Control method, device and equipment of closed air suspension system, storage medium and program product

Abstract

The invention discloses a control method, device and equipment of a closed air suspension system, a storage medium and a program product. The method comprises the following steps: acquiring a target height value and an actual height value of the air suspension; under the condition that the difference value of the target height value and the actual height value is not in the preset error range, a target adjusting strategy is determined on the basis of the difference value of the target height value and the actual height value, and the target adjusting strategy comprises at least one target air spring and a corresponding target adjusting mode; and an actuator is controlled to be started according to the target adjusting mode so as to adjust the air quantity of an air storage tank and the target air spring, height adjustment of the closed air suspension system is achieved, and the actuator comprises at least one of the air storage tank, an electromagnetic valve and a compressor. According to the embodiment of the invention, the working condition of the closed air suspension system can be accurately controlled, and the influence of the closed air suspension system on vehicle driving is reduced.

Description

Technical Field

[0001] The present application belongs to the technical field of air suspension control, and in particular, relates to a control method, device, equipment, storage medium and program product of a closed air suspension system. Background Art

[0002] A closed air suspension system is a suspension system that integrates components such as an air pump, a distribution valve, and a suspension controller, and seals compressed air at a certain pressure inside it.

[0003] The closed air suspension system includes air springs, air pumps, distribution valves, air tanks and suspension controllers. In the closed air suspension system, when the vehicle body needs to be lifted, the suspension controller of the closed air suspension system will control the air pump to pump the compressed air in the air tank into the air springs, thereby increasing the air pressure in the air springs and raising the vehicle body. Conversely, when the vehicle body needs to be lowered, the suspension controller will control the corresponding distribution valve to open, allowing the air pump to pump the compressed air in the air spring back into the air tank, thereby reducing the air pressure in the air spring and lowering the vehicle body.

[0004] During the control of the above-mentioned closed air suspension system, the suspension controller usually obtains the corresponding suspension control parameters through the suspension mode set by the driver, and then controls the corresponding air pump distribution valve to perform corresponding actions through the suspension control parameters to control the air suspension to raise or lower the air suspension. However, the suspension control parameters often cannot accurately reflect the suspension height of the air suspension. When the air suspension does not meet the vehicle body height, the adjustment action is performed, resulting in the height of the air control suspension cannot be accurately controlled, affecting the adjustment of the air suspension. Summary of the invention

[0005] The embodiments of the present application provide a control method, device, equipment, storage medium and program product for a closed air suspension system, which can accurately control the working condition of the closed air suspension system and reduce the impact of the closed air suspension system on vehicle driving.

[0006] On the one hand, an embodiment of the present application provides a control method for a closed air suspension system, wherein the closed air suspension system includes an air storage tank, a compressor, a solenoid valve, and an air spring connected in sequence by pipelines; the method includes:

[0007] Get the target height value and actual height value of the air suspension;

[0008] In the case where the difference between the target height value and the actual height value is not within the preset error range, determining a target adjustment strategy based on the difference between the target height value and the actual height value, the target adjustment strategy including at least one target air spring and its corresponding target adjustment method;

[0009] The actuator is controlled to start according to the target adjustment mode to adjust the air volume of the air tank and the target air spring to achieve height adjustment of the closed air suspension system. The actuator includes at least one of an air tank, a solenoid valve and a compressor.

[0010] Optionally, the actual height value of the air suspension system includes an actual height value of an air spring corresponding to each wheel of the vehicle;

[0011] The determining of the target adjustment strategy based on the difference between the target height value and the actual height value includes:

[0012] Determine the air spring corresponding to the difference not being within the preset error range as the target air spring;

[0013] For each of the target air springs, determining a target adjustment mode based on the difference;

[0014] In the case where there are multiple target air springs, an adjustment sequence of the target air springs is generated according to the target adjustment mode and the preset adjustment priority, wherein the preset adjustment priority includes that when the target adjustment mode is determined to be raising adjustment and the multiple target air springs are located on different axles, the priority of rear axle raising adjustment is higher than the priority of front axle raising adjustment; when the target adjustment mode is determined to be lowering adjustment and the multiple target air springs are located on different axles, the priority of front axle lowering adjustment is higher than the priority of rear axle lowering adjustment; when the multiple target air springs are located on the same axle, the priority of axle adjustment adjustment is higher than the priority of angle adjustment adjustment;

[0015] A target adjustment strategy is determined based on the target adjustment mode and the adjustment sequence of the target air spring.

[0016] Optionally, controlling the actuator to start according to the target adjustment mode to adjust the air volume of the target air spring to achieve height adjustment of the closed air suspension system includes:

[0017] Acquiring a first pressure of the air storage tank and a second pressure of the target air spring;

[0018] determining a first pressure differential based on the first pressure and the second pressure;

[0019] determining an actuator based on the first pressure difference;

[0020] The actuator is controlled to start so as to adjust the air volume of the target air spring to achieve height adjustment of the closed air suspension system.

[0021] Optionally, determining an actuator based on the first pressure difference includes:

[0022] In the case where the first pressure difference satisfies a preset air tank adjustment condition, a first solenoid valve between the air tank and the target air spring is determined as an actuator, wherein the first solenoid valve includes a solenoid valve that controls the communication between the air tank and the target air spring;

[0023] The controlling the actuator to start, so as to adjust the air volume of the air storage tank and the target air spring, to achieve height adjustment of the closed air suspension system, includes:

[0024] The first solenoid valve is controlled to open so that the air storage tank is connected to the target air spring, thereby achieving height adjustment of the closed air suspension system.

[0025] Optionally, after controlling the first solenoid valve to open, the method further includes:

[0026] Acquire a first height adjustment speed of the target air spring;

[0027] When the first height adjustment speed is less than the first preset adjustment speed, the compressor is controlled to start to increase the first height adjustment speed to achieve height adjustment of the closed air suspension system.

[0028] Optionally, when the first pressure difference does not satisfy a preset air storage tank adjustment condition, and the first pressure difference satisfies a preset compressor adjustment condition, a first solenoid valve and a compressor between the air storage tank and the target air spring are determined as actuators;

[0029] The controlling the actuator to start, so as to adjust the air volume of the air storage tank and the target air spring, to achieve height adjustment of the closed air suspension system, includes:

[0030] The first solenoid valve is controlled to open, and the compressor is controlled to start, so that the air storage tank is connected to the target air spring, thereby achieving adjustment of the target air spring.

[0031] Optionally, after controlling the first solenoid valve to open and controlling the compressor to start, the method further includes:

[0032] Obtaining a second height adjustment speed of the target air spring;

[0033] When the second height adjustment speed is less than a second preset adjustment speed, the second solenoid valve is controlled to open, and the second solenoid valve includes a solenoid valve that controls the air suspension to communicate with the outside.

[0034] On the other hand, an embodiment of the present application provides a control device for a closed air suspension system, wherein the closed air suspension system comprises an air storage tank, a solenoid valve, a compressor, and an air spring connected in sequence through a pipeline, and the device comprises:

[0035] An acquisition module, used to obtain a target height value and an actual height value of the air suspension;

[0036] a determination module, configured to determine a target adjustment strategy based on the difference between the target height value and the actual height value when the difference between the target height value and the actual height value is not within a preset error range, the target adjustment strategy comprising at least one target air spring and its corresponding target adjustment mode;

[0037] The control module is used to control the actuator to start according to the target adjustment method to adjust the air volume of the air tank and the target air spring to achieve height adjustment of the closed air suspension system, and the actuator includes at least one of an air tank, a solenoid valve and a compressor.

[0038] In yet another aspect, an embodiment of the present application provides a suspension controller, the device comprising: a processor and a memory storing computer program instructions;

[0039] When the processor executes the computer program instructions, the control method of the closed air suspension system as described in the first aspect is implemented.

[0040] On the other hand, an embodiment of the present application provides a computer storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the control method of the closed air suspension system as described in the first aspect is implemented.

[0041] On the other hand, an embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of a suspension controller, the suspension controller executes the control method of the closed air suspension system as described in the first aspect.

[0042] The control method, device, equipment, storage medium and program product of the closed air suspension system of the embodiment of the present application, when adjusting the height of the closed air suspension, reflects the precise suspension height that the closed air suspension needs to adjust by referring to the target height value and the actual height value, and then determines the target air spring and its corresponding target adjustment method according to the target height value and the actual height value, and controls the actuator to start according to the target adjustment method to construct a connecting pipeline between the air tank and the target air spring, thereby changing the air volume of the target air spring to adjust the height of the closed air suspension. Compared with adjusting the height of the closed air suspension only according to the suspension control parameters, the present application can adjust the height of the closed air suspension based on the difference between the actual height value and the target height value of the closed air suspension, and the height difference can accurately reflect the difference between the actual height value and the target height value, so the method can achieve the effect of accurately controlling the height of the closed air suspension. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0044] Figure 1 is a structural block diagram of a closed air suspension system provided by an embodiment of the present application;

[0045] Figure 2 This is an air flow diagram of a vehicle with the front axle of the vehicle lifted according to an embodiment of the present application;

[0046] Figure 3 This is an air flow diagram of a vehicle with the front axle of the vehicle lowered according to an embodiment of the present application;

[0047] Figure 4 is a flow chart of a control method for a closed air suspension system provided by an embodiment of the present application;

[0048] Figure 5 is a flow chart of a control method of a closed air suspension system provided by another embodiment of the present application;

[0049] Figure 6 is a flow chart of a control method of a closed air suspension system provided by another embodiment of the present application;

[0050] Figure 7 is a flow chart of a closed air suspension lowering method provided by a specific example of the present application;

[0051] Figure 8 It is a schematic flow chart of a closed air suspension raising method provided by a specific embodiment of the present application;

[0052] Fig. 9 is a schematic structural diagram of a control device for a closed air suspension system provided by another embodiment of the present application;

[0053] Fig.10 It is a structural schematic diagram of a suspension controller provided in yet another embodiment of the present application. DETAILED DESCRIPTION

[0054] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0055] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0056] In order to solve the problems of the prior art, the embodiments of the present application provide a control method, device, equipment, storage medium and program product for a closed air suspension system. When adjusting the height of the closed air suspension, the precise suspension height that the closed air suspension needs to adjust is reflected by referring to the target height value and the actual height value, and then the target air spring and its corresponding target adjustment method are determined by the target height value and the actual height value, and the actuator is controlled to start according to the target adjustment method to construct a connecting pipeline between the air tank and the target air spring, thereby changing the air volume of the target air spring to adjust the height of the closed air suspension. Compared with adjusting the height of the closed air suspension only according to the suspension control parameters, the present application can adjust the height of the closed air suspension based on the difference between the actual height value and the target height value of the closed air suspension, and the height difference can accurately reflect the difference between the actual height value and the target height value, so the method can achieve the effect of accurately controlling the height of the closed air suspension.

[0057] To facilitate understanding of the control method of the closed air suspension system, the closed air suspension system is first introduced below.

[0058] Reference Figure 1 , Figure 1 The structural block diagram of a closed air suspension system is shown. The closed air suspension system may include an air tank 10, a compressor 11, a solenoid valve 12, and an air spring 13 connected in sequence by pipelines. The compressor 11 is electrically connected to a suspension controller 14, and the suspension controller 14 is also electrically connected to the solenoid valve 12.

[0059] In some embodiments, taking a four-wheel vehicle as an example, the closed air suspension system may include a suspension controller 14, an air tank 10, a compressor 11, and four air springs 13. The suspension controller 14 is electrically connected to the compressor 11 and the solenoid valve 12, respectively. The four air springs 13 are connected to the output pipeline of the compressor 11 through the corresponding solenoid valves 12. The output port of the air tank 10 is connected to the input pipeline of the compressor 11. The pipeline connecting the air tank 10 and the compressor 11 is also provided with a solenoid valve TR and a solenoid valve PR.

[0060] In this embodiment, the four air springs 13 are respectively a left front air spring FL, a right front air spring FR, a right rear air spring RR and a left rear air spring RL. An intake solenoid valve AP and an exhaust solenoid valve AT are also provided on the total connecting pipeline between the four air springs and the compressor PUMP. The intake solenoid valve AP is used to control the air from the air tank RES to enter the air spring, and the exhaust solenoid valve AT is used to control the air from the air spring to be transmitted to the air tank.

[0061] Reference Figure 2Taking the control of the left front air spring FL and the right front air spring FR of the front axle of the vehicle to lift the whole vehicle as an example, the suspension controller controls the solenoid valve TR, the intake solenoid valve AP, the solenoid valve corresponding to the left front air spring FL, and the solenoid valve corresponding to the right front air spring FR to open and the compressor PUMP to start, and the air in the air tank RES passes through the solenoid valve TR, the compressor PUMP and the intake solenoid valve AP in turn, and then enters the left front air spring FL and the right front air spring FR respectively, increasing the height of the left front air spring FL and the right front air spring FR to achieve the lifting of the air suspension.

[0062] Reference Figure 3 Taking the control of the left front air spring FL and the right front air spring FR of the front axle to lower the entire vehicle as an example, the suspension controller 14 controls the solenoid valve PR, the air release solenoid valve AT, the solenoid valve corresponding to the left front air spring FL, and the solenoid valve corresponding to the right front air spring FR to open and the compressor PUMP to start, and the air in the left front air spring FL and the right front air spring FR passes through the air release solenoid valve AT, the compressor PUMP and the solenoid valve AT in turn, and returns to the air tank RSE, thereby reducing the height of the left front air spring FL and the right front air spring FR to achieve the overall lowering of the air suspension.

[0063] It is also worth mentioning that the air storage tank RES can be replenished or deflated through the compressor PUMP. For example, the suspension controller 14 can control the solenoid valve PR to open, the compressor PUMP to start, the compressor PUMP to inhale outside air, and the outside air passes through the compressor PUMP and the solenoid valve PR in turn, and enters the air storage tank RES to achieve the effect of replenishing air in the air storage tank; correspondingly, the solenoid valve TR can be controlled to open, and the air in the air storage tank RES can be transmitted to the outside atmosphere via the compressor.

[0064] In some other embodiments, a height sensor 15 may be provided in the closed air suspension at a position corresponding to the air spring 13 to detect an actual height value of the air suspension. The height sensor 15 is electrically connected to the suspension controller 14 .

[0065] In this embodiment, the suspension controller 14 can execute the following closed air suspension system control method through the actual height value transmitted by the height sensor 15, which will be described in detail when introducing the closed air suspension system control method.

[0066] In some embodiments, the suspension controller 14 can also be communicatively connected to the vehicle-mounted controller via the CAN bus, and the suspension controller 14 can obtain the vehicle's suspension mode, fault information, and vehicle motion information through the vehicle-mounted controller, wherein the vehicle motion information may include the vehicle motion speed and the vehicle motion acceleration.

[0067] The following is an introduction to the control method of the closed air suspension system provided in the embodiment of the present application.

[0068] Figure 4 FIG. 1 is a flow chart of a control method for a closed air suspension system provided by an embodiment of the present application. Figure 4 As shown, the control method of the closed air suspension system may include S401-S403:

[0069] S401, obtaining a target height value and an actual height value of the air suspension.

[0070] In some embodiments, the target height value of the air suspension may be determined by obtaining a target height value input by a user, or the suspension controller may obtain the target height value of the air suspension from the suspension mode selected by the user.

[0071] In some embodiments, when obtaining the actual height value of the air suspension, the height corresponding to each air spring can be obtained through the height sensor corresponding to the air spring corresponding to each wheel of the vehicle, and the actual height values ​​corresponding to each air spring are summed to calculate the average height value, and the average height value is used as the actual height value of the air suspension. The average value can also be obtained based on the height values ​​corresponding to the two air springs on the front axle of the vehicle as the actual height value of the air suspension. The actual height value can also be obtained through other channels or acquisition methods.

[0072] In some embodiments, when the difference between the target height value and the actual height value is within a preset error range, it indicates that the air suspension does not need to be adjusted at this time.

[0073] In some other embodiments, when the difference between the target height value and the actual height value is not within the preset error range, the process proceeds to step S402.

[0074] S402: Determine a target adjustment strategy based on the difference between the target height value and the actual height value.

[0075] In some embodiments, in S402, the target adjustment strategy includes at least one target air spring and its corresponding target adjustment method, wherein the target air spring may include an air spring whose difference between the target height value and the implementation height value is not within a preset error range, and the target adjustment method may include raising the air suspension and lowering the air suspension.

[0076] S403, controlling the actuator to start according to the target adjustment method to adjust the air volume of the air storage tank and the target air spring to achieve height adjustment of the closed air suspension system.

[0077] In some embodiments, in S403, the actuator may include at least one of an air tank, a solenoid valve and a compressor, that is, when the air suspension needs to be adjusted, the corresponding actuator is opened according to the pipeline design of the closed air suspension system to achieve height adjustment of the air suspension.

[0078] When adjusting the height of the closed air suspension, the precise suspension height that the closed air suspension needs to be adjusted is reflected by referring to the target height value and the actual height value, and then the target air spring and its corresponding target adjustment method are determined by the target height value and the actual height value. The actuator is controlled to start according to the target adjustment method to construct a connecting pipeline between the air tank and the target air spring, thereby changing the air volume of the target air spring to adjust the height of the closed air suspension. Compared with adjusting the height of the closed air suspension only according to the suspension control parameters, the embodiment of the present application can adjust the height of the closed air suspension based on the difference between the actual height value and the target height value of the closed air suspension, and the height difference can accurately reflect the difference between the actual height value and the target height value, so the method can achieve the effect of accurately controlling the height of the closed air suspension.

[0079] Reference Figure 5 In some embodiments, S402 may specifically include:

[0080] S4021, determining an air spring corresponding to a difference value that is not within a preset error range as a target air spring;

[0081] S4022, for each target air spring, determining a target adjustment method based on the difference;

[0082] S4023, when there are multiple target air springs, generating an adjustment sequence of the target air springs according to the target adjustment mode and the preset adjustment priority;

[0083] S4024, determining a target adjustment strategy based on a target adjustment method and adjustment sequence of a target air spring.

[0084] In this embodiment, when determining the target adjustment strategy, since the closed air suspension is adjusted by controlling the telescopic length of the air spring, when adjusting the height of the closed air suspension, the target air spring that needs to be adjusted is determined by the difference, and then for each target air spring, the target adjustment method of each target air spring is determined according to the difference between the target height value and the actual height value. If the number of target air springs determined is multiple, in order to ensure the precise adjustment of the height of the closed air suspension and the safety of the driver when adjusting the height, an adjustment order is generated according to the preset adjustment priority to specify the adjustment order of multiple target air springs, which can ensure both the rapid adjustment of the closed air suspension and the safety of the driver.

[0085] In some embodiments, in S4021, the target air spring may include an air spring whose target height value is higher than the actual height value, or an air spring whose actual height value is higher than the target height value.

[0086] In some embodiments, in S4022, when the target height value is higher than the actual height value, the target adjustment method corresponding to the target air spring is to raise the air suspension; when the target height value is lower than the actual height value, the target adjustment method corresponding to the target air spring is to lower the air suspension.

[0087] In some embodiments, in S4023, the preset adjustment priority may include that when the target adjustment mode is determined to be raising adjustment and multiple target air springs are located on different axles, the priority of rear axle raising adjustment is higher than the priority of front axle raising adjustment; when the target adjustment mode is determined to be lowering adjustment and multiple target air springs are located on different axles, the priority of front axle lowering adjustment is higher than the priority of rear axle lowering adjustment; when multiple target air springs are located on the same axle, the priority of axis adjustment adjustment is higher than the priority of angle adjustment adjustment.

[0088] In this embodiment, taking a four-wheel vehicle as an example, four air springs are arranged on the wheels. Taking three target air springs as an example, they are the left front air spring, the left rear air spring and the right rear air spring. At this time, the three target air springs need to be adjusted to achieve precise control of the air suspension.

[0089] Among them, the left rear air spring and the right rear air spring are both located at the rear axle of the vehicle, so the left rear air spring and the right rear air spring can be adjusted together directly, that is, the rear axle is raised and adjusted. For the left front air spring, angle adjustment can be used.

[0090] In this embodiment, when the left rear air spring and the right rear air spring are determined to be rear axle adjustment, the target adjustment methods corresponding to the left rear air spring and the right rear air spring are both to raise the air suspension, so the priority corresponding to the left rear air spring and the right rear air spring is rear axle lifting adjustment, and the priority corresponding to the left front air spring is angle adjustment, so for the three target air springs, the adjustment order can be left rear air spring, right rear air spring and left front air spring.

[0091] In some embodiments, in S4024, the target adjustment strategy for all target air springs can be determined through the target adjustment method and adjustment sequence corresponding to the target air springs determined above, that is, the target air springs are adjusted according to the adjustment sequence using the target adjustment method to achieve precise control of the air suspension.

[0092] Reference Figure 6In some embodiments, in order to adjust the air suspension more quickly, S403 may specifically include:

[0093] S4031, obtaining a first pressure of the air storage tank and a second pressure of the target air spring;

[0094] S4032, determining a first pressure difference based on the first pressure and the second pressure;

[0095] S4033, determining an actuator based on the first pressure difference;

[0096] S4034, controls the actuator to start, so as to adjust the air volume of the target air spring, and realizes the height adjustment of the closed air suspension system.

[0097] In this embodiment, when the air volume of the target air spring is adjusted, since the adjustment principle of the closed air suspension is to control the exchange air volume of the closed air suspension system to achieve the adjustment of the air suspension, when exchanging the air volume, the exchange of air volume can be promoted according to the pressure difference between the air tank and the target air spring. Therefore, it is necessary to obtain the first pressure of the air tank and the second pressure of the target air spring, determine the first pressure difference according to the first pressure and the second pressure, and determine the actuator according to the first pressure difference. Different first pressure differences can be adapted by controlling different actuators, and there is no need to open extra actuators, thereby reducing the waste of resources for opening the actuators.

[0098] In this embodiment, S4033 may specifically include:

[0099] When the first pressure difference satisfies a preset air tank adjustment condition, a first solenoid valve between the air tank and the target air spring is determined as an actuator, and the first solenoid valve includes a solenoid valve that controls the communication between the air tank and the target air spring.

[0100] In this embodiment, the preset air tank adjustment condition may include a first preset pressure difference range, that is, when the first pressure difference is within the first preset pressure difference range, the first pressure difference can be directly used as the power for gas exchange. The height of the air suspension can be adjusted by opening the solenoid valve connecting the air tank and the target air spring, that is, the first solenoid valve, so the first solenoid valve can be used as an actuator.

[0101] In this embodiment, S4034 may specifically include:

[0102] The first solenoid valve is controlled to open so that the air storage tank is connected to the target air spring to achieve height adjustment of the closed air suspension system.

[0103] That is, when adjusting the height of the target air spring, the suspension controller can control the first solenoid valve to open, so as to achieve gas volume exchange between the air storage tank and the target air spring, so as to achieve height adjustment of the air suspension.

[0104] In some other embodiments, as the air volume between the air storage tank and the target air spring is exchanged, the first pressure difference gradually decreases until the first pressure difference is zero, and the air storage tank cannot exchange air volume with the target air spring. Therefore, in order to quickly and accurately control the height adjustment of the air suspension, after controlling the first solenoid valve to open, the method may further include:

[0105] Obtaining a first height adjustment speed of a target air spring;

[0106] When the first height adjustment speed is less than the first preset adjustment speed, the compressor is controlled to start to increase the first height adjustment speed to achieve height adjustment of the closed air suspension system.

[0107] In this embodiment, when obtaining the first height adjustment speed of the target air spring, the first height adjustment speed can be determined by the height value before adjustment, the height value after adjustment and the adjustment time. When the first height adjustment speed is less than the first preset adjustment speed, it means that the air exchange cannot be achieved by the first pressure difference alone. Therefore, the compressor needs to be turned on to assist the air exchange and quickly achieve the height adjustment of the air suspension.

[0108] In some other embodiments, when the first pressure difference does not satisfy the preset air tank adjustment condition, and the first pressure difference satisfies the preset compressor adjustment condition, a first solenoid valve and a compressor between the air tank and the target air spring are determined as actuators;

[0109] S4034 may specifically include:

[0110] The first solenoid valve is controlled to open, and the compressor is controlled to start, so that the air storage tank is connected to the target air spring, thereby achieving adjustment of the target air spring.

[0111] In this embodiment, when the first solenoid valve and the compressor are determined as actuators, it means that the height adjustment of the air suspension cannot be quickly achieved by relying solely on the pressure of the air tank. Therefore, the first solenoid valve and the compressor can be determined as actuators, and the air suspension can be quickly adjusted by controlling the compressor.

[0112] In some other embodiments, after controlling the first solenoid valve to open and controlling the compressor to start, the method may further include:

[0113] Obtaining a second height adjustment speed of a target air spring;

[0114] When the second height adjustment speed is less than the second preset adjustment speed, the second solenoid valve is controlled to open, and the second solenoid valve includes a solenoid valve that controls the air suspension to communicate with the outside.

[0115] In this embodiment, when the adjustment of the air suspension is accelerated by the compressor, the second height adjustment speed can be obtained by the above-mentioned method of obtaining the first height adjustment speed. When the second height adjustment speed is less than the second preset height adjustment speed, it means that the air volume in the air tank is insufficient to support the adjustment of the target air spring, and the air volume in the air tank needs to be supplemented from the outside atmosphere to ensure the adjustment of the air suspension.

[0116] In order to better understand the control method of the closed air suspension, a specific example is given below to illustrate.

[0117] The suspension controller 14 obtains the target height value from the vehicle-mounted controller and performs real-time height monitoring of the height of the closed air suspension through the height sensor 15 to obtain the real-time height value of the air suspension, and then determines whether the difference between the real-time height value and the target height value is within the preset error range. If it is within the preset error range, no adjustment is required. If the difference between the actual height value and the target height value is not within the preset error range, it is necessary to determine the height adjustment priority of the target air spring according to the preset height priority, and then determine the target adjustment method according to the difference of the target air spring. Determine the adjustment strategy based on the target adjustment method and the target air spring. After determining the adjustment strategy, control the actuator to act. During this process, if the air volume in the air tank is insufficient to support the adjustment of the air spring, it is necessary to control the compressor and the solenoid valve to replenish or exhaust the air volume in the air tank to ensure that the air volume in the closed air suspension can achieve precise adjustment of the air spring.

[0118] In this example, when controlling the actuator action according to the target adjustment strategy, since the target air spring may need to be adjusted up or down, in order to understand the adjustment process more clearly, in this example, refer to Figure 7 , Figure 7 A specific closed air suspension lowering method flow chart is shown; taking reducing the air volume of a target air spring to achieve lowering of a closed air spring suspension as an example, the closed air suspension lowering method may include:

[0119] S701, obtaining a first pressure difference between a target air spring and an air storage tank;

[0120] S702, determining whether the first pressure difference satisfies a preset gas tank lowering adjustment condition, if the first pressure difference satisfies the preset gas tank lowering adjustment condition, proceeding to S703, if the first pressure difference does not satisfy the preset gas tank lowering adjustment condition, proceeding to S706;

[0121] S703, controlling the first solenoid valve to open, and reducing the target air volume of the air spring according to the first pressure difference, so as to reduce the height of the closed air suspension;

[0122] S704, obtaining a first altitude reduction speed;

[0123] S705, determining whether the first height lowering speed is greater than the first preset lowering speed, if the first height lowering speed is greater than the first preset lowering speed, returning to S704, if the first height lowering speed is not greater than the first preset lowering speed, turning to S706;

[0124] S706, determining whether the first pressure difference satisfies a preset compressor reduction adjustment condition. If the first pressure difference satisfies the preset compressor reduction adjustment condition, the process proceeds to S707; if the first pressure difference does not satisfy the preset compressor reduction adjustment condition, the process proceeds to S710;

[0125] S707, control the compressor to turn on;

[0126] S708, obtaining a second altitude reduction speed;

[0127] S709, determining whether the second height lowering speed is greater than the second preset lowering speed, if the second height lowering speed is greater than the second preset lowering speed, returning to S708, if the second height lowering speed is not greater than the second preset lowering speed, proceeding to S710;

[0128] S710, controlling the second solenoid valve to open so that the air in the target air spring is discharged into the outside atmosphere.

[0129] In another example, refer to Figure 8 , Figure 8 A flow chart of a specific closed air suspension raising method is shown; taking increasing the air volume of a target air spring to raise the closed air suspension as an example, the closed air suspension raising method may include:

[0130] S801, obtaining a first pressure difference between a target air spring and an air storage tank;

[0131] S802, determining whether the first pressure difference satisfies a preset gas storage tank raising adjustment condition. If the first pressure difference satisfies the preset gas storage tank raising adjustment condition, proceeding to S803; if the first pressure difference does not satisfy the preset gas storage tank raising adjustment condition, proceeding to S806;

[0132] S803, controlling the first solenoid valve to open, and increasing the target air volume of the air spring according to the first pressure difference, so as to increase the height of the closed air suspension;

[0133] S804, obtaining a first rising speed;

[0134] S805, determining whether the first raising speed is greater than the first preset raising speed, if the first raising speed is greater than the first preset raising speed, returning to S804, if the first raising speed is not greater than the first preset raising speed, turning to S806;

[0135] S806, determining whether the first pressure difference satisfies a preset compressor increase adjustment condition. If the first pressure difference satisfies the preset compressor increase adjustment condition, the process proceeds to S807; if the first pressure difference does not satisfy the preset compressor increase adjustment condition, the process proceeds to S810;

[0136] S807, control the compressor to turn on;

[0137] S808, obtaining a second rising speed;

[0138] S809, determining whether the second raising speed is greater than the second preset raising speed, if the second raising speed is greater than the second preset raising speed, returning to S808, if the second raising speed is not greater than the second preset raising speed, turning to S810;

[0139] S810, controlling the second solenoid valve to open so that the outside atmosphere can replenish the target air spring with air volume, thereby achieving the lifting of the closed air suspension.

[0140] It is worth noting that the above is only an example of a method for lowering the air suspension and a method for raising the air suspension.

[0141] Reference Fig. 9 The embodiment of the present application further provides a control device 900 for a closed air suspension system. The closed air suspension system includes an air storage tank, a solenoid valve, a compressor, and an air spring connected in sequence through a pipeline. The device 900 includes:

[0142] An acquisition module 901 is used to acquire a target height value and a real-time height value of the air suspension;

[0143] A determination module 902, configured to determine a target adjustment strategy based on the difference between the target height value and the real-time height value when the difference between the target height value and the real-time height value is not within a preset error range, wherein the target adjustment strategy includes at least one target air spring and its corresponding target adjustment mode;

[0144] The control module 903 is used to control the actuator to start according to the target adjustment method to adjust the air volume of the air tank and the target air spring to achieve height adjustment of the closed air suspension system. The actuator includes at least one of an air tank, a solenoid valve and a compressor.

[0145] As an optional implementation, the real-time height value of the air suspension system includes the real-time height value of the air spring corresponding to each wheel of the vehicle; the determination module 902 may be specifically used for:

[0146] An air spring corresponding to a difference value that is not within a preset error range is determined as a target air spring;

[0147] For each target air spring, a target adjustment method is determined based on the difference;

[0148] In the case where there are multiple target air springs, an adjustment sequence of the target air springs is generated according to the target adjustment mode and the preset adjustment priority, wherein the preset adjustment priority includes that when the target adjustment mode is determined to be raising adjustment and the multiple target air springs are located on different axles, the priority of rear axle raising adjustment is higher than the priority of front axle raising adjustment; when the target adjustment mode is determined to be lowering adjustment and the multiple target air springs are located on different axles, the priority of front axle lowering adjustment is higher than the priority of rear axle lowering adjustment; when the multiple target air springs are located on the same axle, the priority of axle adjustment adjustment is higher than the priority of angle adjustment adjustment;

[0149] Based on the target adjustment method and adjustment sequence of the target air spring, a target adjustment strategy is determined.

[0150] As an optional implementation, the control module 903 may be specifically configured to:

[0151] Acquire a first pressure of the air storage tank and a second pressure of the target air spring;

[0152] determining a first pressure differential based on the first pressure and the second pressure;

[0153] determining an actuator based on the first pressure difference;

[0154] The actuator is controlled to start to adjust the air volume of the target air spring to achieve height adjustment of the closed air suspension system.

[0155] As an optional implementation, the control module 903 may be specifically configured to:

[0156] When the first pressure difference satisfies a preset air tank adjustment condition, a first solenoid valve between the air tank and the target air spring is determined as an actuator, and the first solenoid valve includes a solenoid valve that controls the air tank to be connected to the target air spring;

[0157] Control actuator activation to adjust the air volume of the air tank and target air spring to achieve height adjustment of the closed air suspension system, including:

[0158] The first solenoid valve is controlled to open so that the air storage tank is connected to the target air spring to achieve height adjustment of the closed air suspension system.

[0159] As an optional implementation, the control module 903 may be specifically configured to:

[0160] Obtaining a first height adjustment speed of a target air spring;

[0161] When the first height adjustment speed is less than the first preset adjustment speed, the compressor is controlled to start to increase the first height adjustment speed to achieve height adjustment of the closed air suspension system.

[0162] As an optional implementation, the control module 903 may be specifically configured to:

[0163] When the first pressure difference does not satisfy the preset air storage tank adjustment condition, and the first pressure difference satisfies the preset compressor adjustment condition, determining the first solenoid valve and the compressor between the air storage tank and the target air spring as the actuator;

[0164] The first solenoid valve is controlled to open, and the compressor is controlled to start, so that the air storage tank is connected to the target air spring, thereby achieving adjustment of the target air spring.

[0165] As an optional implementation, the control module 903 may be specifically configured to:

[0166] Obtaining a second height adjustment speed of a target air spring;

[0167] When the second height adjustment speed is less than the second preset adjustment speed, the second solenoid valve is controlled to open, and the second solenoid valve includes a solenoid valve that controls the air suspension to communicate with the outside.

[0168] Reference Fig.10 , Fig.10 A schematic diagram of the hardware structure of the suspension controller provided in an embodiment of the present application is shown.

[0169] The suspension controller may include a processor 1001 and a memory 1002 storing computer program instructions.

[0170] Specifically, the processor 1001 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0171] The memory 1002 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 1002 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In one example, the memory 1002 may include a removable or non-removable (or fixed) medium, or the memory 1002 is a non-volatile solid-state memory. The memory 1002 may be inside or outside the integrated gateway disaster recovery device.

[0172] In one example, the memory 1002 may be a read-only memory (ROM). In one example, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0173] The memory 1002 may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method of controlling a closed air suspension system according to the first aspect of the present disclosure.

[0174] The processor 1001 reads and executes the computer program instructions stored in the memory 1002 to implement Figure 4 A control method for a closed air suspension system in the illustrated embodiment.

[0175] In one example, the suspension controller may further include a communication interface 1003 and a bus 1004. Fig.10 As shown, the processor 1001, the memory 1002, and the communication interface 1003 are connected via a bus 1004 and communicate with each other.

[0176] The communication interface 1003 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0177] Bus 1004 includes hardware, software or both, and the parts of suspension controller are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (Accelerated Graphics Port, AGP) or other graphics bus, enhanced industry standard architecture (Extended Industry Standard Architecture, EISA) bus, front side bus (Front Side Bus, FSB), Hyper Transport (Hyper Transport, HT) interconnection, industry standard architecture (Industry Standard Architecture, ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 1004 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the application considers any suitable bus or interconnection.

[0178] The suspension controller can execute the control method of the closed air suspension system in the embodiment of the present application, thereby realizing the combination of Figure 4-Figure 9 A control method and device for a closed air suspension system are described.

[0179] In addition, in combination with the control method of the closed air suspension system in the above embodiments, the embodiment of the present application can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any one of the control methods of the closed air suspension system in the above embodiments is implemented.

[0180] In an optional embodiment, in combination with the control method of the closed air suspension system in the above-mentioned embodiments, the embodiment of the present application may provide a computer program product for implementation, and the instructions in the computer program product are executed by the processor of the suspension controller, so that the suspension controller can implement any one of the control methods of the closed air suspension system in the above-mentioned embodiments.

[0181] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0182] The functional blocks shown in the above block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0183] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0184] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0185] The above are only specific implementation methods of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A control method for a closed air suspension system, characterized in that: The closed air suspension system comprises an air storage tank, a compressor, a solenoid valve and an air spring connected in sequence by pipelines; the method comprises: Get the target height value and actual height value of the air suspension; In the case where the difference between the target height value and the actual height value is not within the preset error range, determining a target adjustment strategy based on the difference between the target height value and the actual height value, the target adjustment strategy including at least one target air spring and its corresponding target adjustment method; The actuator is controlled to start according to the target adjustment mode to adjust the air volume of the air tank and the target air spring to achieve height adjustment of the closed air suspension system. The actuator includes at least one of an air tank, a solenoid valve and a compressor.

2. The method according to claim 1, characterized in that The actual height value of the air suspension system includes an actual height value of an air spring corresponding to each wheel of the vehicle; The determining of the target adjustment strategy based on the difference between the target height value and the actual height value includes: Determine the air spring corresponding to the difference not being within the preset error range as the target air spring; For each of the target air springs, determining a target adjustment mode based on the difference; In the case where there are multiple target air springs, an adjustment sequence of the target air springs is generated according to the target adjustment mode and the preset adjustment priority, wherein the preset adjustment priority includes that when the target adjustment mode is determined to be raising adjustment and the multiple target air springs are located on different axles, the priority of rear axle raising adjustment is higher than the priority of front axle raising adjustment; when the target adjustment mode is determined to be lowering adjustment and the multiple target air springs are located on different axles, the priority of front axle lowering adjustment is higher than the priority of rear axle lowering adjustment; when the multiple target air springs are located on the same axle, the priority of axle adjustment adjustment is higher than the priority of angle adjustment adjustment; A target adjustment strategy is determined based on the target adjustment mode and the adjustment sequence of the target air spring.

3. The method according to claim 1 or 2, characterized in that: The step of controlling the actuator to start according to the target adjustment mode to adjust the air volume of the target air spring to achieve height adjustment of the closed air suspension system includes: Acquiring a first pressure of the air storage tank and a second pressure of the target air spring; determining a first pressure differential based on the first pressure and the second pressure; determining an actuator based on the first pressure difference; The actuator is controlled to start so as to adjust the air volume of the target air spring to achieve height adjustment of the closed air suspension system.

4. The method according to claim 3, characterized in that The step of determining an actuator based on the first pressure difference comprises: In the case where the first pressure difference satisfies a preset air tank adjustment condition, a first solenoid valve between the air tank and the target air spring is determined as an actuator, wherein the first solenoid valve includes a solenoid valve for controlling the communication between the air tank and the target air spring; The controlling the actuator to start, so as to adjust the air volume of the air storage tank and the target air spring, to achieve height adjustment of the closed air suspension system, includes: The first solenoid valve is controlled to open so that the air storage tank is connected to the target air spring, thereby achieving height adjustment of the closed air suspension system.

5. The method according to claim 4, characterized in that After controlling the first solenoid valve to open, the method further includes: Acquire a first height adjustment speed of the target air spring; When the first height adjustment speed is less than the first preset adjustment speed, the compressor is controlled to start to increase the first height adjustment speed to achieve height adjustment of the closed air suspension system.

6. The method according to claim 3, characterized in that: When the first pressure difference does not satisfy a preset air storage tank adjustment condition, and the first pressure difference satisfies a preset compressor adjustment condition, determining a first solenoid valve and a compressor between the air storage tank and the target air spring as actuators; The controlling the actuator to start, so as to adjust the air volume of the air storage tank and the target air spring, to achieve height adjustment of the closed air suspension system, includes: The first solenoid valve is controlled to open, and the compressor is controlled to start, so that the air storage tank is connected to the target air spring, thereby achieving adjustment of the target air spring.

7. The method according to claim 6, characterized in that After controlling the first solenoid valve to open and controlling the compressor to start, the method further includes: Obtaining a second height adjustment speed of the target air spring; When the second height adjustment speed is less than a second preset adjustment speed, the second solenoid valve is controlled to open, wherein the second solenoid valve includes a solenoid valve for controlling the air suspension to communicate with the outside.

8. A control device for a closed air suspension system, characterized in that: The closed air suspension system comprises an air storage tank, a solenoid valve, a compressor and an air spring which are connected in sequence through pipelines, and the device comprises: An acquisition module, used to obtain a target height value and an actual height value of the air suspension; a determination module, configured to determine a target adjustment strategy based on the difference between the target height value and the actual height value when the difference between the target height value and the actual height value is not within a preset error range, wherein the target adjustment strategy includes at least one target air spring and its corresponding target adjustment mode; The control module is used to control the actuator to start according to the target adjustment method to adjust the air volume of the air tank and the target air spring to achieve height adjustment of the closed air suspension system, and the actuator includes at least one of an air tank, a solenoid valve and a compressor.

9. A suspension controller, characterized in that: The device comprises: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the control method of the closed air suspension system according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the control method of the closed air suspension system according to any one of claims 1 to 7 is implemented.

11. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of a suspension controller, the suspension controller executes the control method of a closed air suspension system as described in any one of claims 1 to 7.

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