. The first output unit is used to output a preset basic control current if the wheel is in a jumping vibration state and no control current is output. The calculation unit is used to calculate the current control current value based on the current value of the previously output control current and the preset incremental current value if the vehicle is in a wheel-jumping vibration state and a control current has been output. The second output unit is used to determine the output current value based on the current control current value, and to output the control current based on the output current value; The third output unit is used to calculate the current control current value based on the current value of the previously output control current and the preset reduction current value if the vehicle is not in a wheel-jumping vibration state and a control current has already been output, and then output the control current corresponding to the current control current value.

9. The apparatus according to claim 8, characterized in that, The device further includes: The return unit is used to return to the acquisition unit if the wheel is not in a wheel bounce vibration state and no control current is output to the wheel.

10. The apparatus according to claim 8, characterized in that, The acquisition unit includes: The first acquisition module is used to periodically acquire the suspension movement speed and suspension travel of each wheel of the vehicle using a pre-set height sensor. The second acquisition module is used to acquire vehicle bus data and extract suspension model signals and wheel speed information from the vehicle bus data. The determination module is used to determine the suspension movement speed, the suspension travel, and the suspension model signal as the suspension information for each wheel of the vehicle.

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