Vehicle body height adjusting method and related product

Abstract

The embodiment of the invention provides a vehicle body height adjusting method and a related product. The vehicle body height adjusting method comprises the steps that the target height is determined; and the height of the vehicle body is adjusted in a segmented adjustment mode, so that the actual height of the air spring corresponding to the target wheel gradually approaches the target height. According to the embodiment of the invention, vehicle body height overshoot and oscillation can be avoided in the vehicle body height adjusting process.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle body height adjustment method and related products. Background Art

[0002] The automobile suspension is the medium between the vehicle body and the wheels. Its main function is to transfer the torque of the road surface on the wheels to the vehicle body. It is a key component to ensure the smoothness of the vehicle's ride and the stability of its handling. The air suspension uses air springs, which have low frequency deviation and ideal elastic characteristics, and make the vehicle body height adjustable. Therefore, it is increasingly used in various vehicles. The height adjustment speed of the traditional air suspension system is slow, and it is prone to problems such as overshoot and oscillation of the vehicle body height. Summary of the invention

[0003] The embodiments of the present application provide a vehicle height adjustment method and related products, which can avoid vehicle height overshoot and oscillation during vehicle height adjustment.

[0004] A first aspect of an embodiment of the present application provides a vehicle height adjustment method, comprising:

[0005] Determine target height;

[0006] The height of the vehicle body is adjusted in a segmented manner so that the actual height of the air spring corresponding to the target wheel gradually approaches the target height.

[0007] In the embodiment of the present application, the target height is determined; the height of the vehicle body is adjusted in a segmented manner so that the actual height of the air spring corresponding to the target wheel gradually approaches the target height. In the embodiment of the present application, the height of the vehicle body is adjusted in a segmented manner so that the actual height of the air spring corresponding to the target wheel gradually approaches the target height, avoiding the problem of vehicle body height overshoot and oscillation caused by directly adjusting to the target height, and avoiding vehicle body height overshoot and oscillation during vehicle body height adjustment.

[0008] Optionally, the stepwise adjustment of the height of the vehicle body so that the actual height of the air spring corresponding to the target wheel gradually approaches the target height includes:

[0009] After each adjustment is completed, comparing the actual height of the air spring corresponding to the target wheel with the target height;

[0010] When the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the target height is greater than a first threshold, the next stage of adjustment is entered.

[0011] Optionally, when the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the target height is less than a first threshold, it is determined that the vehicle body height is adjusted to the target height.

[0012] Optionally, the absolute value of the height difference of each adjustment section is smaller than the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the target height.

[0013] Optionally, after each adjustment is completed, comparing the actual height of the air spring corresponding to the target wheel with the target height includes:

[0014] After each adjustment is completed, determining whether the target height is updated;

[0015] When the target height is not updated, the actual height of the air spring corresponding to the target wheel is compared with the target height.

[0016] Optionally, the method further includes:

[0017] When the target height is updated, the air springs corresponding to all wheels of the vehicle are adjusted to the same height, and it is determined whether the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the updated target height is greater than the first threshold;

[0018] When the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the updated target height is greater than a first threshold, the height of the vehicle body is adjusted in a segmented manner so that the actual height of the air spring corresponding to the target wheel gradually approaches the updated target height.

[0019] Optionally, when the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the updated target height is less than the first threshold, it is determined that the vehicle body height is adjusted to the updated target height.

[0020] Optionally, adjusting the air springs corresponding to all wheels of the vehicle to the same height includes:

[0021] When the air spring corresponding to the target wheel is in a raised state, adjusting the air springs corresponding to all wheels of the vehicle to the same height as the highest air spring;

[0022] When the air spring corresponding to the target wheel is in a descending state, the air springs corresponding to all the wheels of the vehicle are adjusted to the same height as the air spring with the lowest height.

[0023] Optionally, determining the target height includes:

[0024] Determine the vehicle's operating mode;

[0025] The target height is determined according to the operating mode and vehicle speed of the vehicle.

[0026] Optionally, before determining the working mode of the vehicle, the method further includes:

[0027] Obtain the vehicle height, vehicle roll angular velocity, vehicle pitch angular velocity and vehicle speed at the four wheels;

[0028] The determining of the working mode of the vehicle comprises:

[0029] Determining a vehicle body roll angle and a vehicle body pitch angle according to the vehicle body roll angular velocity and the vehicle body pitch angular velocity;

[0030] Determining whether the vehicle enters a downhill mode according to the vehicle body pitch angle;

[0031] Whether the vehicle enters the off-road mode is determined according to the vehicle body pitch angle, the vehicle body roll angle, the vehicle body height at the four wheels, and the vehicle speed.

[0032] Optionally, judging whether the vehicle enters a downhill mode according to the vehicle body pitch angle includes:

[0033] When the vehicle body pitch angle is greater than the second threshold and the duration is greater than the first duration, it is determined that the vehicle enters the downhill mode.

[0034] Optionally, judging whether the vehicle enters the off-road mode according to the vehicle body pitch angle, the vehicle body roll angle, the vehicle body height at the four wheels, and the vehicle speed includes:

[0035] When the change value of the pitch angle of the vehicle body is monitored to exceed the third threshold value N times in a row, the change value of the roll angle of the vehicle body is monitored to exceed the fourth threshold value N times in a row, the change value of the vehicle height of any one of the four wheels exceeds the fifth threshold value, and the vehicle speed is less than the sixth threshold value, it is determined that the vehicle enters the off-road mode, and N is an integer greater than or equal to 2.

[0036] Optionally, the method further includes:

[0037] During the segment adjustment process, determine whether the vehicle body posture is unbalanced left to right;

[0038] If the left and right body posture is unbalanced, stop the segmented adjustment and adjust the air springs corresponding to the left and right wheels of the vehicle to the same height;

[0039] After the air springs corresponding to the left and right wheels of the vehicle are adjusted to the same height, continue with the segmented adjustment.

[0040] Optionally, adjusting the air springs corresponding to the left and right wheels of the vehicle to the same height includes:

[0041] When the air spring corresponding to the target wheel is in a raised state, adjusting the air springs corresponding to the left and right wheels of the vehicle to the same height as the highest air spring of the left and right wheels;

[0042] When the air spring corresponding to the target wheel is in a descending state, the air springs corresponding to the left and right wheels of the vehicle are adjusted to be the same height as the lowest air spring among the left and right wheels.

[0043] Optionally, the determining whether the vehicle body posture is left-right unbalanced includes:

[0044] When the absolute value of the difference between the left vehicle body height and the right vehicle body height is greater than the seventh threshold, and the vehicle body roll angle is greater than the eighth threshold, it is determined that the vehicle body posture is left-right unbalanced.

[0045] Optionally, the actual height of the air spring corresponding to the target wheel includes: the actual height of the air springs corresponding to all wheels or the actual height of the air spring corresponding to the front wheel.

[0046] A second aspect of an embodiment of the present application provides a vehicle height adjustment device, comprising:

[0047] A determination unit, used for determining a target height;

[0048] The adjusting unit is used to adjust the height of the vehicle body in a segmented manner so that the actual height of the air spring corresponding to the target wheel gradually approaches the target height.

[0049] A third aspect of an embodiment of the present application provides an electronic device, comprising a processor and a memory, wherein the memory is used to store a computer program, the computer program comprises program instructions, and the processor is configured to call the program instructions to execute the step instructions in the first aspect of the embodiment of the present application.

[0050] A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute some or all of the steps described in the first aspect of the embodiments of the present application. The computer-readable storage medium may be a non-volatile storage medium.

[0051] The fifth aspect of the embodiment of the present application provides a computer program product, wherein the computer program product includes a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the first aspect of the embodiment of the present application. The computer program product can be a software installation package.

[0052] A sixth aspect of an embodiment of the present application provides a vehicle, comprising the electronic device described in the third aspect of an embodiment of the present application.

[0053] In the embodiment of the present application, the target height is determined; the height of the vehicle body is adjusted in a segmented manner so that the actual height of the air spring corresponding to the target wheel gradually approaches the target height. In the embodiment of the present application, the height of the vehicle body is adjusted in a segmented manner so that the actual height of the air spring corresponding to the target wheel gradually approaches the target height, avoiding the problem of vehicle body height overshoot and oscillation caused by directly adjusting to the target height, and avoiding vehicle body height overshoot and oscillation during vehicle body height adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0055] Figure 1 It is a flow chart of a vehicle height adjustment method provided in an embodiment of the present application;

[0056] Figure 2 is a flow chart of another vehicle height adjustment method provided in an embodiment of the present application;

[0057] Figure 3 is a flow chart of another vehicle height adjustment method provided in an embodiment of the present application;

[0058] Figure 4 is a structural schematic diagram of a vehicle height adjustment system provided in an embodiment of the present application;

[0059] Figure 5 It is a flow chart of a method for dynamically adjusting the height of an air suspension provided in an embodiment of the present application;

[0060] Figure 6 A schematic diagram of the structure of a vehicle height adjustment device provided in an embodiment of the present application;

[0061] Figure 7 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0062] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0063] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0064] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0065] See also Figure 1 , Figure 1 Schematic diagram of a vehicle height adjustment method provided in an embodiment of the present application. Figure 1 As shown, the vehicle height adjustment method includes the following steps.

[0066] 101, the electronic device determines the target height.

[0067] In the embodiment of the present application, the target height is the height that the vehicle currently needs to adjust. The target height can be determined according to the working mode of the vehicle and the speed of the vehicle. For example, in off-road mode, the height of the vehicle body needs to be increased. When driving at high speed, the height of the vehicle body needs to be lowered.

[0068] The electronic device may include a controller on the vehicle. For example, the controller may be an air suspension controller. The air suspension controller is used to determine a target height and adjust the vehicle height to the target height.

[0069] Optionally, step 101 may include the following steps:

[0070] (11) Electronic equipment determines the operating mode of the vehicle;

[0071] (12) The electronic device determines the target height according to the operating mode and speed of the vehicle.

[0072] In the embodiment of the present application, the target height can be determined according to the working mode of the vehicle and the speed of the vehicle.

[0073] The working mode of the vehicle may include any one of a comfort mode, a sports mode, and an off-road mode. The working mode of the vehicle may also include a downhill mode.

[0074] Among them, in a certain working mode, when the vehicle speed is in different speed ranges, different target heights can be corresponding. Each working mode corresponds to a corresponding relationship table between speed ranges and heights. The target height can be determined by searching the corresponding relationship table based on the working mode and speed of the vehicle.

[0075] 102. The electronic device adjusts the height of the vehicle body in a segmented manner so that the actual height of the air spring corresponding to the target wheel gradually approaches the target height.

[0076] In an embodiment of the present application, the height of the vehicle body can be adjusted by adjusting the height of the air suspension. The air suspension includes an air spring. For example, the height of the vehicle body at the wheel corresponding to the target wheel can be raised by controlling the inflation of the air spring corresponding to the target wheel, thereby raising the height of the vehicle body; the height of the vehicle body at the wheel corresponding to the target wheel can be lowered by controlling the deflation of the air spring corresponding to the target wheel, thereby lowering the height of the vehicle body. Exemplarily, the air suspension includes 4 air springs, corresponding to 4 wheels (left front wheel, right front wheel, left rear wheel, right rear wheel), and the 4 air springs can adjust the height of the vehicle body at the corresponding wheels respectively.

[0077] The target wheel is the wheel that needs to adjust the height among the 4 wheels. Exemplary, the target wheel can include 4 wheels, and can also include two front wheels.

[0078] The height of the vehicle body can be the actual height of the air springs corresponding to all wheels that need to be adjusted (for example, in off-road mode, the height of the air springs corresponding to the wheels needs to be adjusted) or the actual height of the air springs corresponding to the front wheels (for example, in downhill mode, the height of the air springs corresponding to the front wheels needs to be increased).

[0079] The segmented adjustment method is to adjust the actual height of the air spring corresponding to the target wheel through at least two stages of adjustment, so that the actual height of the air spring corresponding to the target wheel gradually approaches the target height.

[0080] In the embodiment of the present application, the height of the vehicle body is adjusted in a segmented manner, so that the actual height of the air spring corresponding to the target wheel gradually approaches the target height, thereby avoiding the problem of vehicle body height overshoot and oscillation caused by directly adjusting the height to the target height. Overshoot and oscillation of the vehicle body height can be avoided during the process of vehicle body height adjustment.

[0081] Optionally, the absolute value of the height difference of each adjustment section is smaller than the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the target height.

[0082] The embodiment of the present application adopts segmented adjustment, and the amplitude of each adjustment is relatively small. The vehicle will not shake during the process of adjusting the vehicle height, thereby improving the stability of the vehicle during the process of adjusting the vehicle height.

[0083] The height difference of each adjustment section may be the same or different.

[0084] For example, if the current actual height of the air spring corresponding to the target wheel is A, the target height is A+100mm, and the total height difference is 100mm, then the height of the air spring corresponding to the target wheel can be raised by 10 steps (the height difference of each step is the same), and raised 10 times in total, so that the height of the air spring corresponding to the target wheel reaches the target height.

[0085] For example, if the current actual height of the air spring corresponding to the target wheel is A, and the target height is A+100mm, the total height difference is 100mm. Then, the height can be raised by 5 steps, 50mm for the first time, 30mm for the second time, 10mm for the third time, 5mm for the fourth time, and 5mm for the fifth time (the height difference of each adjustment step is not exactly the same). A total of 5 times are raised, so that the height of the air spring corresponding to the target wheel reaches the target height.

[0086] Optionally, step 102 may include the following steps:

[0087] (21) after each adjustment is completed, the electronic device compares the actual height of the air spring corresponding to the target wheel with the target height;

[0088] (22) When the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the target height is greater than a first threshold, the electronic device enters the next stage of adjustment.

[0089] Optionally, after executing step (21), step (23) may also be executed.

[0090] (23) The electronic device determines that the vehicle body height is adjusted to the target height when the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the target height is less than a first threshold.

[0091] It should be noted that when the air spring is actually adjusted, there will be an inertia, which may easily cause the vehicle height to overshoot. For example, when it is raised, after it is raised to the target height, the air spring will continue to rise for a distance; when it is lowered, after it is lowered to the target height, the air spring will continue to fall for a distance, which may easily cause the vehicle height to overshoot. After overshoot occurs, repeated raising and lowering will occur, resulting in vehicle height fluctuations, making it difficult to fully reach the target height.

[0092] In the embodiment of the present application, the first threshold value can be preset, and the first threshold value can be preset and stored in a memory (eg, a non-volatile memory) of the electronic device. For example, the first threshold value can be set to 1 mm or 2 mm.

[0093] The dead zone interval can be set according to the first threshold. The dead zone interval of the target height is (target height-first threshold, target height+first threshold). When the actual height of the air spring corresponding to the target wheel is within the dead zone interval of the target height, it is considered that the vehicle height is adjusted to the target height, and the height of the air spring corresponding to the target wheel is no longer adjusted, so as to avoid repeated adjustments of the vehicle height and vehicle height oscillations, thereby increasing the speed of vehicle height adjustment.

[0094] In the embodiment of the present application, for each stage of adjustment, the height of the air spring corresponding to the target wheel can be adjusted according to the height difference set in that stage of adjustment. After each stage of adjustment is completed, the actual height of the air spring corresponding to the target wheel is compared with the target height. If the actual height of the air spring corresponding to the target wheel does not fall within the dead zone of the target height, the next stage of adjustment is continued; if the actual height of the air spring corresponding to the target wheel falls within the dead zone of the target height, it is considered that the height of the air spring corresponding to the target wheel is adjusted to the target height, and the vehicle body height is no longer adjusted.

[0095] Optionally, after executing step 101, the actual height of the air spring corresponding to the target wheel may be compared with the target height, and when the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the target height is greater than a first threshold, step 102 is executed. When the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the target height is less than the first threshold, the process ends.

[0096] Optionally, in step (21), after each adjustment is completed, the electronic device compares the actual height of the air spring corresponding to the target wheel with the target height, which may specifically include the following steps:

[0097] (211) After each adjustment is completed, the electronic device determines whether the target height is updated;

[0098] (212) When the target height is not updated, the electronic device compares the actual height of the air spring corresponding to the target wheel with the target height.

[0099] In the embodiment of the present application, the electronic device determines whether the target height is updated after each adjustment is completed. The target height can be determined according to the working mode and speed of the vehicle. When the working mode of the vehicle changes, or the speed interval of the vehicle changes, the target height will change and be updated.

[0100] After each adjustment is completed, it is determined whether the target height is updated, which is compared with adjusting the height of the air spring corresponding to the target wheel to the target height at one time. During the segmented adjustment process, if the target height changes, it can be adjusted in time according to the updated target height. When the target height changes suddenly, it can be adjusted immediately according to the new target height, which improves the speed of vehicle height adjustment.

[0101] In this embodiment of the present application, if the target height has not been updated, the actual height of the air spring corresponding to the target wheel is compared with the target height, and step (22) or step (23) is executed.

[0102] Optionally, after executing step (211), the following steps may also be executed:

[0103] (213) when the target height is updated, the electronic device adjusts the air springs corresponding to all wheels of the vehicle to the same height, and determines whether the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the updated target height is greater than the first threshold;

[0104] (214) When the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the updated target height is greater than a first threshold, the electronic device adjusts the height of the vehicle body in a segmented manner so that the actual height of the air spring corresponding to the target wheel gradually approaches the updated target height.

[0105] Optionally, after executing step (213), the following steps may also be executed:

[0106] (215) When the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the updated target height is less than the first threshold, the electronic device determines that the vehicle body height is adjusted to the updated target height.

[0107] In the embodiment of the present application, when the target height is updated, the air springs corresponding to all wheels of the vehicle are adjusted to the same height, and then it is determined whether the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the updated target height is greater than a first threshold value. If it is greater than the first threshold value, the height of the air spring corresponding to the target wheel is adjusted in a segmented manner so that the actual height of the air spring corresponding to the target wheel gradually approaches the updated target height. The height of the air spring corresponding to the target wheel is adjusted in a segmented manner so that the actual height of the air spring corresponding to the target wheel gradually approaches the updated target height. For details, please refer to the specific description of the above step 102, which will not be repeated here.

[0108] Optionally, in step (213), the electronic device adjusts the air springs corresponding to all wheels of the vehicle to the same height, which may specifically include the following steps:

[0109] (2131) when the air spring corresponding to the target wheel is in a raised state, the electronic device adjusts the air springs corresponding to all wheels of the vehicle to the same height as the highest air spring;

[0110] (2132) When the air spring corresponding to the target wheel is in a lowered state, the electronic device adjusts the air springs corresponding to all wheels of the vehicle to the same height as the lowest air spring.

[0111] In the embodiment of the present application, the air spring corresponding to the target wheel is in an elevated state, that is, when the air spring corresponding to the target wheel is raised, the other air springs are adjusted to the same height as the highest air spring, and since the height of the air spring corresponding to the target wheel is less than the updated target height, it can be adjusted to the updated target height more quickly during the subsequent segmented adjustment. The air spring corresponding to the target wheel is in a lowered state, that is, when the air spring corresponding to the target wheel is lowered, the other air springs are adjusted to the same height as the lowest air spring, and since the height of the air spring corresponding to the target wheel is greater than the updated target height, it can be adjusted to the updated target height more quickly during the subsequent segmented adjustment.

[0112] The embodiment of the present application adjusts the air springs corresponding to all wheels of the vehicle to the same height, which can facilitate the next step of height adjustment and improve the driving experience during the vehicle's driving. If the air springs corresponding to all wheels of the vehicle are not adjusted to the same height, the vehicle may tilt, which affects the driving experience during the vehicle's driving.

[0113] See also Figure 2 , Figure 2 FIG. 1 is a flow chart of another vehicle height adjustment method provided in an embodiment of the present application. Figure 2As shown, the vehicle height adjustment method includes the following steps.

[0114] 201, the electronic device obtains the vehicle height, the vehicle roll angular velocity, the vehicle pitch angular velocity and the vehicle speed at the four wheels.

[0115] In the embodiment of the present application, the electronic device can collect the vehicle body height at the four wheels through height sensors arranged at the four wheels, obtain the vehicle body roll angular velocity through a roll angular velocity sensor, and obtain the pitch angular velocity through a pitch angular velocity sensor.

[0116] 202 , the electronic device determines a vehicle body roll angle and a vehicle body pitch angle according to the vehicle body roll angular velocity and the vehicle body pitch angular velocity.

[0117] In the embodiment of the present application, the electronic device can obtain the vehicle body roll angle and the vehicle body pitch angle by integrating the roll angular velocity and the pitch angular velocity respectively.

[0118] 203 , the electronic device determines whether the vehicle enters a downhill mode according to the pitch angle of the vehicle body.

[0119] In the embodiment of the present application, the vehicle body pitch angle is the angle of the direction of the top of the vehicle relative to the horizontal line. If the vehicle body pitch angle is greater than a set threshold, it indicates that the vehicle has entered a downhill mode.

[0120] Optionally, step 203 may include the following steps:

[0121] The electronic device determines that the vehicle enters the downhill mode when the vehicle body pitch angle is greater than a second threshold and the duration is greater than the first duration.

[0122] In the embodiment of the present application, the second threshold value can be preset, and the second threshold value can be preset and stored in the memory (e.g., non-volatile memory) of the electronic device. The first duration can be preset, and the first duration can be preset and stored in the memory (e.g., non-volatile memory) of the electronic device.

[0123] When the vehicle body pitch angle is greater than the second threshold, and the duration of the vehicle body pitch angle greater than the second threshold is greater than the first duration, the vehicle is determined to have entered the downhill mode. This can avoid misjudgment caused by the vehicle passing through a bumpy road section, thereby accurately determining whether the vehicle has entered the downhill mode.

[0124] When the vehicle body pitch angle is less than or equal to the second threshold, or the duration for which the vehicle body pitch angle is greater than the second threshold is less than or equal to the first duration, it is determined that the vehicle has not entered the downhill mode.

[0125] 204 , the electronic device determines whether the vehicle enters the off-road mode according to the vehicle body pitch angle, the vehicle body roll angle, the vehicle body height at the four wheels, and the vehicle speed.

[0126] In the embodiment of the present application, when the change value of the pitch angle of the vehicle body is large, the change value of the roll angle of the vehicle body is large, the change value of the vehicle body height of the wheel is large, and the vehicle speed is low, it is determined that the vehicle has entered the off-road mode. This can avoid misjudgment caused by the vehicle passing through short-term road bumps (for example, speed bumps), thereby accurately determining whether the vehicle has entered the downhill mode.

[0127] Optionally, step 204 may include the following steps:

[0128] The electronic device determines that the vehicle enters the off-road mode when it monitors N consecutive times that the change value of the pitch angle of the vehicle body exceeds the third threshold, N consecutive times that the change value of the roll angle of the vehicle body exceeds the fourth threshold, the change value of the vehicle height of any one of the four wheels exceeds the fifth threshold, and the vehicle speed is less than the sixth threshold, where N is an integer greater than or equal to 2.

[0129] In the embodiment of the present application, the electronic device (for example, through a pitch angular velocity sensor) can periodically detect the pitch angle of the vehicle body, thereby calculating the change value of the pitch angle of the vehicle body according to the pitch angles of the vehicle body detected twice in succession. The electronic device (for example, through a roll angular velocity sensor) can periodically detect the roll angle of the vehicle body, thereby calculating the change value of the roll angle of the vehicle body according to the roll angles of the vehicle body detected twice in succession.

[0130] If the change values ​​of the pitch angle of the vehicle body calculated for more than two consecutive times all exceed the third threshold value, the change values ​​of the roll angle of the vehicle body calculated for more than two consecutive times all exceed the fourth threshold value, the change value of the vehicle height of any of the four wheels exceeds the fifth threshold value, and the vehicle speed is less than the sixth threshold value, it is determined that the vehicle enters the off-road mode. This can avoid misjudgment caused by the vehicle passing through short-term road bumps (such as speed bumps), thereby accurately determining whether the vehicle enters the downhill mode.

[0131] The third threshold, the fourth threshold, the fifth threshold, and the sixth threshold can all be set in advance. The third threshold, the fourth threshold, the fifth threshold, and the sixth threshold can be set in advance and stored in a memory (e.g., a non-volatile memory) of the electronic device.

[0132] 205 , the electronic device determines the target height according to the working mode and speed of the vehicle.

[0133] The specific implementation of step 205 can refer to the above step (12), which will not be repeated here.

[0134] 206 , the electronic device adjusts the height of the vehicle body in a segmented manner so that the actual height of the air spring corresponding to the target wheel gradually approaches the target height.

[0135] The specific implementation of step 206 may refer to the above step 102 and will not be described in detail here.

[0136] See also Figure 3 , Figure 3 FIG. 1 is a flow chart of another vehicle height adjustment method provided in an embodiment of the present application. Figure 3 As shown, the vehicle height adjustment method includes the following steps.

[0137] 301, the electronic device determines a target height.

[0138] 302, the electronic device performs segmented adjustment according to the target height, and after each segment of adjustment is completed, compares the actual height of the air spring corresponding to the target wheel with the target height.

[0139] 303 , when the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the target height is greater than the first threshold, the electronic device enters the next stage of adjustment.

[0140] 304 , the electronic device determines that the vehicle body height is adjusted to the target height when the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the target height is less than a first threshold.

[0141] The specific implementation of steps 301 to 304 may refer to the above-mentioned steps 101 and 102, which will not be described in detail here.

[0142] 305 , during the segment adjustment process, the electronic device determines whether the vehicle body posture is unbalanced left to right.

[0143] 306. When the left and right posture of the vehicle body is unbalanced, the electronic device stops segmented adjustment and adjusts the air springs corresponding to the left and right wheels of the vehicle to the same height.

[0144] The air springs corresponding to the left and right wheels may include an air spring corresponding to the left front wheel and an air spring corresponding to the right front wheel. They may also include an air spring corresponding to the left rear wheel and an air spring corresponding to the right rear wheel. They may also include an air spring corresponding to the left front wheel, an air spring corresponding to the left rear wheel, an air spring corresponding to the right front wheel, and an air spring corresponding to the right rear wheel.

[0145] 307, the electronic device continues to perform segmented adjustment when the air springs corresponding to the left and right wheels of the vehicle are adjusted to the same height.

[0146] In the embodiment of the present application, during the segmented adjustment process, it can be determined whether the body posture is unbalanced from left to right. In the case where the body posture is unbalanced from left to right, the heights of the left tire and the right tire of the vehicle are inconsistent, which will affect the driving experience during the vehicle driving process and may bring safety risks during the driving process. During the segmented adjustment process, if it is found that the body posture is unbalanced from left to right, the segmented adjustment will be stopped immediately, and the air springs corresponding to the left and right wheels of the vehicle will be adjusted to the same height. After ensuring the left and right balance of the body posture, the segmented adjustment will be performed again, thereby improving the driving experience during the vehicle driving process and reducing the safety risks during the vehicle driving process.

[0147] Optionally, in step 306, the electronic device adjusting the air springs corresponding to the left and right wheels of the vehicle to the same height may specifically include the following steps:

[0148] (31) when the air spring corresponding to the target wheel is in a raised state, the electronic device adjusts the air springs corresponding to the left and right wheels of the vehicle to the same height as the highest air spring of the left and right wheels;

[0149] (32) When the air spring corresponding to the target wheel is in a lowered state, the electronic device adjusts the air springs corresponding to the left and right wheels of the vehicle to the same height as the lowest air spring among the left and right wheels.

[0150] In the embodiment of the present application, the air spring corresponding to the target wheel is in an elevated state, that is, when the air spring corresponding to the target wheel is raised, the air springs corresponding to the left and right wheels of the vehicle are adjusted to the same height as the air spring with the highest height among the left and right wheels. Since the height of the air spring corresponding to the target wheel is less than the target height, it can be adjusted to the target height faster during the subsequent segmented adjustment. The air spring corresponding to the target wheel is in a lowered state, that is, when the air spring corresponding to the target wheel is lowered, the other air springs are adjusted to the same height as the air spring with the lowest height. Since the height of the air spring corresponding to the target wheel is greater than the target height, it can be adjusted to the target height faster during the subsequent segmented adjustment.

[0151] Optionally, in step 305, the electronic device determines whether the vehicle body posture is left-right unbalanced, which may specifically include the following steps:

[0152] The electronic device determines that the vehicle body posture is left-right unbalanced when the absolute value of the difference between the left vehicle body height and the right vehicle body height is greater than a seventh threshold and the vehicle body roll angle is greater than an eighth threshold.

[0153] The seventh threshold value and the eighth threshold value may be preset. The seventh threshold value and the eighth threshold value may be preset and stored in a memory (eg, a non-volatile memory) of the electronic device.

[0154] The left vehicle body height may be the height of the air spring corresponding to the left front wheel or the height of the air spring corresponding to the left rear wheel, and the right vehicle body height may be the height of the air spring corresponding to the right front wheel or the height of the air spring corresponding to the right rear wheel. The difference between the left vehicle body height and the right vehicle body height may be any one of the difference between the height of the air spring corresponding to the left front wheel and the height of the air spring corresponding to the right front wheel, the difference between the height of the air spring corresponding to the left rear wheel and the height of the air spring corresponding to the right rear wheel, or the maximum value of the two.

[0155] See also Figure 4 , Figure 4 Schematic diagram of a vehicle height adjustment system provided in an embodiment of the present application. Figure 4 As shown, the vehicle height adjustment system includes: a height sensor, a roll angular velocity sensor, a pitch angular velocity sensor, a CAN bus, a sensor signal acquisition and CAN signal receiving module, an air suspension controller, a solenoid valve, and an air spring. The height sensor is used to obtain the vehicle height at the four wheels, the CAN bus is used to transmit the vehicle speed signal and the vehicle working mode, the roll angular velocity sensor and the pitch angular velocity sensor are used to obtain the angular velocity signal, and the air suspension controller calculates the input signal and outputs a control signal to control the switch of the solenoid valve to achieve height adjustment of the air spring.

[0156] The air suspension controller includes a signal processing module, a downhill road recognition module, an uneven road recognition module, a target height decision module, a body posture balance control module, a target height segment adjustment module, and a solenoid valve drive module. The signal processing module processes and converts the input signal, and integrates the roll angular velocity and the pitch angular velocity to obtain the body roll angle and body pitch angle. The downhill road recognition module determines the body pitch angle. If the body pitch angle a is greater than the threshold a1, it is determined to be a downhill road and issues a height increase command for the two air springs at the front of the body (i.e., the air springs corresponding to the two front wheels). The uneven road recognition module identifies uneven road conditions by comprehensively judging the vehicle pitch angle, vehicle roll angle, vehicle height at four wheels, and vehicle speed. If the vehicle pitch angle a change value exceeds the threshold a2, the roll angle b change value exceeds the threshold b2, and the vehicle height change value at any wheel exceeds h2, and the vehicle speed is less than v2, it is determined to be an uneven road condition and the vehicle is controlled to enter the off-road mode, raising the height of the entire vehicle body so that the vehicle can pass through the harsh road conditions smoothly. The target height decision module is used to output the vehicle's appropriate target height H3 according to the vehicle's working mode and speed. The target height segmented adjustment module adopts a segmented step height adjustment method. The height that the air spring needs to be adjusted is divided into multiple step heights h3 for adjustment. After each step of adjustment is completed, the actual height of the air spring will be compared with the target height. If the target height is not reached, the adjustment will continue. If the target height changes suddenly, the height of the air springs corresponding to the four wheels will be adjusted to the same height, and then compared with the new target height, and the segmented height adjustment will continue to be performed to the new target height. At the same time, a dead zone interval is set at the target height. When it is detected that the actual height of the air springs corresponding to the four wheels reaches the target height dead zone interval, the height adjustment is stopped, thereby preventing overshoot and oscillation of the vehicle height, and ensuring that the vehicle height quickly follows the actual target height. The segmented height adjustment method can also achieve a stable and gradual change in the vehicle height, thereby ensuring the stability of the vehicle during vehicle height adjustment. The body posture balance control module determines whether the body is in a left-right balanced state according to the roll angle of the body and the height difference between the left and right sides of the body. If the roll angle b is greater than the threshold b4 and the height difference between the left and right sides of the body is greater than the threshold h4, it is determined that the body posture is unbalanced. At this time, the heights of the air springs corresponding to the left and right wheels of the body will be adjusted to be consistent, and then the body height adjustment will continue, thereby ensuring the posture balance of the vehicle during the height adjustment process.

[0157] See also Figure 5 , Figure 5 Schematic diagram of a flow chart of a method for dynamically adjusting the height of an air suspension provided in an embodiment of the present application. Figure 5 As shown, the vehicle height adjustment method includes the following steps.

[0158] 501, collecting sensor signals and vehicle speed signals.

[0159] The vehicle height signal, pitch angular velocity signal, and roll angular velocity signal at the four wheels are collected by sensors, and the vehicle speed signal and vehicle working mode signal are received from the CAN bus.

[0160] 502, the pitch angle and the roll angle are obtained by integral operation.

[0161] The pitch angle and roll angle of the vehicle body are obtained by integrating the pitch angular velocity signal and the roll angular velocity signal respectively.

[0162] 503, determine whether the pitch angle is greater than a1 and the duration is greater than t1. If yes, execute step 504.

[0163] 504 , the vehicle enters a downhill mode and outputs a target height H1 of the front portion of the vehicle body.

[0164] The pitch angle a of the vehicle body is compared with the threshold a1. If the pitch angle a of the vehicle body is greater than the threshold a1 and the duration is greater than t1, it is determined to be a downhill road and the vehicle is controlled to enter the downhill mode, and a height increase command is issued for the two air springs at the front of the vehicle body, and the target height H1 of the front of the vehicle body is output.

[0165] 505, determine whether the pitch angle a change value of the vehicle body monitored for N consecutive times exceeds the threshold a2, whether the roll angle b change value exceeds the threshold b2, whether the vehicle height change value at any wheel exceeds h2, and whether the vehicle speed is less than v2. If so, execute step 506.

[0166] 506 , the vehicle enters the off-road mode and outputs a target height H2 of the entire vehicle body.

[0167] A comprehensive judgment is made on the pitch angle, roll angle, body height at the four wheels and vehicle speed to identify uneven road conditions. If the pitch angle a change value of the body is monitored to exceed the threshold a2, the roll angle b change value exceeds the threshold b2, the body height change value at any wheel exceeds h2 for N consecutive times, and the vehicle speed is less than v2 at the same time, it is determined to be an uneven road condition and the vehicle is controlled to enter off-road mode, the height of the entire body is increased, and the target height H2 of the entire body is output.

[0168] 507 , outputting a target height H3 according to the vehicle operation mode and vehicle speed.

[0169] 508, segmented step height adjustment.

[0170] The segmented step height adjustment method is adopted, and the dead zone interval length x is set. For the target height H3 that the air spring needs to adjust, H3 is divided into multiple step heights h3 for adjustment. After each step of adjustment, the actual height H of the vehicle body is compared with the target height H3. If |H-H3|>x, the adjustment is continued. If the target height H3 changes suddenly, the heights of the air springs corresponding to the four wheels are adjusted to the same height, and then compared with the new target height. If |H-H3|>x, the segmented height adjustment is continued until |H-H3| <x。

[0171] 509, solenoid valve drives air spring.

[0172] The switch state of the solenoid valve is determined according to the inflation and deflation state of the suspension air spring, and the solenoid valve is controlled to switch accordingly through the current drive signal, thereby realizing the inflation and deflation control of the air spring so that the vehicle body height reaches the target height.

[0173] 510, vehicle posture balance control.

[0174] During the process of adjusting the vehicle height in step 508, the left-right balance of the vehicle posture is judged at the same time, and the left and right vehicle heights are subtracted. If the absolute value of the difference is greater than the threshold value h4 and the roll angle b is greater than the threshold value b4, it is determined that the vehicle posture is unbalanced. If step 508 is in the inflation process, the inflation of the high side of the vehicle body is stopped, and the low side of the vehicle body is inflated to the same height as the high side; if step 508 is in the deflation process, the deflation of the low side of the vehicle body is stopped, and the high side of the vehicle body is deflated to the same height as the low side, and then the vehicle height adjustment is continued until the vehicle height reaches the target height.

[0175] The embodiment of the present application provides a method for dynamically adjusting the height of an air suspension, wherein the vehicle height at the four wheels is collected by height sensors installed at the four wheels, the vehicle roll angular velocity and the vehicle pitch angular velocity are obtained by the roll angular velocity sensor and the pitch angular velocity sensor, the vehicle roll angle and the pitch angle are obtained by integrating the vehicle roll angular velocity and the vehicle pitch angular velocity, and whether the vehicle enters a downhill road is determined according to the vehicle pitch angle. If the vehicle enters a downhill road, the height of the two front air springs is increased, thereby improving the comfort and stability of the vehicle body. If changes in the vehicle pitch angle, the vehicle roll angle, and the vehicle height of any wheel are continuously detected, and the vehicle is driven at a low speed, it is determined that the vehicle enters an uneven road condition and the off-road mode is automatically turned on, and the air springs of the entire vehicle are inflated to increase the height of the vehicle body, thereby improving the driving stability of the vehicle under harsh road conditions. When inflating the air spring, the height adjustment method is adopted in sections, that is, the target height is divided into multiple sections and the height is adjusted by multiple inflation and deflation. In this way, the stability of the vehicle body can be guaranteed during the inflation and deflation process. If the target height suddenly changes during the adjustment process, the controller will stop the original target height adjustment and adjust the height of the four wheels to the same, and then adjust the air spring with the new target height. During the air spring height adjustment process, the roll posture of the vehicle body will be judged synchronously. If it is judged that the vehicle body is in a roll posture, the vehicle body height at the four wheels will be adjusted to the same, and then the air spring will continue to be adjusted to the target height.

[0176] The embodiment of the present application uses the vehicle body pitch angle, roll angle, vehicle speed, and vehicle body height signals at the four tires as inputs to the control algorithm to identify downhill conditions and uneven road conditions. When driving in a downhill condition, the height of the front side of the vehicle body will be compensated and controlled, and the air spring on the front side of the vehicle body will be automatically inflated to increase the height of the front side of the vehicle body. When driving on uneven roads, it will automatically enter the off-road mode to increase the height of the vehicle body. The height adjustment of the air spring adopts the method of dividing the target height into multiple height sections for adjustment. When the target height changes, the original target height adjustment will be stopped and the new target height adjustment will be responded to in time. An adjustment dead zone is set at the target height. When the vehicle body reaches the dead zone interval, the adjustment will stop, avoiding the problem of overshoot and oscillation of the vehicle body height. During the adjustment process of the air spring, the roll posture of the vehicle body will be monitored. If roll occurs, the vehicle body height at the four wheels will be adjusted to be consistent first to eliminate the body roll.

[0177] When the vehicle is driving on a downhill road, the height of the front side of the vehicle body can be compensated to improve the stability of the vehicle and enhance the ride comfort. When the vehicle is driving on uneven and harsh road conditions, it can actively determine the road conditions and automatically enter the off-road mode to increase the height of the vehicle and protect the chassis from scratches and wear. The height adjustment method is adopted. When the target height changes suddenly, it can immediately follow the new target height for adjustment, and a height dead zone is set at the target height to avoid height overshoot and vibration problems. During the vehicle height adjustment process, the roll posture of the vehicle body can be adjusted at the same time to ensure the left and right balance of the vehicle body posture.

[0178] The above-mentioned scheme of the embodiment of the present application is introduced from the perspective of the execution process of the method side. It is understandable that, in order to realize the above-mentioned functions, the electronic device includes a hardware structure and / or software module corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments provided herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0179] The embodiment of the present application can divide the electronic device into functional units according to the above method example. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0180] See also Figure 6 , Figure 6 This is a schematic diagram of the structure of a vehicle height adjustment device provided in an embodiment of the present application. The vehicle height adjustment device 600 may include a determination unit 601 and an adjustment unit 602, wherein:

[0181] A determination unit 601 is used to determine a target height;

[0182] The adjusting unit 602 is used to adjust the height of the vehicle body in a segmented manner so that the actual height of the air spring corresponding to the target wheel gradually approaches the target height.

[0183] Optionally, the adjustment unit 602 adjusts the height of the vehicle body in a segmented adjustment manner so that the actual height of the air spring corresponding to the target wheel gradually approaches the target height, including: after each segment of adjustment is completed, comparing the actual height of the air spring corresponding to the target wheel with the target height; when the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the target height is greater than a first threshold, entering the next segment of adjustment.

[0184] Optionally, the adjustment unit 602 is further used to determine that the vehicle body height is adjusted to the target height when the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the target height is less than a first threshold.

[0185] Optionally, the absolute value of the height difference of each adjustment section is smaller than the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the target height.

[0186] Optionally, the adjustment unit 602 compares the actual height of the air spring corresponding to the target wheel with the target height after each adjustment is completed, including: after each adjustment is completed, determining whether the target height is updated; if the target height is not updated, comparing the actual height of the air spring corresponding to the target wheel with the target height.

[0187] Optionally, the adjusting unit 602 is further configured to adjust the air springs corresponding to all wheels of the vehicle to the same height when the target height is updated, and determine whether an absolute value of a difference between an actual height of the air spring corresponding to the target wheel and the updated target height is greater than the first threshold;

[0188] The adjustment unit 602 is also used to adjust the height of the vehicle body in a segmented manner when the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the updated target height is greater than a first threshold, so that the actual height of the air spring corresponding to the target wheel gradually approaches the updated target height.

[0189] Optionally, the adjustment unit 602 is further used to determine that the vehicle body height is adjusted to the updated target height when the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the updated target height is less than the first threshold.

[0190] Optionally, the adjustment unit 602 adjusts the air springs corresponding to all wheels of the vehicle to the same height, including: when the air spring corresponding to the target wheel is in a raised state, adjusting the air springs corresponding to all wheels of the vehicle to the same height as the air spring with the highest height; when the air spring corresponding to the target wheel is in a lowered state, adjusting the air springs corresponding to all wheels of the vehicle to the same height as the air spring with the lowest height.

[0191] Optionally, the determination unit 601 determines the target height, including: determining an operating mode of the vehicle; and determining the target height according to the operating mode and vehicle speed of the vehicle.

[0192] Optionally, the vehicle height adjustment device 600 may further include an acquisition unit 603;

[0193] An acquisition unit 603 is used to acquire the vehicle height, the vehicle roll angular velocity, the vehicle pitch angular velocity and the vehicle speed at four wheels;

[0194] The determination unit 601 determines the working mode of the vehicle, including: determining the body roll angle and the body pitch angle according to the body roll angular velocity and the body pitch angular velocity; judging whether the vehicle enters a downhill mode according to the body pitch angle; judging whether the vehicle enters an off-road mode according to the body pitch angle, the body roll angle, the body height at the four wheels, and the vehicle speed.

[0195] Optionally, the determining unit 601 determines whether the vehicle enters a downhill mode according to the vehicle body pitch angle, including:

[0196] When the vehicle body pitch angle is greater than the second threshold and the duration is greater than the first duration, it is determined that the vehicle enters the downhill mode.

[0197] Optionally, the determining unit 601 determines whether the vehicle enters the off-road mode according to the vehicle body pitch angle, the vehicle body roll angle, the vehicle body height at the four wheels, and the vehicle speed, including:

[0198] When the change value of the pitch angle of the vehicle body is monitored to exceed the third threshold value N times in a row, the change value of the roll angle of the vehicle body is monitored to exceed the fourth threshold value N times in a row, the change value of the vehicle height of any one of the four wheels exceeds the fifth threshold value, and the vehicle speed is less than the sixth threshold value, it is determined that the vehicle enters the off-road mode, and N is an integer greater than or equal to 2.

[0199] Optionally, the vehicle height adjustment device 600 may further include a judgment unit 604;

[0200] The judging unit 604 is used to judge whether the vehicle body posture is left-right unbalanced during the segment adjustment process;

[0201] The adjustment unit 602 is also used to stop the segmented adjustment and adjust the air springs corresponding to the left and right wheels of the vehicle to the same height when the vehicle body posture is unbalanced.

[0202] The adjustment unit 602 is also used to continue the segmented adjustment when the air springs corresponding to the left and right wheels of the vehicle are adjusted to the same height.

[0203] Optionally, the adjustment unit 602 adjusts the air springs corresponding to the left and right wheels of the vehicle to the same height, including: when the air spring corresponding to the target wheel is in a raised state, adjusting the air springs corresponding to the left and right wheels of the vehicle to the same height as the highest air spring among the left and right wheels; when the air spring corresponding to the target wheel is in a lowered state, adjusting the air springs corresponding to the left and right wheels of the vehicle to the same height as the lowest air spring among the left and right wheels.

[0204] Optionally, the judging unit 604 judges whether the vehicle body posture is left-right unbalanced, including:

[0205] When the absolute value of the difference between the left vehicle body height and the right vehicle body height is greater than the seventh threshold, and the vehicle body roll angle is greater than the eighth threshold, it is determined that the vehicle body posture is left-right unbalanced.

[0206] Optionally, the actual height of the air spring corresponding to the target wheel includes: the actual height of the air springs corresponding to all wheels or the actual height of the air spring corresponding to the front wheel.

[0207] Among them, the determination unit 601, the adjustment unit 602, the acquisition unit 603, and the judgment unit 604 in the embodiment of the present application can be processors in electronic devices, for example, they can be air suspension controllers in a vehicle height adjustment system.

[0208] In the embodiment of the present application, the height of the vehicle body is adjusted in a segmented manner, so that the actual height of the air spring corresponding to the target wheel gradually approaches the target height, thereby avoiding the problem of vehicle body height overshoot and oscillation caused by directly adjusting the height to the target height. Overshoot and oscillation of the vehicle body height can be avoided during the process of vehicle body height adjustment.

[0209] See also Figure 7 , Figure 7 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application, such as Figure 7As shown, the electronic device 700 includes a processor 701 and a memory 702, and the processor 701 and the memory 702 can be connected to each other via a communication bus 703. The communication bus 703 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus or a controller area network (CAN) bus. The communication bus 703 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 The memory 702 is used to store computer programs, which include program instructions. The processor 701 is configured to call the program instructions. The program includes instructions for executing Figure 1 to Figure 5 Some or all of the steps in the method included.

[0210] The processor 701 may be a general purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the above program. Specifically, the processor 701 may be an air suspension controller in a vehicle height adjustment system.

[0211] The memory 702 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may exist independently and be connected to the processor via a bus. The memory may also be integrated with the processor.

[0212] In addition, the electronic device 700 may also include common components such as a communication interface (eg, a USB interface, a microphone interface, etc.), an antenna, etc., which will not be described in detail here.

[0213] In the embodiment of the present application, the height of the vehicle body is adjusted in a segmented manner, so that the actual height of the air spring corresponding to the target wheel gradually approaches the target height, thereby avoiding the problem of vehicle body height overshoot and oscillation caused by directly adjusting the height to the target height. Overshoot and oscillation of the vehicle body height can be avoided during the process of vehicle body height adjustment.

[0214] An embodiment of the present application also provides a vehicle, comprising the above-mentioned vehicle height adjustment system.

[0215] An embodiment of the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute part or all of the steps of any vehicle body height adjustment method recorded in the above method embodiments.

[0216] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0217] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0218] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the device or unit can be electrical or other forms.

[0219] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0220] In addition, the functional units in the various embodiments of the application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware or in the form of software program modules.

[0221] If the integrated unit is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, disk or optical disk and other media that can store program codes.

[0222] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, which can include: a flash drive, a read-only memory, a random access memory, a magnetic disk or an optical disk, etc.

[0223] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A vehicle height adjustment method, characterized in that: include: Determine target height; The height of the vehicle body is adjusted in a segmented manner so that the actual height of the air spring corresponding to the target wheel gradually approaches the target height.

2. The method according to claim 1, characterized in that The step of adjusting the height of the vehicle body by adopting a segmented adjustment method so that the actual height of the air spring corresponding to the target wheel gradually approaches the target height includes: After each adjustment is completed, comparing the actual height of the air spring corresponding to the target wheel with the target height; When the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the target height is greater than a first threshold, the next stage of adjustment is entered.

3. The method according to claim 2, characterized in that The absolute value of the height difference of each adjustment section is smaller than the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the target height.

4. The method according to claim 2, characterized in that: After each adjustment is completed, comparing the actual height of the air spring corresponding to the target wheel with the target height, comprises: After each adjustment is completed, determining whether the target height is updated; When the target height is not updated, the actual height of the air spring corresponding to the target wheel is compared with the target height.

5. The method according to claim 4, characterized in that The method further comprises: When the target height is updated, the air springs corresponding to all wheels of the vehicle are adjusted to the same height, and it is determined whether the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the updated target height is greater than the first threshold; When the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the updated target height is greater than a first threshold, the height of the vehicle body is adjusted in a segmented manner so that the actual height of the air spring corresponding to the target wheel gradually approaches the updated target height.

6. The method according to claim 5, characterized in that The step of adjusting the air springs corresponding to all wheels of the vehicle to the same height comprises: When the air spring corresponding to the target wheel is in a raised state, adjusting the air springs corresponding to all wheels of the vehicle to the same height as the highest air spring; When the air spring corresponding to the target wheel is in a descending state, the air springs corresponding to all the wheels of the vehicle are adjusted to the same height as the air spring with the lowest height.

7. The method according to any one of claims 1 to 6, characterized in that: Determining the target height includes: Determine the vehicle's operating mode; The target height is determined according to the operating mode and vehicle speed of the vehicle.

8. The method according to claim 7, characterized in that Before determining the working mode of the vehicle, the method further includes: Obtain the vehicle height, vehicle roll angular velocity, vehicle pitch angular velocity and vehicle speed at the four wheels; The determining of the working mode of the vehicle comprises: Determining a vehicle body roll angle and a vehicle body pitch angle according to the vehicle body roll angular velocity and the vehicle body pitch angular velocity; Determining whether the vehicle enters a downhill mode according to the vehicle body pitch angle; Whether the vehicle enters the off-road mode is determined according to the vehicle body pitch angle, the vehicle body roll angle, the vehicle body height at the four wheels, and the vehicle speed.

9. The method according to claim 8, characterized in that The determining whether the vehicle enters a downhill mode according to the vehicle body pitch angle includes: When the vehicle body pitch angle is greater than the second threshold and the duration is greater than the first duration, it is determined that the vehicle enters the downhill mode.

10. The method according to claim 8, characterized in that The determining whether the vehicle enters the off-road mode according to the vehicle body pitch angle, the vehicle body roll angle, the vehicle body height at the four wheels, and the vehicle speed includes: When the change value of the pitch angle of the vehicle body is monitored to exceed the third threshold value N times in a row, the change value of the roll angle of the vehicle body is monitored to exceed the fourth threshold value N times in a row, the change value of the vehicle height of any one of the four wheels exceeds the fifth threshold value, and the vehicle speed is less than the sixth threshold value, it is determined that the vehicle enters the off-road mode, and N is an integer greater than or equal to 2.

11. The method according to claim 2, characterized in that The method further comprises: During the segment adjustment process, determine whether the vehicle body posture is unbalanced left to right; If the left and right body posture is unbalanced, stop the segmented adjustment and adjust the air springs corresponding to the left and right wheels of the vehicle to the same height; After the air springs corresponding to the left and right wheels of the vehicle are adjusted to the same height, continue with the segmented adjustment.

12. The method according to claim 11, characterized in that The step of adjusting the air springs corresponding to the left and right wheels of the vehicle to the same height includes: When the air spring corresponding to the target wheel is in a raised state, adjusting the air springs corresponding to the left and right wheels of the vehicle to the same height as the highest air spring of the left and right wheels; When the air spring corresponding to the target wheel is in a descending state, the air springs corresponding to the left and right wheels of the vehicle are adjusted to be the same height as the lowest air spring among the left and right wheels.

13. The method according to claim 11, characterized in that The determining whether the vehicle body posture is left-right unbalanced includes: When the absolute value of the difference between the left vehicle body height and the right vehicle body height is greater than the seventh threshold, and the vehicle body roll angle is greater than the eighth threshold, it is determined that the vehicle body posture is left-right unbalanced.

14. The method according to any one of claims 1 to 13, characterized in that: The actual height of the air spring corresponding to the target wheel includes: the actual height of the air spring corresponding to all wheels or the actual height of the air spring corresponding to the front wheel.

15. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory is used to store a computer program, the computer program comprises program instructions, and the processor is configured to call the program instructions to execute the method according to any one of claims 1 to 14.

16. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor is caused to perform the method according to any one of claims 1 to 14.

17. A computer program product, characterized in that The computer program product comprises a computer program, and the computer program is operable to cause a computer to execute the method according to any one of claims 1 to 14.

18. A vehicle, characterized in that: Comprising the electronic device as claimed in claim 15.

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