A control method and device for a semi-active suspension

Abstract

The application provides a control method and device of a semi-active suspension, which is applied to a semi-active suspension controller in a vehicle, real-time acquisition of a vehicle body parameter and a suspension parameter in a forward driving process of the vehicle, the vehicle body parameter including a parameter representing a vertical motion state of a vehicle body part of a front axle of the vehicle, the suspension parameter including a parameter representing a vertical motion state of a suspension part of the front axle of the vehicle, estimation of a vibration state of the front axle of the vehicle based on the vehicle body parameter and the suspension parameter, obtaining of a front axle vibration parameter, acquisition and obtaining of a control amount according to a current target speed of the vehicle, the front axle vibration parameter and a preset function relationship when the front axle vibration parameter is greater than or equal to a control threshold, and adjustment of a damping of an adjustable shock absorber of a rear axle of the semi-active suspension of the vehicle based on the control amount. In the scheme, the front axle response is used to realize the rear axle control, which not only avoids the situation that the delay affects the control effect of the semi-active suspension, but also increases the robustness of the control of the semi-active suspension.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automotive electronics, in particular to a control method and device of a semi-active suspension. BACKGROUND

[0002] When a vehicle travels on a bumpy road or through a speed bump road, it will shake violently, affecting the comfort of driving and riding. To solve the above problem, a vehicle equipped with a semi-active suspension can adjust the damping of the adjustable shock absorber by controlling the semi-active suspension, so as to ensure the smoothness of the vehicle through the obstacle road such as the bump and the speed bump.

[0003] The control method of the existing semi-active suspension is to use the sensor information of the front axle and the rear axle to realize the control of the corresponding axle. This method has a delay, which affects the control effect of the semi-active suspension. For example, when the rear axle passes through the speed bump, if only the signal of the rear axle sensor is used to control the rear axle shock absorber, it cannot be ensured that the rear axle is still on the speed bump when the control is performed. SUMMARY

[0004] Therefore, the embodiments of the present application provide a control method and device of a semi-active suspension to avoid the situation that the delay affects the control effect of the semi-active suspension, and increase the robustness of the control of the semi-active suspension.

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

[0006] The first aspect of the embodiments of the present application discloses a control method of a semi-active suspension, applied to a semi-active suspension controller in a vehicle, and the method comprises:

[0007] Real-time acquisition of vehicle body parameters and suspension parameters in the forward driving process of the vehicle; the vehicle body parameters include parameters representing the vertical motion state of the front axle part of the vehicle, and the suspension parameters include parameters representing the vertical motion state of the suspension of the front axle part of the vehicle;

[0008] Based on the vehicle body parameters and the suspension parameters, the vibration state of the front axle of the vehicle is estimated to obtain a front axle vibration parameter;

[0009] When the front axle vibration parameter is greater than or equal to a control threshold, the target vehicle speed is obtained by acquiring the current vehicle speed of the vehicle, and the control amount is obtained according to the target vehicle speed, the front axle vibration parameter and a preset function relationship;

[0010] Based on the control amount, the semi-active suspension of the vehicle controls the damping adjustment of the adjustable shock absorber of the rear axle.

[0011] Preferably, the vibration state of the front axle of the vehicle is estimated based on the body parameter and the suspension parameter to obtain a front axle vibration parameter, including:

[0012] The current driving mode of the vehicle set by the user is obtained, and the corresponding body vibration estimation coefficient and suspension vibration estimation coefficient are obtained according to the driving mode;

[0013] The sum value between the product of the body parameter and the body vibration estimation coefficient and the product of the suspension parameter and the suspension vibration estimation coefficient is calculated to obtain the front axle vibration parameter.

[0014] Preferably, after adjusting the damping of the adjustable shock absorber of the rear axle of the semi-active suspension of the vehicle based on the control quantity, the method further comprises:

[0015] It is judged whether the driving distance of the vehicle is greater than the wheelbase of the vehicle, and if so, the adjusting of the damping of the adjustable shock absorber of the rear axle of the semi-active suspension of the vehicle is stopped.

[0016] Preferably, the judging whether the driving distance of the vehicle is greater than the wheelbase of the vehicle, and if so, the adjusting of the damping of the adjustable shock absorber of the rear axle of the semi-active suspension of the vehicle is stopped, includes:

[0017] Every preset control period, the average speed of the vehicle in the control period is obtained;

[0018] Based on the average speed and the control period, the driving distance of the vehicle in the control period is calculated;

[0019] The driving distance is added to the historical driving distance in each control period to obtain the total driving distance;

[0020] It is judged whether the total driving distance is greater than the wheelbase of the vehicle;

[0021] If so, the adjusting of the damping of the adjustable shock absorber of the rear axle of the semi-active suspension of the vehicle is stopped.

[0022] Preferably, after adjusting the damping of the adjustable shock absorber of the rear axle of the semi-active suspension of the vehicle based on the control quantity, the method further comprises:

[0023] Every preset control period, the average speed of the vehicle in the control period is obtained;

[0024] If the average speed is not equal to the target speed, the target speed is updated based on the average speed;

[0025] update the control quantity according to the updated target vehicle speed, the front axle vibration parameter and a preset function relationship;

[0026] adjust the damping of the adjustable shock absorber of the rear axle of the semi-active suspension of the vehicle based on the updated control quantity, and return to execute the step of obtaining the average vehicle speed of the vehicle in the control period.

[0027] The second aspect of the embodiment of the application discloses a control device of a semi-active suspension, which is applied to a semi-active suspension controller in a vehicle, and the device comprises:

[0028] an obtaining unit, which is configured to obtain a vehicle body parameter and a suspension parameter in the forward driving process of the vehicle in real time, wherein the vehicle body parameter comprises a parameter representing the vertical motion state of the vehicle body of the front axle part of the vehicle, and the suspension parameter comprises a parameter representing the vertical motion state of the suspension of the front axle part of the vehicle;

[0029] an estimating unit, which is configured to estimate the vibration state of the front axle of the vehicle based on the vehicle body parameter and the suspension parameter, and obtain a front axle vibration parameter;

[0030] a calculating unit, which is configured to obtain a target vehicle speed when the front axle vibration parameter is greater than or equal to a control threshold, and obtain a control quantity according to the target vehicle speed, the front axle vibration parameter and a preset function relationship;

[0031] a control unit, which is configured to control the damping of the adjustable shock absorber of the rear axle of the semi-active suspension of the vehicle based on the control quantity.

[0032] Preferably, the estimating unit is specifically configured to:

[0033] obtain a current driving mode of the vehicle set by a user, and obtain a corresponding vehicle body vibration estimation coefficient and a suspension vibration estimation coefficient according to the driving mode;

[0034] calculate the sum value between the product of the vehicle body parameter and the vehicle body vibration estimation coefficient and the product of the suspension parameter and the suspension vibration estimation coefficient, and obtain a front axle vibration parameter.

[0035] Preferably, the device further comprises:

[0036] a judging unit, which is configured to judge whether the driving distance of the vehicle is greater than the wheelbase of the vehicle after the damping of the adjustable shock absorber of the rear axle of the semi-active suspension of the vehicle is adjusted based on the control quantity.

[0037] If yes, the damping of the adjustable shock absorber of the rear axle of the semi-active suspension of the vehicle is stopped from being adjusted.

[0038] Preferably, the judging unit comprises:

[0039] an obtaining sub-unit, configured to obtain an average vehicle speed of the vehicle in a preset control period every time the control period elapses;

[0040] a calculating sub-unit, configured to calculate a driving distance of the vehicle in the control period based on the average vehicle speed and the control period, and obtain a total driving distance by adding the driving distance to historical driving distances in previous control periods;

[0041] a judging sub-unit, configured to judge whether the total driving distance is greater than a wheelbase of the vehicle, and stop adjusting the damping of the adjustable shock absorber of the rear axle of the semi-active suspension of the vehicle if the total driving distance is greater than the wheelbase.

[0042] Preferably, the device further comprises:

[0043] an updating unit, configured to obtain an average vehicle speed of the vehicle in a preset control period every time the control period elapses after adjusting the damping of the adjustable shock absorber of the rear axle of the semi-active suspension of the vehicle based on the control amount, update the target vehicle speed based on the average vehicle speed if the average vehicle speed is not equal to the target vehicle speed, update the control amount according to the updated target vehicle speed, the front axle vibration parameter and a preset functional relationship, and adjust the damping of the adjustable shock absorber of the rear axle of the semi-active suspension of the vehicle based on the updated control amount, and return to the step of obtaining the average vehicle speed of the vehicle in the control period every time the control period elapses.

[0044] The semi-active suspension control method and device provided by the embodiment of the application are applied to a semi-active suspension controller in a vehicle, and the method comprises the following steps: real-time obtaining a vehicle body parameter and a suspension parameter in a forward driving process of the vehicle; the vehicle body parameter comprises a parameter representing a vertical motion state of a front axle part of the vehicle, and the suspension parameter comprises a parameter representing a vertical motion state of a suspension of the front axle part of the vehicle; estimating a vibration state of the front axle of the vehicle based on the vehicle body parameter and the suspension parameter to obtain a front axle vibration parameter; obtaining a control amount according to a current target vehicle speed of the vehicle, the front axle vibration parameter and a preset functional relationship when the front axle vibration parameter is greater than or equal to a control threshold; and adjusting the damping of an adjustable shock absorber of a rear axle of a semi-active suspension of the vehicle based on the control amount. In the scheme, the way of realizing rear axle control according to front axle response not only avoids the case that delay affects the control effect of the semi-active suspension, but also increases the robustness of the control of the semi-active suspension. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments or prior art description. Obviously, the drawings in the following description only represent some of the embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative effort based on the provided drawings.

[0046] Figure 1 A flow chart of a control method of a semi-active suspension disclosed in an embodiment of the present application;

[0047] Figure 2 A structure diagram of a control device of a semi-active suspension disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments only represent some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort fall within the scope of the present application.

[0049] In the present application, the term “comprising” or “including” or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitation, the element defined by the sentence “including a…” does not exclude the presence of another identical element in the process, method, article or device including the element.

[0050] As known from the background, the control mode of the existing semi-active suspension is to use the sensor information of the front axle and the rear axle to realize the control of the corresponding axle. This mode has a delay, which affects the control effect of the semi-active suspension. For example, when the rear axle passes through a deceleration strip, if only the signal of the rear axle sensor is used to control the rear axle shock absorber, it cannot be guaranteed that the rear axle is still on the deceleration strip when the control is performed.

[0051] Therefore, the embodiments of the present application disclose a control method and device of a semi-active suspension. In the present solution, the mode of realizing the control of the rear axle according to the response of the front axle not only avoids the situation that the delay affects the control effect of the semi-active suspension, but also increases the robustness of the control of the semi-active suspension.

[0052] As Figure 1As shown, a flow chart of a control method of a semi-active suspension disclosed in an embodiment of the application is shown, the method is applied to a semi-active suspension controller in a vehicle, and mainly includes the following steps:

[0053] Step S101: Real-time acquisition of vehicle body parameters and suspension parameters in the process of forward driving of the vehicle.

[0054] In step S101, the vehicle body parameters include parameters representing the vertical motion state of the vehicle body of the front axle part, and the suspension parameters include parameters representing the vertical motion state of the suspension of the front axle part.

[0055] It should be noted that the front axle and the rear axle of the vehicle both have vehicle body sensors and suspension sensors connected to the semi-active suspension controller, the vehicle body sensors of the front axle and the rear axle are respectively used to collect the vertical acceleration or vertical speed of the vehicle body of the front axle and the rear axle part, and the like, which can represent the vertical motion state of the vehicle body, and the suspension sensors of the front axle and the rear axle are respectively used to collect the vertical motion speed or vertical displacement of the suspension of the front axle and the rear axle, which can represent the vertical motion state of the suspension.

[0056] It should be further noted that the present application realizes the control of the rear axle according to the response of the front axle, that is, through the vehicle body parameters and the suspension parameters of the front axle, it is determined that the front axle has passed the obstacle, and the rear axle is controlled when the rear axle has not passed the obstacle, that is, the semi-active suspension adjusts the damping of the adjustable shock absorber of the rear axle, so that the rear axle passes the obstacle smoothly, and therefore the vehicle needs to be in the state of forward driving.

[0057] Step S102: Based on the vehicle body parameters and the suspension parameters, the vibration state of the front axle of the vehicle is estimated to obtain front axle vibration parameters.

[0058] In the specific implementation process of step S102, the current driving mode of the vehicle set by the user is obtained, and the corresponding vehicle body vibration estimation coefficient and suspension vibration estimation coefficient are obtained according to the driving mode.

[0059] Specifically, the driving mode signal M is obtained through the vehicle machine system, and the driving mode of the vehicle is determined according to the driving mode signal M.

[0060] For example, the comfortable mode M=1, the standard mode M=2, and the sports mode M=3.

[0061] Among them, each driving mode is pre-set with corresponding vehicle body vibration estimation coefficient and suspension vibration estimation coefficient.

[0062] Specifically, the vehicle body vibration estimation coefficient and the suspension vibration estimation coefficient can be determined according to the driving mode signal M, as shown in the following formula:

[0063]

[0064] Where α is the vehicle body vibration estimation coefficient, β is the suspension vibration estimation coefficient, and M is the driving mode signal. In comfort mode, M=1, and α and β are α1 and β1, respectively; in standard mode, M=2, and α and β are α2 and β2, respectively; in sport mode, M=3, and α and β are α3 and β3, respectively.

[0065] It should be noted that the assessment of the front axle vibration status differs depending on the driving mode set by the user.

[0066] For example, in comfort mode, more emphasis is placed on suppressing vehicle vibration. Therefore, the vehicle vibration estimation coefficient and suspension vibration estimation coefficient corresponding to comfort mode are larger, so that the calculated front axle vibration parameters are larger, making it easier to enter a state of controlling the rear axle.

[0067] In contrast, the Sport mode focuses more on road feel and grip, so the corresponding body vibration estimation coefficient and suspension vibration estimation coefficient are smaller, resulting in smaller calculated front axle vibration parameters, making it more difficult to enter a state of controlling the rear axle.

[0068] The front axle vibration parameters are obtained by summing the product of the vehicle body parameters multiplied by the vehicle body vibration estimation coefficient and the product of the suspension parameters multiplied by the suspension vibration estimation coefficient. The calculation formula is as follows:

[0069] Q = α × A + β × P

[0070] Where Q is the front axle vibration parameter, α is the vehicle body vibration estimation coefficient, β is the suspension vibration estimation coefficient, A is the vehicle body parameter, and P is the suspension parameter.

[0071] Step S103: When the current axle vibration parameter is greater than or equal to the control threshold, obtain the current vehicle speed to get the target vehicle speed, and obtain the control quantity based on the target vehicle speed, the front axle vibration parameter and the preset functional relationship.

[0072] In step S103, the target vehicle speed is obtained through the vehicle's ESP (Electronic Stability Program) system.

[0073] The control threshold is a pre-calibrated value obtained through actual vehicle testing. The front axle vibration parameters are compared with the control threshold as shown in the following formula:

[0074]

[0075] Where S represents the controller state, 1 indicates that pulse vibration control of the semi-automatic suspension needs to be activated to adjust the damping of the adjustable rear axle shock absorber, and 0 indicates that it does not need to be activated. Q Thres To control the threshold.

[0076] In the specific implementation of step S103, the output control quantity E is determined according to the controller state S. When the pulse vibration state is S=0, it means that the behavior does not need to be controlled, so the output is 0. E is determined by the target vehicle speed V and the vibration state, i.e., the front axle vibration parameter Q. That is, E is a function of the target vehicle speed V and the vibration state Q, as shown in the following formula:

[0077]

[0078] It should be noted that the control quantity in this invention is ultimately related to the parameters obtained by the body sensor and suspension sensor corresponding to the front axle. Therefore, even if the body sensor and suspension sensor corresponding to the rear axle malfunction, the semi-active suspension can still be controlled, thereby adjusting the damping of the adjustable shock absorber on the rear axle. This method of controlling the rear axle based on the response of the front axle can increase the robustness of the system.

[0079] Step S104: Adjust the damping of the adjustable shock absorber on the rear axle using the semi-active suspension of the vehicle based on the control quantity.

[0080] In the specific implementation of step S104, a pulse vibration control signal is generated based on the control quantity and sent to the semi-active suspension to perform pulse vibration control on the semi-active suspension of the vehicle, thereby adjusting the damping of the adjustable shock absorber of the rear axle.

[0081] In one embodiment, after step S104, it is also necessary to determine whether to exit pulse vibration control, that is, to stop controlling the semi-active suspension of the vehicle to adjust the damping of the adjustable shock absorber of the rear axle. Generally speaking, pulse vibration control can be exited after the rear axle passes an obstacle.

[0082] Since the pulse vibration control is triggered by the front axle wheel end passing over an obstacle, it is determined whether the vehicle's travel distance is greater than the vehicle's wheelbase. If so, the pulse vibration control is exited, that is, the control of the vehicle's semi-active suspension to adjust the damping of the adjustable shock absorber on the rear axle is stopped.

[0083] The specific process for determining whether the vehicle's travel distance is greater than its wheelbase is as follows:

[0084] After each preset control cycle, the average vehicle speed within the control cycle is obtained. Based on the average vehicle speed and the control cycle, the distance traveled by the vehicle within the control cycle is calculated. The total distance traveled is obtained by adding the historical distance traveled in previous control cycles to the total distance traveled.

[0085] Determine if the total driving distance is greater than the vehicle's wheelbase. If so, stop controlling the semi-active suspension to adjust the damping of the adjustable shock absorber on the rear axle.

[0086] The above judgment process can be expressed by the following formula:

[0087]

[0088] Where S represents the controller state, 1 indicates that pulse vibration control of the semi-automatic suspension needs to be activated to adjust the damping of the adjustable rear axle shock absorber, and 0 indicates that it does not need to be activated. V k Let be the average vehicle speed during the k-th control cycle, n be the number of previous control cycles, L be the wheelbase of the vehicle, and T be the control cycle.

[0089] In this embodiment of the invention, after each preset control cycle, a judgment is made on whether to exit pulse vibration control, so that the adjustable damper of the rear axle of the vehicle can restore normal damping in time, ensuring the comfort of the vehicle.

[0090] In one embodiment, during the period between the front axle passing an obstacle and the rear axle not yet passing the obstacle, the vehicle may decelerate, including through active deceleration by the driver. In this case, the control parameters are updated based on the real-time vehicle speed, as follows:

[0091] Step S11: After each preset control cycle, obtain the average vehicle speed within the control cycle.

[0092] Step S12: If the average vehicle speed is not equal to the target vehicle speed, the target vehicle speed is updated based on the average vehicle speed, and the control quantity is updated according to the updated target vehicle speed, front axle vibration parameters and preset functional relationship.

[0093] Step S13: Based on the updated control quantity, control the vehicle's semi-active suspension to adjust the damping of the adjustable shock absorber on the rear axle, and return to execute step S11.

[0094] A semi-active suspension control method disclosed in the above embodiments of the present invention is applied to a semi-active suspension controller in a vehicle. The method includes: acquiring vehicle body parameters and suspension parameters in real time during the vehicle's forward movement; the vehicle body parameters include parameters characterizing the vertical motion state of the front axle portion of the vehicle body; the suspension parameters include parameters characterizing the vertical motion state of the front axle suspension portion of the vehicle; estimating the vibration state of the front axle based on the vehicle body parameters and suspension parameters to obtain front axle vibration parameters; when the front axle vibration parameters are greater than or equal to a control threshold, acquiring and obtaining a control quantity based on the vehicle's current target speed, the front axle vibration parameters, and a preset functional relationship; and adjusting the damping of the adjustable shock absorber on the rear axle using the semi-active suspension based on the control quantity. In this solution, the method of controlling the rear axle based on the front axle response not only avoids delays that could affect the semi-active suspension control effect but also increases the robustness of the semi-active suspension control.

[0095] Corresponding to the semi-active suspension control method disclosed in the above embodiments of the present invention, such as Figure 2 The diagram shown is a structural diagram of a semi-active suspension control device disclosed in an embodiment of the present invention. This device is applied to a semi-active suspension controller in a vehicle and mainly includes:

[0096] The acquisition unit 201 is used to acquire the vehicle body parameters and suspension parameters in real time during the forward movement of the vehicle; the vehicle body parameters include parameters characterizing the vertical motion state of the vehicle body of the front axle, and the suspension parameters include parameters characterizing the vertical motion state of the suspension of the front axle.

[0097] The estimation unit 202 is used to estimate the vibration state of the front axle of the vehicle based on the vehicle body parameters and suspension parameters, and obtain the front axle vibration parameters.

[0098] The calculation unit 203 is used to obtain the current vehicle speed to obtain the target vehicle speed when the current axle vibration parameter is greater than or equal to the control threshold, and to obtain the control quantity based on the target vehicle speed, the front axle vibration parameter and the preset functional relationship.

[0099] Control unit 204 is used to adjust the damping of the adjustable shock absorber on the rear axle based on the control quantity of the vehicle's semi-active suspension.

[0100] In one embodiment, the estimation unit 202 is specifically used for:

[0101] Get the current driving mode set by the user, and get the corresponding body vibration estimation coefficient and suspension vibration estimation coefficient based on the driving mode;

[0102] The front axle vibration parameters are obtained by summing the product of the vehicle body parameters multiplied by the vehicle body vibration estimation coefficient and the product of the suspension parameters multiplied by the suspension vibration estimation coefficient.

[0103] In one embodiment, the control device for the semi-active suspension further includes:

[0104] The judgment unit is used to determine whether the vehicle's travel distance is greater than the vehicle's wheelbase after the semi-active suspension of the vehicle, which controls the vehicle based on the control quantity, adjusts the damping of the adjustable shock absorber on the rear axle.

[0105] If so, then stop controlling the vehicle's semi-active suspension to adjust the damping of the adjustable shock absorber on the rear axle.

[0106] In one embodiment, the determining unit includes:

[0107] The acquisition subunit is used to acquire the average vehicle speed within a preset control cycle.

[0108] The calculation subunit is used to calculate the vehicle's travel distance within the control cycle based on the average vehicle speed and the control cycle; the travel distance is then added to the historical travel distance within each previous control cycle to obtain the total travel distance.

[0109] The judgment subunit is used to determine whether the total driving distance is greater than the vehicle's wheelbase; if so, it stops controlling the vehicle's semi-active suspension to adjust the damping of the adjustable shock absorber on the rear axle.

[0110] In one embodiment, the control device for the semi-active suspension further includes:

[0111] The update unit is used to adjust the damping of the adjustable shock absorber on the rear axle using the semi-active suspension of the vehicle based on the control quantity. After each preset control cycle, it obtains the average vehicle speed within the control cycle. If the average vehicle speed is not equal to the target vehicle speed, it updates the target vehicle speed based on the average vehicle speed and updates the control quantity according to the updated target vehicle speed, front axle vibration parameters, and a preset functional relationship. Based on the updated control quantity, it controls the semi-active suspension of the vehicle to adjust the damping of the adjustable shock absorber on the rear axle and returns to the step of obtaining the average vehicle speed within the control cycle after each preset control cycle.

[0112] A semi-active suspension control device disclosed in the above embodiments of the present invention is applied to a semi-active suspension controller in a vehicle. The method includes: acquiring vehicle body parameters and suspension parameters in real time during the vehicle's forward movement; the vehicle body parameters include parameters characterizing the vertical motion state of the front axle portion of the vehicle body; the suspension parameters include parameters characterizing the vertical motion state of the front axle suspension portion of the vehicle; estimating the vibration state of the front axle based on the vehicle body parameters and suspension parameters to obtain front axle vibration parameters; when the front axle vibration parameters are greater than or equal to a control threshold, acquiring and obtaining a control quantity based on the vehicle's current target speed, the front axle vibration parameters, and a preset functional relationship; and adjusting the damping of the adjustable shock absorber on the rear axle using the semi-active suspension based on the control quantity. In this solution, the method of controlling the rear axle based on the front axle response not only avoids delays that could affect the semi-active suspension control effect but also increases the robustness of the semi-active suspension control.

[0113] 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.

[0114] 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.

[0115] 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 spirit or 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 control method of a semi-active suspension, characterized by, The method applied to a semi-active suspension controller in a vehicle comprises: real-time acquisition of a body parameter and a suspension parameter during forward driving of the vehicle; the body parameter comprises a parameter representing a vertical motion state of a body of a front axle part of the vehicle, and the suspension parameter comprises a parameter representing a vertical motion state of a suspension of the front axle part of the vehicle; estimation of a vibration state of the front axle of the vehicle based on the body parameter and the suspension parameter, to obtain a front axle vibration parameter; when the front axle vibration parameter is greater than or equal to a control threshold, acquisition of a current vehicle speed of the vehicle to obtain a target vehicle speed, and acquisition of a control amount according to the target vehicle speed, the front axle vibration parameter and a preset function relationship; control of the semi-active suspension of the vehicle on damping adjustment of an adjustable shock absorber of a rear axle based on the control amount; wherein the estimation of the vibration state of the front axle of the vehicle based on the body parameter and the suspension parameter to obtain the front axle vibration parameter comprises: acquisition of a driving mode of the vehicle set by a user, and acquisition of a body vibration estimation coefficient and a suspension vibration estimation coefficient corresponding to the driving mode; calculation of a sum value between a product of the body parameter and the body vibration estimation coefficient and a product of the suspension parameter and the suspension vibration estimation coefficient, to obtain the front axle vibration parameter.

2. The method of claim 1, wherein, After the control of the semi-active suspension of the vehicle on the damping adjustment of the adjustable shock absorber of the rear axle based on the control amount, the method further comprises: determination of whether a driving distance of the vehicle is greater than a wheelbase of the vehicle, and if so, stopping of the control of the semi-active suspension of the vehicle on the damping adjustment of the adjustable shock absorber of the rear axle.

3. The method of claim 2, wherein, The determination of whether the driving distance of the vehicle is greater than the wheelbase of the vehicle, and if so, the stopping of the control of the semi-active suspension of the vehicle on the damping adjustment of the adjustable shock absorber of the rear axle comprises: acquisition of an average vehicle speed of the vehicle in each preset control period; calculation of a driving distance of the vehicle in the control period based on the average vehicle speed and the control period; addition of the driving distance to historical driving distances in each control period to obtain a total driving distance; determination of whether the total driving distance is greater than the wheelbase of the vehicle; if so, stopping of the control of the semi-active suspension of the vehicle on the damping adjustment of the adjustable shock absorber of the rear axle.

4. The method according to any one of claims 1 to 3, characterized in that, After the control of the semi-active suspension of the vehicle on the damping adjustment of the adjustable shock absorber of the rear axle based on the control amount, the method further comprises: acquisition of an average vehicle speed of the vehicle in each preset control period; if the average vehicle speed is not equal to the target vehicle speed, updating of the target vehicle speed based on the average vehicle speed; updating of the control amount according to the updated target vehicle speed, the front axle vibration parameter and the preset function relationship; control of the semi-active suspension of the vehicle on the damping adjustment of the adjustable shock absorber of the rear axle based on the updated control amount, and return to the step of acquisition of the average vehicle speed of the vehicle in the control period.

5. A control device for a semi-active suspension, characterized by A semi-active suspension controller applied to a vehicle, the device comprising: an acquisition unit configured to acquire in real time a body parameter and a suspension parameter of the vehicle during forward driving of the vehicle, the body parameter comprising a parameter representing a vertical motion state of a body of a front axle portion of the vehicle, and the suspension parameter comprising a parameter representing a vertical motion state of a suspension of the front axle portion of the vehicle; an estimation unit configured to estimate a vibration state of the front axle of the vehicle based on the body parameter and the suspension parameter, to obtain a front axle vibration parameter; a calculation unit configured to, when the front axle vibration parameter is greater than or equal to a control threshold, acquire a target vehicle speed based on a current vehicle speed of the vehicle, and obtain a control quantity based on the target vehicle speed, the front axle vibration parameter and a preset functional relationship; a control unit configured to control, based on the control quantity, the semi-active suspension of the vehicle to adjust a damping of an adjustable shock absorber of a rear axle of the vehicle; wherein the estimation unit is specifically configured to: acquire a current driving mode of the vehicle set by a user, and acquire a body vibration estimation coefficient and a suspension vibration estimation coefficient corresponding to the driving mode based on the driving mode; calculate a sum value between a product of the body parameter and the body vibration estimation coefficient and a product of the suspension parameter and the suspension vibration estimation coefficient, to obtain the front axle vibration parameter.

6. The apparatus of claim 5, wherein, The device further comprises: a judgment unit configured to, after the control unit controls, based on the control quantity, the semi-active suspension of the vehicle to adjust the damping of the adjustable shock absorber of the rear axle of the vehicle, judge whether a driving distance of the vehicle is greater than a wheelbase of the vehicle; if yes, stop controlling the semi-active suspension of the vehicle to adjust the damping of the adjustable shock absorber of the rear axle of the vehicle.

7. The apparatus of claim 6, wherein, The judgment unit comprises: an acquisition subunit configured to, every time a preset control period elapses, acquire an average vehicle speed of the vehicle in the control period; a calculation subunit configured to calculate, based on the average vehicle speed and the control period, a driving distance of the vehicle in the control period, and add the driving distance to historical driving distances in past control periods to obtain a total driving distance; a judgment subunit configured to judge whether the total driving distance is greater than the wheelbase of the vehicle; if yes, stop controlling the semi-active suspension of the vehicle to adjust the damping of the adjustable shock absorber of the rear axle of the vehicle.

8. The apparatus of any one of claims 5 to 7, wherein, The device further comprises: an update unit configured to, after the control unit controls, based on the control quantity, the semi-active suspension of the vehicle to adjust the damping of the adjustable shock absorber of the rear axle of the vehicle, every time a preset control period elapses, acquire an average vehicle speed of the vehicle in the control period; if the average vehicle speed is not equal to the target vehicle speed, update the target vehicle speed based on the average vehicle speed; update the control quantity based on the updated target vehicle speed, the front axle vibration parameter and a preset functional relationship; control, based on the updated control quantity, the semi-active suspension of the vehicle to adjust the damping of the adjustable shock absorber of the rear axle of the vehicle, and return to execute the step of acquiring, every time a preset control period elapses, the average vehicle speed of the vehicle in the control period.

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