Method for adjusting the height of a vehicle body and related products

Abstract

Embodiments of the present application provide a vehicle body height adjusting method and related products. The vehicle body height adjusting method comprises: determining a target height; and adjusting 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. Embodiments of the present application can avoid overshoot and oscillation of the vehicle body height during the process of adjusting the height of the vehicle body.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle body height adjusting method and related products. BACKGROUND

[0002] The automobile suspension is the medium between the vehicle body and the wheels, and its main function is to transmit the force moments on the wheels to the vehicle body, and it is a key component to ensure the smoothness and stability of the vehicle. The air suspension uses air springs, has a low natural frequency and ideal elastic properties, and makes the vehicle body height adjustable, so it is increasingly widely used in various vehicles. The height adjustment speed of the traditional air suspension system is slow, and the problems of vehicle body height overshoot and oscillation are prone to occur. SUMMARY

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

[0004] The first aspect of the embodiments of the present application provides a vehicle body height adjusting method, comprising:

[0005] determining a target height;

[0006] adjusting 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.

[0007] In the embodiments of the present application, the target height is determined, and 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 embodiments 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, which avoids the problems of vehicle body height overshoot and oscillation caused by direct adjustment to the target height, and can avoid the problems of vehicle body height overshoot and oscillation in the process of vehicle body height adjustment.

[0008] Optionally, 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, comprising:

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

[0010] if 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 value, entering the next segment of adjustment.

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

[0012] Optionally, an absolute value of the height difference of each segment is less than an absolute value of a difference between the actual height of the air spring corresponding to the target wheel and the target height.

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

[0014] judging whether the target height is updated after each segment of adjustment is completed;

[0015] in a case where the target height is not updated, comparing the actual height of the air spring corresponding to the target wheel with the target height.

[0016] Optionally, the method further comprises:

[0017] in a case where the target height is updated, adjusting the air springs corresponding to all wheels of the vehicle to the same height, judging whether an absolute value of a 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 value;

[0018] in a case where 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 value, adjusting 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 updated target height.

[0019] Optionally, in a case where 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 value, it is determined that the height of the vehicle body is adjusted to the updated target height.

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

[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 that of the air spring with the highest height;

[0022] 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 that of the air spring with the lowest height.

[0023] Optionally, the determining the target height comprises:

[0024] Determine the vehicle's operating mode;

[0025] The target height is determined based on the vehicle's operating mode and speed.

[0026] Optionally, before determining the vehicle's operating mode, the method further includes:

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

[0028] Determining the vehicle's operating mode includes:

[0029] The vehicle roll angle and vehicle pitch angle are determined based on the vehicle roll rate and vehicle pitch rate.

[0030] Determine whether the vehicle has entered downhill mode based on the vehicle body pitch angle;

[0031] The vehicle is determined to be in off-road mode based on its pitch angle, roll angle, height at the four wheels, and speed.

[0032] Optionally, determining whether the vehicle has entered downhill mode based on the vehicle body pitch angle includes:

[0033] If the vehicle pitch angle is greater than the second threshold and the duration is greater than the first duration, it is determined that the vehicle has entered downhill mode.

[0034] Optionally, determining whether the vehicle has entered off-road mode based on the vehicle pitch angle, the vehicle roll angle, the vehicle height at the four wheels, and the vehicle speed includes:

[0035] If the vehicle's pitch angle changes more than the third threshold for N consecutive monitoring cycles, the roll angle changes more than the fourth threshold for N consecutive monitoring cycles, the vehicle height changes more than the fifth threshold for any of the four wheels, and the vehicle speed is less than the sixth threshold, then the vehicle is determined to enter off-road mode. N is an integer greater than or equal to 2.

[0036] Optionally, the method further includes:

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

[0038] If the vehicle body is unbalanced from left to right, 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 adjusting the air springs for the left and right wheels of the vehicle to the same height, continue to make segmented adjustments.

[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 the raised state, adjust 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.

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

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

[0044] If the absolute value of the difference between the height of the left side of the vehicle and the height of the right side of the vehicle is greater than the seventh threshold, and the vehicle roll angle is greater than the eighth threshold, then the vehicle posture is determined to be unbalanced.

[0045] Optionally, 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.

[0046] A second aspect of this application provides a vehicle height adjustment device, including:

[0047] Determining unit, used to determine target height;

[0048] The adjustment 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 this application provides an electronic device including a processor and a memory, the memory being used to store a computer program, the computer program including program instructions, and the processor being configured to invoke the program instructions to execute the step instructions as described in the first aspect of this application.

[0050] A fourth aspect of this application provides a computer-readable storage medium storing a computer program for electronic data interchange, wherein the computer program causes a computer to perform some or all of the steps described in the first aspect of this application. The computer-readable storage medium may be a non-volatile storage medium.

[0051] A fifth aspect of this application provides a computer program product, wherein the computer program product includes a computer program operable to cause a computer to perform some or all of the steps described in the first aspect of this application. The computer program product may be a software installation package.

[0052] A sixth aspect of this application provides a vehicle including electronic equipment as described in a third aspect of this application.

[0053] In this embodiment, a target height is determined; the vehicle height is adjusted in segments so that the actual height of the air springs corresponding to the target wheels gradually approaches the target height. This segmented adjustment method avoids overshoot and vibration issues caused by directly adjusting to the target height, thus preventing overshoot and vibration during the vehicle height adjustment process. Attached Figure Description

[0054] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0055] Figure 1 This is a schematic flowchart of a vehicle body height adjustment method provided in an embodiment of this application;

[0056] Figure 2 This is a schematic flowchart of another vehicle body height adjustment method provided in an embodiment of this application;

[0057] Figure 3 This is a schematic flowchart of another vehicle body height adjustment method provided in an embodiment of this application;

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

[0059] Figure 5 This is a flowchart illustrating a method for dynamically adjusting the height of an air suspension according to an embodiment of this application.

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

[0061] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0062] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0063] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

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

[0065] Please see Figure 1 , Figure 1 This is a schematic flowchart of a vehicle body height adjustment method provided in an embodiment of this application. Figure 1 As shown, the vehicle height adjustment method includes the following steps.

[0066] 101. Electronic equipment determines the target altitude.

[0067] In this embodiment, the target height is the height that the vehicle currently needs to be adjusted to. The target height can be determined based on the vehicle's operating mode and speed. For example, in off-road mode, the vehicle height needs to be increased. When traveling at high speed, the vehicle height needs to be decreased.

[0068] Electronic devices may include controllers on the vehicle. For example, a controller could be an air suspension controller. The air suspension controller determines the target height and adjusts the vehicle height to the target height.

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

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

[0071] (12) The electronic equipment determines the target height based on the vehicle's operating mode and speed.

[0072] In this embodiment, the target height can be determined based on the vehicle's operating mode and speed.

[0073] The vehicle's operating mode can include any of the following: Comfort mode, Sport mode, and Off-road mode. The vehicle's operating mode can also include Downhill mode.

[0074] Within a specific operating mode, different vehicle speed ranges correspond to different target heights. Each operating mode has a corresponding table showing the relationship between speed ranges and heights. By looking up the table based on the vehicle's operating mode and speed, the target height can be determined.

[0075] 102. The electronic equipment uses a segmented adjustment method to adjust 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.

[0076] In this embodiment, the vehicle height can be adjusted by adjusting the height of the air suspension. The air suspension includes air springs. For example, the vehicle height at the target wheel can be increased by controlling the inflation of the air spring corresponding to the target wheel; conversely, the vehicle height can be decreased by controlling the deflation of the air spring corresponding to the target wheel. For instance, the air suspension includes four air springs, corresponding to four wheels (left front wheel, right front wheel, left rear wheel, and right rear wheel), and each of the four air springs can adjust the vehicle height at its corresponding wheel.

[0077] The target wheel is the wheel among the four wheels that needs to have its height adjusted. For example, the target wheel may include all four wheels, or it may include the two front wheels.

[0078] The vehicle height 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 involves adjusting the actual height of the air spring corresponding to the target wheel at least twice to gradually bring it closer to the target height.

[0080] In this embodiment, the vehicle height is adjusted in segments, so that the actual height of the air spring corresponding to the target wheel gradually approaches the target height. This avoids the overshoot and vibration problems caused by directly adjusting to the target height, and prevents overshoot and vibration during the vehicle height adjustment process.

[0081] Optionally, the absolute value of the height difference for each adjustment segment is less 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 embodiments of this application adopt segmented adjustment, with each adjustment being relatively small, so that the vehicle will not shake during the vehicle height adjustment process, thereby improving the stability of the vehicle during the vehicle height adjustment process.

[0083] The height difference for each adjustment segment can 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 it can be adjusted in ten stages, increasing the height by 10mm each time (the height difference in each stage is the same), for a total of 10 adjustments, 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, with a total height difference of 100mm, then it can be adjusted in five stages: first, 50mm; second, 30mm; third, 10mm; fourth, 5mm; and fifth, 5mm (the height difference for each stage is not exactly the same). A total of five adjustments are made to bring the air spring corresponding to the target wheel to 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 the first threshold, the electronic device enters the next adjustment stage.

[0089] Optionally, after performing step (21), step (23) may also be performed.

[0090] (23) 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, the electronic device determines that the vehicle height is adjusted to the target height.

[0091] It's important to note that when actually adjusting the air springs, there's an inertia that can easily lead to overshooting of the vehicle height. For example, when raising the vehicle to the target height, the air springs will continue to rise a short distance; similarly, when lowering the vehicle to the target height, the air springs will continue to descend a short distance, resulting in overshooting. Overshooting then leads to repeated raising and lowering, causing vehicle height fluctuations and making it difficult to fully reach the target height.

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

[0093] A dead zone interval can be set based on a first threshold. The dead zone interval for the target height is (target height - first threshold, target height + first threshold). If the actual height of the air spring corresponding to the target wheel is within the dead zone interval of the target height, the vehicle height is considered to have been adjusted to the target height, and the height of the air spring corresponding to the target wheel will no longer be adjusted. This avoids repeated adjustments to the vehicle height and prevents vehicle height oscillation, thereby improving the speed of vehicle height adjustment.

[0094] In this embodiment, each adjustment segment adjusts the height of the air spring corresponding to the target wheel according to the height difference set for that segment. After each adjustment segment 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 into the dead zone of the target height, the next adjustment segment continues. If the actual height of the air spring corresponding to the target wheel falls into the dead zone of the target height, the height of the air spring corresponding to the target wheel is considered to have been adjusted to the target height, and the vehicle height is no longer adjusted.

[0095] Optionally, after performing step 101, the actual height of the air spring corresponding to the target wheel can be compared with the target height. If 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 performed. If 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 has been updated;

[0098] (212) If 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 this embodiment, after each adjustment is completed, the electronic device determines whether the target height has been updated. The target height can be determined based on the vehicle's operating mode and speed. When the vehicle's operating mode changes, or the vehicle's speed range changes, the target height will change and be updated.

[0100] After each adjustment segment, it is determined whether the target height has been updated, compared to adjusting the height of the air spring corresponding to the target wheel to the target height all at once. During segmented adjustments, if the target height changes, it can promptly adjust to the updated target height. In the event of a sudden change in target height, it can immediately adjust to the new target height, thus improving the speed of vehicle height adjustment.

[0101] In this embodiment of the application, if the target height is not 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 performing step (211), the following steps may also be performed:

[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 performing step (213), the following steps may also be performed:

[0106] (215) If 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 height is adjusted to the updated target height.

[0107] In this embodiment, when the target height is updated, the air springs corresponding to all wheels of the vehicle are adjusted to the same height. 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. If it is greater than the first threshold, 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 on adjusting the height of the air spring corresponding to the target wheel in a segmented manner to gradually approach the updated target height, please refer to the specific description of step 102 above, 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 the raised state, the electronic device adjusts the air springs corresponding to all wheels of the vehicle to the same height as the air spring with the highest height.

[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 air spring with the lowest height.

[0111] In this embodiment, 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 match the height of the highest air spring. 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 subsequent segmented adjustments. Conversely, when the air spring corresponding to the target wheel is lowered, that is, when the air spring corresponding to the target wheel is lowered, the other air springs are adjusted to match the height of the lowest air spring. 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 subsequent segmented adjustments.

[0112] This embodiment adjusts the air springs corresponding to all the vehicle's wheels to the same height, facilitating subsequent height adjustments and improving the driving experience. If the air springs corresponding to all the vehicle's wheels are not adjusted to the same height, the vehicle may tilt, affecting the driving experience.

[0113] Please see Figure 2 , Figure 2 This is a schematic flowchart of another vehicle body height adjustment method provided in an embodiment of this application. Figure 2As shown, the vehicle height adjustment method includes the following steps.

[0114] 201. Electronic devices acquire vehicle height, roll rate, pitch rate, and speed at the four wheels.

[0115] In this embodiment of the application, the electronic device can collect the vehicle height at the four wheels through height sensors installed at the four wheels, obtain the vehicle roll rate through a roll rate sensor, and obtain the pitch rate through a pitch rate sensor.

[0116] 202. Electronic equipment determines the body roll angle and body pitch angle based on the body roll rate and body pitch rate.

[0117] In this embodiment of the application, the electronic device can obtain the vehicle roll angle and the vehicle pitch angle by integrating the roll rate and pitch rate respectively.

[0118] 203. Electronic equipment determines whether the vehicle has entered downhill mode based on the vehicle's pitch angle.

[0119] In this embodiment, the vehicle pitch angle is the angle between the direction of the vehicle top and the horizontal line. When the vehicle pitch angle is greater than a set threshold, it indicates that the vehicle has entered downhill mode.

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

[0121] When the vehicle pitch angle is greater than a second threshold and the duration is greater than a first duration, the electronic device determines that the vehicle has entered downhill mode.

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

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

[0124] If the vehicle pitch angle is less than or equal to the second threshold, or if the duration of the vehicle pitch angle being greater than the second threshold is less than or equal to the first duration, then the vehicle is determined not to have entered downhill mode.

[0125] 204. Electronic equipment determines whether the vehicle has entered off-road mode based on the vehicle's pitch angle, roll angle, vehicle height at the four wheels, and speed.

[0126] In this embodiment, when the vehicle pitch angle, roll angle, and wheel height change are large, and the vehicle speed is low, determining that the vehicle has entered off-road mode can avoid misjudgment caused by the vehicle passing through short-term road bumps (such as speed bumps), thus accurately determining whether the vehicle has entered downhill mode.

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

[0128] If the electronic device detects that the pitch angle of the vehicle body exceeds the third threshold for N consecutive times, the roll angle of the vehicle body exceeds the fourth threshold for N consecutive times, the change in the vehicle height of any one of the four wheels exceeds the fifth threshold, and the vehicle speed is less than the sixth threshold, then the vehicle is determined to enter off-road mode. N is an integer greater than or equal to 2.

[0129] In this embodiment, the electronic device (e.g., via a pitch rate sensor) can periodically detect the pitch angle of the vehicle body, and thus calculate the change in the pitch angle of the vehicle body based on two consecutive detected pitch angles. Similarly, the electronic device (e.g., via a roll rate sensor) can periodically detect the roll angle of the vehicle body, and thus calculate the change in the roll angle of the vehicle body based on two consecutive detected roll angles.

[0130] If the calculated pitch angle change exceeds the third threshold twice or more consecutively, the calculated roll angle change exceeds the fourth threshold twice or more consecutively, the change in vehicle height at any of the four wheels exceeds the fifth threshold, and the vehicle speed is less than the sixth threshold, then the vehicle is determined to have entered off-road mode. This avoids misjudgments caused by the vehicle passing over short-term road bumps (such as speed bumps), thus accurately determining whether the vehicle has entered downhill mode.

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

[0132] 205. Electronic equipment determines the target height based on the vehicle's operating mode and speed.

[0133] The specific implementation of step 205 can be found in step (12) above, and will not be repeated here.

[0134] 206. The electronic equipment uses a segmented adjustment method to adjust 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.

[0135] The specific implementation of step 206 can be found in step 102 above, and will not be repeated here.

[0136] Please see Figure 3 , Figure 3 This is a schematic flowchart of another vehicle body height adjustment method provided in an embodiment of this application. Figure 3 As shown, the vehicle height adjustment method includes the following steps.

[0137] 301. Electronic equipment determines the target altitude.

[0138] 302. The electronic device makes segmented adjustments based on the target height. After each segment of adjustment is completed, the actual height of the air spring corresponding to the target wheel is compared 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 adjustment stage.

[0140] 304. 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, the electronic device determines that the vehicle height should be adjusted to the target height.

[0141] The specific implementation of steps 301 to 304 can be found in steps 101 and 102 above, and will not be repeated here.

[0142] 305. During the segmented adjustment process, the electronic equipment determines whether the vehicle body posture is unbalanced from left to right.

[0143] 306. When the vehicle body is unbalanced from side to side, the electronic equipment 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 can include the air springs corresponding to the left front wheel and the right front wheel. They can also include the air springs corresponding to the left rear wheel and the right rear wheel. Alternatively, they can include air springs corresponding to the left front wheel, the left rear wheel, the right front wheel, and the right rear wheel.

[0145] 307. With the air springs corresponding to the left and right wheels of the vehicle adjusted to the same height, the electronic equipment continues to make segmented adjustments.

[0146] In this embodiment, during the segmented adjustment process, it can be determined whether the vehicle body posture is unbalanced from left to right. When the vehicle body posture is unbalanced from left to right, the heights of the left and right tires are inconsistent, which affects the driving experience and may pose safety risks. During the segmented adjustment process, if an imbalance is detected, the adjustment is immediately stopped. The air springs corresponding to the left and right wheels are adjusted to the same height to ensure lateral balance. Only then is the segmented adjustment resumed, thereby improving the driving experience and reducing safety risks.

[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 the 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 air spring with the highest height among the left and right wheels.

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

[0150] In this embodiment, the air spring corresponding to the target wheel is in a raised 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 highest air spring 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 more quickly during subsequent segmented adjustments. Conversely, 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. 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 more quickly during subsequent segmented adjustments.

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

[0152] If the absolute value of the difference between the height of the left and right sides of the vehicle body is greater than the seventh threshold, and the vehicle body roll angle is greater than the eighth threshold, then the electronic device determines that the vehicle body posture is unbalanced.

[0153] Both the seventh and eighth thresholds can be preset. The seventh and eighth thresholds can be preset and stored in the memory of the electronic device (e.g., non-volatile memory).

[0154] The left side vehicle height can be the height of the air spring corresponding to either the left front wheel or the left rear wheel, and the right side vehicle height can be the height of the air spring corresponding to either the right front wheel or the right rear wheel. The difference between the left and right side vehicle heights can be any one of the differences between the air spring heights corresponding to the left and right front wheels, or the differences between the air spring heights corresponding to the left and right rear wheels, or the maximum value of the two.

[0155] Please see Figure 4 , Figure 4 This is a structural schematic diagram of a vehicle height adjustment system provided in an embodiment of this application. Figure 4 As shown, the vehicle height adjustment system includes: a height sensor, a roll rate sensor, a pitch rate sensor, a CAN bus, a sensor signal acquisition and CAN signal receiving module, an air suspension controller, solenoid valves, and air springs. The height sensor acquires the vehicle height at all four wheels. The CAN bus transmits vehicle speed signals and vehicle operating modes. The roll and pitch rate sensors obtain angular velocity signals. The air suspension controller calculates the input signals and outputs control signals to control the opening and closing of the solenoid valves, thereby adjusting the height of the air springs.

[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 vehicle attitude balance control module, a target height segmented adjustment module, and a solenoid valve drive module. The signal processing module processes and converts the input signals, integrating the roll and pitch angular velocities to obtain the vehicle roll and pitch angles. The downhill road recognition module determines the vehicle pitch angle; if the pitch angle 'a' is greater than a threshold 'a1', it identifies the road as downhill and issues a command to raise the height of the two front air springs (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's pitch angle, roll angle, vehicle height at all four wheels, and speed. If the changes in the vehicle's pitch angle 'a' continuously exceed threshold 'a2', the changes in the roll angle 'b' exceed threshold 'b2', and the changes in vehicle height at any wheel exceed 'h2', while the vehicle speed is less than 'v2', then it is determined to be an uneven road condition, and the vehicle is controlled to enter off-road mode, increasing the overall vehicle height to enable the vehicle to smoothly traverse rough road conditions. The target height decision module outputs the appropriate target height H3 for the vehicle based on its operating mode and speed. The target height segmented adjustment module adopts a segmented step height adjustment method, dividing the height of the air springs to be adjusted into multiple step heights h3. After each adjustment, the actual height of the air spring is compared with the target height. If the target height is not reached, the adjustment continues. If the target height suddenly changes, 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. The segmented height adjustment continues until the new target height is reached. At the same time, a dead zone is set at the target height. When the actual height of the air springs corresponding to the four wheels is detected to have reached the target height dead zone, the height adjustment stops, 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 stable and gradual changes in vehicle height, ensuring the stability of the vehicle during vehicle height adjustment. The vehicle posture balance control module determines whether the vehicle is in a state of left-right balance based on the roll angle of the vehicle and the height difference between the left and right sides of the vehicle. If the roll angle b is greater than the threshold b4 and the height difference between the left and right sides of the vehicle is greater than the threshold h4, it is determined that the vehicle posture is unbalanced. At this time, the height of the air springs corresponding to the left and right wheels of the vehicle will be adjusted to be consistent first, and then the vehicle height will continue to be adjusted, thereby ensuring the posture balance of the vehicle during the height adjustment process.

[0157] Please see Figure 5 , Figure 5 This is a flowchart illustrating a method for dynamically adjusting the height of an air suspension according to an embodiment of this application. Figure 5 As shown, the vehicle height adjustment method includes the following steps.

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

[0159] It collects vehicle height, pitch rate, and roll rate signals from the four wheels via sensors, and receives vehicle speed and vehicle operating mode signals transmitted via the CAN bus.

[0160] 502, the pitch and roll angles are obtained by integral calculation.

[0161] The pitch and roll angles of the vehicle body are obtained by integrating the pitch and roll rate signals respectively.

[0162] 503. Determine if the pitch angle is greater than a1 and the duration is greater than t1. If so, proceed to step 504.

[0163] 504, the vehicle enters downhill mode, outputting the target height H1 of the front of the vehicle.

[0164] The vehicle's pitch angle 'a' is compared with a threshold 'a1'. If the vehicle's pitch angle 'a' 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 downhill mode. The vehicle issues a command to raise the height of the two air springs at the front of the vehicle and outputs the target height H1 at the front of the vehicle.

[0165] 505. Determine whether the changes in the vehicle's pitch angle 'a', roll angle 'b', and vehicle height at any wheel exceed threshold 'h2' in N consecutive monitoring cycles, while simultaneously ensuring the vehicle speed is less than 'v2'. If so, proceed to step 506.

[0166] 506, the vehicle enters off-road mode, outputting the target height H2 for the entire vehicle body.

[0167] The system comprehensively assesses the vehicle's pitch angle, roll angle, vehicle height at all four wheels, and speed to identify uneven road conditions. If, for N consecutive monitoring events, the pitch angle 'a' exceeds threshold 'a2', the roll angle 'b' exceeds threshold 'b2', and the vehicle height at any wheel exceeds 'h2', while the vehicle speed is less than 'v2', then the system determines the road condition to be uneven and controls the vehicle to enter off-road mode, increasing the overall vehicle height and outputting the target height H2 for the entire vehicle.

[0168] 507, output target height H3 according to vehicle working mode and speed.

[0169] 508, segmented step height adjustment.

[0170] A segmented height adjustment method is adopted, with a dead zone length x. For the target height H3 of the air springs, H3 is divided into multiple segment heights h3 for adjustment. After each adjustment, the actual height H of the vehicle body is compared with the target height H3. If |H-H3|>x, the adjustment continues. If the target height H3 suddenly changes, the heights of the air springs corresponding to all four wheels are adjusted to the same height, and then compared with the new target height. If |H-H3|>x, the segmented height adjustment continues until |H-H3|>x. <x。

[0171] 509, Solenoid valve drives air spring.

[0172] The solenoid valve's on / off state is determined by the inflation / deflation status of the air springs, and the solenoid valve is controlled to open / close accordingly via a current-driven signal. This controls the inflation / deflation of the air springs to achieve the target vehicle height.

[0173] 510, Vehicle body posture balance control.

[0174] During the vehicle height adjustment process in step 508, the left-right balance of the vehicle posture is simultaneously assessed. The difference between the left and right vehicle heights is calculated. If the absolute value of the difference is greater than the threshold h4 and the roll angle b is greater than the threshold b4, the vehicle posture is determined to be unbalanced. If step 508 is in the inflation process, inflation is stopped on the higher side of the vehicle, and the lower side of the vehicle is inflated to the same height as the higher side. If step 508 is in the deflation process, deflation is stopped on the lower side of the vehicle, and the higher side of the vehicle is deflated to the same height as the lower side. Then, the vehicle height adjustment continues until the vehicle height reaches the target height.

[0175] This application provides a method for dynamically adjusting the height of an air suspension. Height sensors at each of the four wheels collect the vehicle's height at those points. Roll and pitch angular velocities are obtained using roll and pitch rate sensors. The roll and pitch angles are calculated by integrating these velocities. The pitch angle is used to determine if the vehicle is on a downhill slope. If so, the height of the two front air springs is increased to improve comfort and stability. If changes in pitch, roll, or the height of any wheel are continuously detected, especially at low speeds, the vehicle is considered to be on uneven terrain and off-road mode is automatically activated. This inflates the air springs throughout the vehicle, increasing the overall height and improving stability under adverse road conditions. When inflating the air springs, a segmented height adjustment method is used. This involves dividing the target height into multiple segments and inflating and deflating repeatedly to achieve height adjustment. This ensures vehicle stability during the inflation and deflation process. If the target height suddenly changes during adjustment, the controller will stop the original target height adjustment and adjust the height of all four wheels to be consistent before adjusting the air springs to the new target height. During air spring height adjustment, the vehicle's tilt posture is simultaneously assessed. If the vehicle is detected to be tilting, the vehicle height at all four wheels will be adjusted to be consistent before continuing to adjust the air springs to the target height.

[0176] This application embodiment uses vehicle pitch angle, roll angle, vehicle speed, and vehicle height signals at all four tires as inputs to the control algorithm to identify downhill and uneven road conditions. When driving downhill, the height of the front of the vehicle is compensated by automatically inflating the air springs to raise the front of the vehicle. When driving on uneven roads, the vehicle automatically enters off-road mode to raise the overall vehicle height. The air spring height adjustment uses a multi-segment approach, stopping the original adjustment and promptly responding to the new target height when the target height changes. An adjustment dead zone is set at the target height; adjustment stops when the vehicle reaches the dead zone, preventing overshoot and vibration issues. During air spring adjustment, the vehicle's roll attitude is monitored. If roll occurs, the vehicle height at all four wheels is first adjusted to be consistent to eliminate roll.

[0177] When driving downhill, the height compensation at the front of the vehicle improves stability and enhances ride comfort. On uneven or rough roads, the system proactively detects the condition and automatically enters off-road mode, raising the vehicle's height to protect the chassis from scratches and wear. Employing a segmented height adjustment system, it immediately adjusts to the new target height when needed, and includes a height dead zone at the target height to prevent overshoot and vibration. Simultaneously, the system adjusts the vehicle's tilt posture during height adjustment, ensuring lateral balance.

[0178] The above describes the solutions of the embodiments of this application from the perspective of the method execution process. It is understood that, in order to achieve the above functions, the electronic device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments provided herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

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

[0180] Please see Figure 6 , Figure 6 This is a schematic diagram of a vehicle height adjustment device provided in an embodiment of this application. The vehicle height adjustment device 600 may include a determining unit 601 and an adjusting unit 602, wherein:

[0181] Determining unit 601 is used to determine the target height;

[0182] The adjustment 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 vehicle height in a segmented manner so that the actual height of the air spring corresponding to the target wheel gradually approaches the target height. This includes: after each segment of adjustment is completed, comparing the actual height of the air spring corresponding to the target wheel with the target height; and proceeding to the next segment of adjustment if 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.

[0184] Optionally, the adjustment unit 602 is further configured to determine that the vehicle 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 for each adjustment segment is less 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, after each adjustment segment is completed, the adjustment unit 602 compares the actual height of the air spring corresponding to the target wheel with the target height, including: after each adjustment segment is completed, determining whether the target height has been updated; if the target height has not been updated, comparing the actual height of the air spring corresponding to the target wheel with the target height.

[0187] Optionally, the adjustment 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 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.

[0188] The adjustment unit 602 is further configured to adjust the vehicle height 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 configured to determine that the vehicle 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 an elevated state, adjusting the air springs corresponding to all wheels of the vehicle to the same height as the air spring with the highest height; and 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 determining unit 601 determines the target height by: determining the vehicle's operating mode; and determining the target height based on the vehicle's operating mode and speed.

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

[0193] The acquisition unit 603 is used to acquire the vehicle height, vehicle roll rate, vehicle pitch rate and vehicle speed at the four wheels.

[0194] The determining unit 601 determines the vehicle's operating mode, including: determining the vehicle roll angle and vehicle pitch angle based on the vehicle roll rate and vehicle pitch rate; determining whether the vehicle has entered downhill mode based on the vehicle pitch angle; and determining whether the vehicle has entered off-road mode based on the vehicle pitch angle, vehicle roll angle, vehicle height at the four wheels, and vehicle speed.

[0195] Optionally, the determining unit 601 determines whether the vehicle has entered downhill mode based on the vehicle body pitch angle, including:

[0196] If the vehicle pitch angle is greater than the second threshold and the duration is greater than the first duration, it is determined that the vehicle has entered downhill mode.

[0197] Optionally, the determining unit 601 determines whether the vehicle has entered off-road mode based on the vehicle pitch angle, the vehicle roll angle, the vehicle height at the four wheels, and the vehicle speed, including:

[0198] If the vehicle's pitch angle changes more than the third threshold for N consecutive monitoring cycles, the roll angle changes more than the fourth threshold for N consecutive monitoring cycles, the vehicle height changes more than the fifth threshold for any of the four wheels, and the vehicle speed is less than the sixth threshold, then the vehicle is determined to enter off-road mode. N is an integer greater than or equal to 2.

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

[0200] The judgment unit 604 is used to determine whether the vehicle body posture is unbalanced from left to right during the segmented adjustment process.

[0201] The adjustment unit 602 is also used to stop 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 segmented adjustment after 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 an elevated state, adjusting the air springs corresponding to the left and right wheels of the vehicle to the same height as the air spring with the highest height among the left and right wheels; and 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 air spring with the lowest height among the left and right wheels.

[0204] Optionally, the determination unit 604 determines whether the vehicle body posture is unbalanced from left to right, including:

[0205] If the absolute value of the difference between the height of the left side of the vehicle and the height of the right side of the vehicle is greater than the seventh threshold, and the vehicle roll angle is greater than the eighth threshold, then the vehicle posture is determined to be unbalanced.

[0206] Optionally, 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.

[0207] In this embodiment, the determining unit 601, adjusting unit 602, acquiring unit 603, and judging unit 604 can be processors in electronic devices, such as air suspension controllers in vehicle height adjustment systems.

[0208] In this embodiment, the vehicle height is adjusted in segments, so that the actual height of the air spring corresponding to the target wheel gradually approaches the target height. This avoids the overshoot and vibration problems caused by directly adjusting to the target height, and prevents overshoot and vibration during the vehicle height adjustment process.

[0209] Please see Figure 7 , Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 7As shown, the electronic device 700 includes a processor 701 and a memory 702, which are interconnected via a communication bus 703. The communication bus 703 can be a peripheral component interconnect (PCI) bus, an extended industry standard architecture (EISA) bus, or a controller area network (CAN) bus, etc. The communication bus 703 can be divided into an address bus, a data bus, and a control bus, etc. For ease of illustration, Figure 7 The bus is represented by a single thick line, but this does not indicate that there is only one bus or one type of bus. Memory 702 stores computer programs, which include program instructions. Processor 701 is configured to call these program instructions, which include instructions for execution. Figures 1 to 5 It includes some or all of the steps in the methods.

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

[0211] The memory 702 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital versatile optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but 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 general components such as communication interfaces (e.g., USB interfaces, microphone interfaces, etc.) and antennas, which will not be described in detail here.

[0213] In this embodiment, the vehicle height is adjusted in segments, so that the actual height of the air spring corresponding to the target wheel gradually approaches the target height. This avoids the overshoot and vibration problems caused by directly adjusting to the target height, and prevents overshoot and vibration during the vehicle height adjustment process.

[0214] This application also provides a vehicle including the above-described vehicle height adjustment system.

[0215] This application also provides a computer-readable storage medium storing a computer program for electronic data interchange that causes a computer to perform some or all of the steps of any of the vehicle height adjustment methods described in the above method embodiments.

[0216] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0217] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0218] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical or other forms.

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

[0220] Furthermore, the functional units in the various embodiments of the application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software program module.

[0221] If the integrated unit is implemented as a software program module and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, 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. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0222] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage device, which may include: a flash drive, a read-only memory, a random access memory, a magnetic disk, or an optical disk, etc.

[0223] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for adjusting vehicle body height, characterized in that, include: Determine the target altitude; The vehicle height is adjusted in segments so that the actual height of the air springs corresponding to the target wheels gradually approaches the target height. The method of adjusting the vehicle body height in segments, so that the actual height of the air springs corresponding to the target wheels gradually approaches the target height, includes: After each adjustment is completed, compare the actual height of the air spring corresponding to the target wheel with the target height; If 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, proceed to the next adjustment stage; During the segmented adjustment process, determine whether the vehicle body posture is unbalanced from left to right; If the vehicle body is unbalanced from left to right, stop the segmented adjustment and adjust the air springs corresponding to the left and right wheels of the vehicle to the same height. After adjusting the air springs for the left and right wheels of the vehicle to the same height, continue to make segmented adjustments.

2. The method according to claim 1, characterized in that, The absolute value of the height difference for each adjustment is less than the absolute value of the difference between the actual height of the air spring corresponding to the target wheel and the target height.

3. The method according to claim 1, 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 includes: After each adjustment is completed, determine whether the target height has been updated; If the target height is not updated, compare the actual height of the air spring corresponding to the target wheel with the target height.

4. The method according to claim 3, characterized in that, The method further includes: 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. If 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.

5. The method according to claim 4, characterized in that, The step of adjusting the air springs corresponding to all wheels of the vehicle to the same height includes: When the air spring corresponding to the target wheel is in the raised state, adjust 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, adjust the air springs corresponding to all wheels of the vehicle to the same height as the air spring with the lowest height.

6. The method according to any one of claims 1 to 5, characterized in that, Determining the target height includes: Determine the vehicle's operating mode; The target height is determined based on the vehicle's operating mode and speed.

7. The method according to claim 6, characterized in that, Before determining the vehicle's operating mode, the method further includes: Obtain the vehicle height, roll rate, pitch rate, and speed at the four wheels; Determining the vehicle's operating mode includes: The vehicle roll angle and vehicle pitch angle are determined based on the vehicle roll rate and vehicle pitch rate. Determine whether the vehicle has entered downhill mode based on the vehicle body pitch angle; The vehicle is determined to be in off-road mode based on its pitch angle, roll angle, height at the four wheels, and speed.

8. The method according to claim 7, characterized in that, The step of determining whether the vehicle has entered downhill mode based on the vehicle body pitch angle includes: If the vehicle pitch angle is greater than the second threshold and the duration is greater than the first duration, it is determined that the vehicle has entered downhill mode.

9. The method according to claim 7, characterized in that, The method of determining whether the vehicle has entered off-road mode based on the vehicle pitch angle, the vehicle roll angle, the vehicle height at the four wheels, and the vehicle speed includes: If the vehicle's pitch angle changes more than the third threshold for N consecutive monitoring cycles, the roll angle changes more than the fourth threshold for N consecutive monitoring cycles, the vehicle height changes more than the fifth threshold for any of the four wheels, and the vehicle speed is less than the sixth threshold, then the vehicle is determined to enter off-road mode. N is an integer greater than or equal to 2.

10. The method according to claim 1, characterized in that, 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 the raised state, adjust 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, adjust the air springs corresponding to the left and right wheels of the vehicle to the same height as the air spring with the lowest height among the left and right wheels.

11. The method according to claim 1, characterized in that, The determination of whether the vehicle body posture is unbalanced from left to right includes: If the absolute value of the difference between the height of the left side of the vehicle and the height of the right side of the vehicle is greater than the seventh threshold, and the vehicle roll angle is greater than the eighth threshold, then the vehicle posture is determined to be unbalanced.

12. The method according to any one of claims 1-5 and 7-11, 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.

13. An electronic device, characterized in that, The device includes a processor and a memory, the memory being used to store a computer program, the computer program including program instructions, and the processor being configured to invoke the program instructions to perform the method as described in any one of claims 1 to 12.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method as described in any one of claims 1 to 12.

15. A computer program product, characterized in that, The computer program product includes a computer program operable to cause a computer to perform the method as described in any one of claims 1 to 12.

16. A vehicle, characterized in that, Including the electronic device as described in claim 13.

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