Suspension control method and device, controller, vehicle, medium and product

Abstract

The invention relates to a suspension control method and device, a controller, a vehicle, a medium and a product. The method comprises the steps that the steering stroke corresponding to a target wheel of the vehicle and the suspension height of a suspension connected with the target wheel are obtained; and according to the steering stroke and the suspension height, the suspension height of the suspension is adjusted so that the suspension height can be within the target suspension height range, and the target suspension height range is determined according to the preset included angle range corresponding to the swing angles of an inner ball cage and an outer ball cage of a transmission shaft of the vehicle.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular, to a suspension control method, device, controller, vehicle, medium and product. Background Art

[0002] At present, when the front wheels of a vehicle are used as driving wheels (front-wheel drive or four-wheel drive), there is a drive shaft between the powertrain and the front drive wheels. When the front wheels of the vehicle jump up or down to the extreme height, if the vehicle turns at this time, the swing angle of the inner and outer ball cages of the vehicle's drive shaft will exceed the design limit, which will cause damage to the vehicle's drive shaft, abnormal noise, and low transmission efficiency. Summary of the invention

[0003] In order to overcome the problems existing in the related art, the present disclosure provides a suspension control method, device, controller, vehicle, medium and product.

[0004] According to a first aspect of an embodiment of the present disclosure, a suspension control method is provided, which is applied to a vehicle, and the method includes:

[0005] Obtaining a steering stroke corresponding to a target wheel of the vehicle and a suspension height of a suspension connected to the target wheel;

[0006] According to the steering stroke and the suspension height, the suspension height of the suspension is adjusted so that the suspension height is within a target suspension height range, and the target suspension height range is determined according to a preset angle range corresponding to the swing angles of the inner and outer ball cages of the vehicle's drive shaft.

[0007] Optionally, adjusting the suspension height of the suspension according to the steering stroke and the suspension height comprises:

[0008] The suspension height of the suspension is adjusted according to the steering stroke, the suspension height, and a preset suspension height function, wherein the preset suspension height function is a function with the steering stroke and the suspension height as independent variables and the inner and outer ball cage swing angles of the transmission shaft as a dependent variable.

[0009] Optionally, adjusting the suspension height of the suspension according to the steering stroke and the suspension height so that the suspension height is within a target suspension height range includes:

[0010] Determine a target angle range of inner and outer ball cage swing angles of the vehicle's transmission shaft according to the steering stroke and the preset suspension height function, wherein the target angle range includes angles within the preset angle range when the suspension of the vehicle is within the preset suspension height range;

[0011] According to the target angle range, a target suspension height range is determined by using the preset suspension height function.

[0012] Optionally, the determining, according to the steering stroke and by means of the preset suspension height function, a target angle range of inner and outer ball cage swing angles of the transmission shaft of the vehicle comprises:

[0013] According to the steering stroke, by means of the preset suspension height function, a candidate angle range corresponding to the preset suspension height range is determined, wherein the candidate angle range includes the angles of the inner and outer ball cage swing angles of the transmission shaft of the vehicle when the suspension of the vehicle is within the preset suspension height range;

[0014] A target angle range is determined according to the candidate angle range and the preset angle range.

[0015] Optionally, adjusting the suspension height of the suspension according to the steering stroke and the suspension height comprises:

[0016] When the suspension height is not within the target suspension height range, the suspension height of the suspension is adjusted so that the suspension height is within the target suspension height range.

[0017] Optionally, the method further comprises:

[0018] According to the steering stroke and the suspension height, the corresponding target transmission shaft inner and outer ball cage swing angles are determined by the preset suspension height function;

[0019] When it is determined that the swing angle of the inner and outer ball cages of the target transmission shaft is not within the preset angle range, the suspension height is reset.

[0020] According to a second aspect of an embodiment of the present disclosure, there is provided a suspension control device, which is applied to a vehicle, and the device includes:

[0021] An acquisition module, used for acquiring a steering stroke corresponding to a target wheel of the vehicle and a suspension height of a suspension connected to the target wheel;

[0022] The adjustment module is used to adjust the suspension height of the suspension according to the steering stroke and the suspension height so that the suspension height is within a target suspension height range, and the target suspension height range is determined according to a preset angle range corresponding to the swing angles of the inner and outer ball cages of the vehicle's drive shaft.

[0023] Optionally, the adjustment module is used to adjust the suspension height of the suspension according to the steering stroke, the suspension height, and a preset suspension height function, wherein the preset suspension height function is a function with the steering stroke and the suspension height as independent variables and the inner and outer ball cage swing angles of the drive shaft as a dependent variable.

[0024] Optionally, the adjustment module includes:

[0025] A first determination submodule is used to determine a target angle range of inner and outer ball cage swing angles of the transmission shaft of the vehicle according to the steering stroke and the preset suspension height function, wherein the target angle range includes angles within the preset angle range when the suspension of the vehicle is within the preset suspension height range;

[0026] The second determination submodule is used to determine a target suspension height range according to the target angle range and by using the preset suspension height function.

[0027] Optionally, the first determination submodule is used to determine, according to the steering stroke and through the preset suspension height function, a candidate angle range corresponding to the preset suspension height range, the candidate angle range including the angles of the inner and outer ball cage swing angles of the vehicle's drive shaft when the suspension of the vehicle is within the preset suspension height range; determine the target angle range based on the candidate angle range and the preset angle range.

[0028] Optionally, the adjustment module is used to adjust the suspension height of the suspension when the suspension height is not within the target suspension height range, so that the suspension height is within the target suspension height range.

[0029] Optionally, the device further comprises:

[0030] A determination module, configured to determine the corresponding target transmission shaft inner and outer ball cage swing angles according to the steering stroke and the suspension height through the preset suspension height function;

[0031] A reset module is used to reset the suspension height when it is determined that the swing angle of the inner and outer ball cages of the target transmission shaft is not within the preset angle range.

[0032] According to a third aspect of an embodiment of the present disclosure, a controller is provided, including:

[0033] processor;

[0034] a memory for storing processor-executable instructions;

[0035] Wherein, the processor is configured to implement the steps of the suspension control method provided in the first aspect of the present disclosure when executing.

[0036] According to a fourth aspect of an embodiment of the present disclosure, a vehicle is provided, comprising the controller provided in the third aspect of the present disclosure.

[0037] According to a fifth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the suspension control method provided in the first aspect of the present disclosure are implemented.

[0038] According to a sixth aspect of an embodiment of the present disclosure, there is provided a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the suspension control method provided in the first aspect of the present disclosure.

[0039] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0040] By obtaining the steering stroke corresponding to the target wheel of the vehicle and the suspension height of the suspension connected to the target wheel; according to the steering stroke and the suspension height, adjusting the suspension height of the suspension so that the suspension height is within the target suspension height range, and the target suspension height range is determined according to the preset angle range corresponding to the inner and outer ball cage swing angles of the vehicle's transmission shaft. In this way, according to the steering stroke of the wheel and by adjusting the suspension height of the vehicle suspension, the inner and outer ball cage swing angles of the vehicle's transmission shaft can be ensured to be within the preset angle range, so that the angle of the inner and outer ball cage swing angles of the vehicle's transmission shaft can be avoided from exceeding the design limit, thereby preventing the vehicle's transmission shaft from being damaged and abnormal noise, and improving the transmission efficiency of the vehicle's transmission shaft.

[0041] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0043] Figure 1 It is a schematic diagram of the initial position structure of a transmission shaft according to an exemplary embodiment (rear view).

[0044] Figure 2 It is a schematic diagram of the structure of the transmission shaft position when the wheel jumps according to an exemplary embodiment (rear view).

[0045] Figure 3 The figure is a schematic diagram (top view) of the structure of the transmission shaft position when the wheel is turning according to an exemplary embodiment.

[0046] Figure 4 The figure is a flow chart of a method for controlling a suspension according to an exemplary embodiment.

[0047] Figure 5is a function curve diagram of a preset suspension height function according to an exemplary embodiment.

[0048] Figure 6 is based on Figure 4 The illustrated embodiment shows a flow chart of a method of step S102.

[0049] Figure 7 is a schematic diagram showing a method of determining a candidate angle range according to an exemplary embodiment.

[0050] Figure 8 The diagram is a schematic diagram showing a method of determining a target suspension height range according to an exemplary embodiment.

[0051] Fig. 9 is a flow chart showing another suspension control method according to an exemplary embodiment.

[0052] Fig.10 is a block diagram of a suspension control device according to an exemplary embodiment.

[0053] Fig.11 is based on Fig.10 The illustrated embodiment shows a block diagram of a regulating module.

[0054] Fig.12 is a block diagram of another suspension control device according to an exemplary embodiment.

[0055] Fig.13 is a block diagram of a controller according to an exemplary embodiment.

[0056] Fig.14 is a block diagram of another controller according to an exemplary embodiment.

[0057] Fig.15 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0058] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0059] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0060] Before introducing the specific implementation of the present disclosure in detail, the application scenario of the present disclosure is first described. The present disclosure can be applied to the control scenario of the suspension of a vehicle. At present, when the front wheels of a vehicle are used as driving wheels (front-wheel drive or four-wheel drive), such as Figure 1 As shown, there is a transmission shaft between the powertrain and the front drive wheels. Under certain driving conditions of the vehicle, there is a height difference between the connection point between the drive wheel and the transmission shaft and the connection point between the powertrain and the transmission shaft. This will cause an outer ball cage swing angle between one end of the transmission shaft and the drive wheel in the longitudinal direction, while an inner ball cage swing angle between the other end of the transmission shaft and the powertrain in the longitudinal direction, such as Figure 2 As shown in FIG. 1 , when the driving wheel jumps up, the swing angle of the ball cage (including the swing angle of the outer ball cage and the swing angle of the inner ball cage) increases; and as shown in FIG. Figure 3 As shown, when the driving wheel has a steering stroke, the lateral outer ball cage swing angle between one end of the transmission shaft and the driving wheel increases, and the lateral inner ball cage swing angle between the other end of the transmission shaft and the powertrain decreases. That is to say, when the front wheels of the vehicle jump up or down to the limit height, and / or the steering stroke of the vehicle wheels reaches the limit stroke, the swing angles of the inner and outer ball cages of the vehicle's transmission shaft may exceed the design limit, which may cause damage to the vehicle's transmission shaft, abnormal noise, and low transmission efficiency.

[0061] In order to overcome the technical problems existing in the above related technologies, the present disclosure provides a control method, device, controller, vehicle, medium and product of a suspension. By obtaining the steering stroke corresponding to the target wheel of the vehicle and the suspension height of the suspension connected to the target wheel; according to the steering stroke and the suspension height, the suspension height of the suspension is adjusted so that the suspension height is within the target suspension height range, and the target suspension height range is determined according to the preset angle range corresponding to the swing angle of the inner and outer ball cages of the vehicle's drive shaft. In this way, according to the steering stroke of the wheel and by adjusting the suspension height of the vehicle suspension, it is possible to ensure that the swing angle of the inner and outer ball cages of the vehicle's drive shaft is within the preset angle range, so that the angle of the inner and outer ball cage swing angle of the vehicle's drive shaft can be avoided from exceeding the design limit, thereby preventing the vehicle's drive shaft from being damaged or making abnormal noises, so as to improve the transmission efficiency of the vehicle's drive shaft.

[0062] The present disclosure is described below in conjunction with specific embodiments.

[0063] Figure 4 is a flow chart of a suspension control method according to an exemplary embodiment. Figure 4As shown, the method can be applied to a control device in a suspension control system, which includes a power supply, a steering travel sensor, an active shock absorber, and a suspension height sensor respectively connected to the control device, wherein the power supply is used to supply power to the control device, the control device receives signals from the suspension height sensor and the steering travel sensor for processing and judgment, and outputs a control instruction to the active shock absorber so that the active shock absorber performs the action of adjusting the suspension height.

[0064] The method comprises the following steps.

[0065] In step S101, a steering stroke corresponding to a target wheel of the vehicle and a suspension height of a suspension connected to the target wheel are obtained.

[0066] The steering stroke is the steering angle of the wheel.

[0067] The steering stroke corresponding to the target wheel of the vehicle can be obtained through a steering stroke sensor, wherein the steering stroke sensor may include a steering angle sensor arranged on the steering wheel, and may also include a linear displacement sensor on the steering gear push rod, and may also include a sensor that directly detects the wheel angle. Any device that can determine the steering angle of the wheel can be used as the steering stroke sensor, and the present disclosure does not limit this. Similarly, the suspension height of the suspension connected to the target wheel can be obtained through a suspension height sensor, wherein the suspension height sensor may include a sensor connected to the suspension swing arm, and may also include a sensor that detects the shock absorber stroke, and may also include a sensor that directly detects the wheel bounce height. Any device that can determine the suspension height can be used as the suspension height sensor, and the present disclosure does not limit this.

[0068] In step S102, the suspension height of the suspension is adjusted according to the steering stroke and the suspension height, so that the suspension height is within a target suspension height range.

[0069] The target suspension height range is determined according to the preset angle range corresponding to the swing angles of the inner and outer ball cages.

[0070] It should be noted that the wheels of the vehicle are connected to the powertrain of the vehicle through the vehicle's drive shaft. There is a height difference between the connection point between the drive wheel and the drive shaft, and the connection point between the powertrain and the drive shaft. This will result in an outer ball cage swing angle between one end of the drive shaft and the drive wheel in the longitudinal direction, and an inner ball cage swing angle between the other end of the drive shaft and the powertrain in the longitudinal direction. In summary, when the wheel has a steering travel and / or the wheel has a bounce height, the inner and outer ball cage swing angles may exceed the design limit.

[0071] Therefore, when the steering stroke corresponding to the target wheel of the vehicle is determined, it is possible to determine whether the current inner ball cage swing angle exceeds the design limit range based on the suspension height. If it has exceeded the design limit range, the suspension height of the suspension connected to the target wheel can be adjusted based on the steering stroke so that the inner and outer ball cage swing angles do not exceed the design limit.

[0072] In some embodiments, the suspension height of the suspension can be adjusted according to the steering travel, the suspension height, and a preset suspension height function.

[0073] Considering that, when the steering stroke of the wheel is determined and the suspension height is determined, the inner and outer ball cage swing angles of the transmission shaft of the vehicle are also determined accordingly, that is, there is a functional relationship between the inner and outer ball cage swing angles, the steering formation, and the suspension height, and the functional relationship can be used as a preset suspension height function, which is a function with the steering stroke and the suspension height as independent variables and the inner and outer ball cage swing angles of the transmission shaft as a dependent variable. Therefore, when the steering stroke is determined, the suspension height of the suspension can be adjusted by the preset suspension height function.

[0074] For example, Figure 5 is a function curve diagram of a preset suspension height function according to an exemplary embodiment. The diagram can be obtained by simulation or by actual vehicle measurement, such as Figure 5 As shown, the horizontal axis of the curve graph is the steering stroke, the left side of the horizontal axis is the left turn, and the right side of the horizontal axis is the right turn; the vertical axis of the curve graph is the suspension height, the upper vertical axis is the suspension jump, and the lower vertical axis is the suspension jump. Figure 5 It can be seen that the swing angle of the inner and outer ball cages of the transmission shaft will generally exceed the design limit range under one or more of the following four working conditions: the suspension jumps to the upper limit and turns left to the limit, the suspension jumps to the upper limit and turns right to the limit, the suspension jumps to the lower limit and turns left to the limit, and the suspension jumps to the lower limit and turns right to the limit. Therefore, Figure 5 The four black filled corners shown in the figure can represent the situation where the inner and outer ball cages of the drive shaft exceed the limit angles under the four working conditions of suspension upper jump and limit left turn, suspension upper jump and limit right turn, suspension lower jump and limit left turn, and suspension lower jump and limit right turn.

[0075] Optionally, when the suspension height is not within the target suspension height range, the suspension height of the suspension is adjusted so that the suspension height is within the target suspension height range.

[0076] The above technical solution is adopted, by obtaining the steering stroke corresponding to the target wheel of the vehicle and the suspension height of the suspension connected to the target wheel; according to the steering stroke and the suspension height, the suspension height of the suspension is adjusted so that the suspension height is within the target suspension height range, and the target suspension height range is determined according to the preset angle range corresponding to the inner and outer ball cage swing angles of the vehicle's transmission shaft. In this way, according to the steering stroke of the wheel and by adjusting the suspension height of the vehicle suspension, the inner and outer ball cage swing angles of the vehicle's transmission shaft can be ensured to be within the preset angle range, so that the angle of the inner and outer ball cage swing angles of the vehicle's transmission shaft can be avoided from exceeding the design limit, thereby preventing the vehicle's transmission shaft from being damaged and abnormal noise, so as to improve the transmission efficiency of the vehicle's transmission shaft.

[0077] In some embodiments, Figure 6 As shown, the above step S102 may include the following steps.

[0078] In step S1021, the target angle range of the inner and outer ball cage swing angles of the vehicle's transmission shaft is determined according to the steering stroke and the preset suspension height function.

[0079] The target angle range includes angles within the preset angle range when the suspension of the vehicle is within the preset suspension height range.

[0080] Optionally, the candidate angle range corresponding to the preset suspension height range may be determined according to the steering stroke through the preset suspension height function.

[0081] The candidate angle range includes the angles of the inner and outer ball cage swing angles of the vehicle's transmission shaft when the vehicle's suspension is within a preset suspension height range.

[0082] For example, the suspension height of the vehicle has a preset suspension height range, and the preset suspension height range is the mechanical design range of the suspension of the vehicle. Therefore, when determining the steering stroke, the candidate angle range corresponding to the preset suspension height range can be determined according to the steering stroke and the preset suspension height function when the suspension of the vehicle is within the preset suspension height range.

[0083] For example, Figure 7 As shown, the steering travel of the vehicle is L1, and the preset suspension height range is H1, which can be Figure 7 The function curve shown in FIG. 1 is used to obtain the candidate angle range corresponding to the preset suspension height range. Figure 7 The candidate angle range can be represented by the shaded part.

[0084] Furthermore, a target angle range may be determined based on the candidate angle range and the preset angle range.

[0085] The preset angle range is the maximum design limit range of the swing angles of the inner and outer ball cages of the vehicle's transmission shaft.

[0086] For example, when the preset angle range is smaller than the candidate angle range, the preset angle range may be used as the target angle range; or, when the preset angle range is larger than the candidate angle range, the candidate angle range may be used as the target angle range; or, when the preset angle range is equal to the candidate angle range, either the preset angle range or the candidate angle range may be used as the target angle range.

[0087] In step S1022, a target suspension height range is determined according to the target angle range by using the preset suspension height function.

[0088] For example, when determining the steering stroke, the target suspension height range can be determined by the preset suspension height function according to the steering stroke when the inner and outer ball cage swing angles of the vehicle's drive shaft are within the target angle range.

[0089] For example, Figure 8 As shown, the steering stroke of the vehicle is L2, and the target angle range is represented by the shaded portion. When the target angle range is determined, Figure 8 The function curve shown in FIG. 1 is used to obtain the target suspension height range H2.

[0090] By adopting the above technical solution, the suspension height of the vehicle suspension can be adjusted according to the steering stroke of the wheel to ensure that the swing angles of the inner and outer ball cages of the vehicle's drive shaft are within a preset angle range. This can prevent the swing angles of the inner and outer ball cages of the vehicle's drive shaft from exceeding the design limit, thereby preventing damage to the vehicle's drive shaft and abnormal noise, and improving the transmission efficiency of the vehicle's drive shaft.

[0091] In other embodiments, the corresponding target transmission shaft inner and outer ball cage swing angle can be determined according to the steering stroke and the suspension height through the preset suspension height function; and when it is determined that the target transmission shaft inner and outer ball cage swing angle is not within the preset angle range, the suspension height is reset.

[0092] For example, after the vehicle is started, the self-check can be started first. The steering stroke L and the suspension height H are detected respectively by the steering stroke sensor and the suspension height sensor. By means of a preset suspension height function, it is determined whether the swing angles of the inner and outer ball cages of the drive shaft in the initial state of the vehicle are within a preset angle range. If it is determined that the swing angles are not within the preset angle range, the suspension height can be automatically controlled to return to the initial position to complete the self-check procedure. Alternatively, if it is determined that the suspension height is within the preset angle range, the self-check procedure is automatically completed. When the self-check mode is completed, the steering stroke can be periodically detected, and then the target suspension height range is obtained according to the preset suspension height function. For example, the target suspension height range includes the limit height Huplim / Hdownlim of the suspension that can be jumped up / down under the steering stroke. The real-time suspension height of the vehicle is determined by the suspension height sensor. When the real-time suspension height jumps up to Huplim or jumps down to Hdownlim, the active shock absorber is controlled to prevent it from continuing to jump up or down.

[0093] Fig. 9 is a flow chart showing another suspension control method according to an exemplary embodiment. Fig. 9 As shown, the method includes the following steps.

[0094] In step S201, a steering stroke corresponding to a target wheel of the vehicle and a suspension height of a suspension connected to the target wheel are obtained.

[0095] In step S202, according to the steering stroke, a candidate angle range corresponding to the preset suspension height range is determined by using the preset suspension height function.

[0096] The candidate angle range includes the angles of the inner and outer ball cage swing angles of the vehicle's transmission shaft when the vehicle's suspension is within a preset suspension height range.

[0097] In step S203, a target angle range is determined according to the candidate angle range and the preset angle range.

[0098] In step S204, a target suspension height range is determined according to the target angle range and by using the preset suspension height function.

[0099] In step S205 , when the suspension height is not within the target suspension height range, the suspension height of the suspension is adjusted so that the suspension height is within the target suspension height range.

[0100] By adopting the above technical solution, it is possible to ensure that the inner and outer ball cage swing angles of the vehicle's drive shaft are within a preset angle range according to the steering stroke of the wheels and by adjusting the suspension height of the vehicle suspension. This can prevent the inner and outer ball cage swing angles of the vehicle's drive shaft from exceeding the design limit, thereby preventing damage to the vehicle's drive shaft and abnormal noise problems, and improving the transmission efficiency of the vehicle's drive shaft.

[0101] Fig.10 is a block diagram of a suspension control device according to an exemplary embodiment. Fig.10 As shown, the device includes an acquisition module 301 and an adjustment module 302 .

[0102] An acquisition module 301 is used to acquire a steering stroke corresponding to a target wheel of the vehicle and a suspension height of a suspension connected to the target wheel;

[0103] The adjustment module 302 is used to adjust the suspension height of the suspension according to the steering stroke and the suspension height so that the suspension height is within a target suspension height range, and the target suspension height range is determined according to a preset angle range corresponding to the swing angle of the inner and outer ball cages of the vehicle's drive shaft.

[0104] Optionally, the adjustment module 302 is used to adjust the suspension height of the suspension according to the steering stroke, the suspension height, and a preset suspension height function, wherein the preset suspension height function is a function with the steering stroke and the suspension height as independent variables and the inner and outer ball cage swing angles of the drive shaft as a dependent variable.

[0105] Fig.11 is based on Fig.10 The embodiment shown is a block diagram of a regulating module, such as Fig.11 As shown, the adjustment module 302 includes:

[0106] A first determination submodule 3021 is used to determine a target angle range of the inner and outer ball cage swing angles of the transmission shaft of the vehicle according to the steering stroke and the preset suspension height function, wherein the target angle range includes angles within the preset angle range when the suspension of the vehicle is within the preset suspension height range;

[0107] The second determination submodule 3022 is used to determine a target suspension height range according to the target angle range and through the preset suspension height function.

[0108] Optionally, the first determination submodule 3021 is used to determine, according to the steering stroke and through the preset suspension height function, a candidate angle range corresponding to the preset suspension height range, the candidate angle range including the angles of the inner and outer ball cage swing angles of the vehicle's drive shaft when the suspension of the vehicle is within the preset suspension height range; determine the target angle range based on the candidate angle range and the preset angle range.

[0109] Optionally, the adjustment module 302 is used to adjust the suspension height of the suspension when the suspension height is not within the target suspension height range, so that the suspension height is within the target suspension height range.

[0110] Fig.12 is a block diagram of another suspension control device according to an exemplary embodiment. Fig.12 As shown, the device also includes:

[0111] A determination module 303 is used to determine the corresponding target transmission shaft inner and outer ball cage swing angles according to the steering stroke and the suspension height through the preset suspension height function;

[0112] The reset module 304 is used to reset the suspension height when it is determined that the inner and outer ball cage swing angles of the target transmission shaft are not within the preset angle range.

[0113] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0114] In summary, the present disclosure provides a control method, device, controller, vehicle, medium and product of a suspension, which are applied to a vehicle; by obtaining the steering stroke corresponding to the target wheel of the vehicle and the suspension height of the suspension connected to the target wheel; according to the steering stroke and the suspension height, adjusting the suspension height of the suspension so that the suspension height is within the target suspension height range, and the target suspension height range is determined according to the preset angle range corresponding to the swing angle of the inner and outer ball cages of the vehicle's drive shaft. In this way, according to the steering stroke of the wheel and by adjusting the suspension height of the vehicle suspension, the swing angle of the inner and outer ball cages of the vehicle's drive shaft can be ensured to be within the preset angle range, which can avoid the situation where the swing angle of the inner and outer ball cages of the vehicle's drive shaft exceeds the design limit, thereby preventing the vehicle's drive shaft from being damaged and abnormal noise, and improving the transmission efficiency of the vehicle's drive shaft.

[0115] Fig.13 FIG. 4 is a block diagram of a controller 400 according to an exemplary embodiment. Fig.13As shown, the controller 400 may include: a processor 401 and a memory 402. The controller 400 may also include one or more of a multimedia component 403, an input / output interface 404, and a communication component 405.

[0116] The processor 401 is used to control the overall operation of the controller 400 to complete all or part of the steps in the above-mentioned suspension control method. The memory 402 is used to store various types of data to support the operation of the controller 400, and these data may include, for example, instructions for any application or method used to operate on the controller 400, and application-related data, such as contact data, sent and received messages, pictures, audio, video, etc. The memory 402 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, referred to as EPROM), programmable read-only memory (Programmable Read-Only Memory, referred to as PROM), read-only memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, magnetic disk or optical disk. The multimedia component 403 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 402 or sent through the communication component 405. The audio component also includes at least one speaker for outputting audio signals. The input / output interface 404 provides an interface between the processor 401 and other interface modules, and the other interface modules may be keyboards, mice, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 405 is used for wired or wireless communication between the controller 400 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, is not limited here. Therefore, the corresponding communication component 405 may include: Wi-Fi module, Bluetooth module, NFC module, etc.

[0117] In an exemplary embodiment, the controller 400 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned suspension control method.

[0118] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned suspension control method are implemented. For example, the computer-readable storage medium can be the above-mentioned memory 402 including program instructions, and the above-mentioned program instructions can be executed by the processor 401 of the controller 400 to complete the above-mentioned suspension control method.

[0119] Fig.14 FIG. 5 is a block diagram of another controller 500 according to an exemplary embodiment. For example, the controller 500 may be provided as a server. Fig.14 The controller 500 includes a processor 522, which may be one or more, and a memory 532 for storing a computer program executable by the processor 522. The computer program stored in the memory 532 may include one or more modules, each corresponding to a set of instructions. In addition, the processor 522 may be configured to execute the computer program to perform the above-mentioned suspension control method.

[0120] In addition, the controller 500 may further include a power supply component 526 and a communication component 550, wherein the power supply component 526 may be configured to perform power management of the controller 500, and the communication component 550 may be configured to implement communication, for example, wired or wireless communication, of the controller 500. In addition, the controller 500 may further include an input / output interface 558. The controller 500 may operate based on an operating system stored in the memory 532.

[0121] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned suspension control method are implemented. For example, the non-transitory computer-readable storage medium can be the above-mentioned memory 532 including program instructions, and the above-mentioned program instructions can be executed by the processor 522 of the controller 500 to complete the above-mentioned suspension control method.

[0122] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device, and the computer program has a code portion for executing the above suspension control method when executed by the programmable device.

[0123] Fig.15 FIG. 1 is a block diagram of a vehicle according to an exemplary embodiment. Fig.15 As shown, the vehicle 600 may include the above-mentioned controller.

[0124] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0125] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0126] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A suspension control method, characterized in that: Applied to a vehicle, the method comprises: Obtaining a steering stroke corresponding to a target wheel and a suspension height of a suspension connected to the target wheel; According to the steering stroke and the suspension height, the suspension height of the suspension is adjusted so that the suspension height is within a target suspension height range, and the target suspension height range is determined according to a preset angle range corresponding to the swing angles of the inner and outer ball cages of the vehicle's drive shaft.

2. The method according to claim 1, characterized in that: The step of adjusting the suspension height of the suspension according to the steering stroke and the suspension height comprises: The suspension height of the suspension is adjusted according to the steering stroke, the suspension height, and a preset suspension height function, wherein the preset suspension height function is a function with the steering stroke and the suspension height as independent variables and the inner and outer ball cage swing angles of the transmission shaft as a dependent variable.

3. The method according to claim 2, characterized in that The adjusting the suspension height of the suspension according to the steering stroke and the suspension height so that the suspension height is within a target suspension height range comprises: Determine a target angle range of inner and outer ball cage swing angles of the vehicle's transmission shaft according to the steering stroke and the preset suspension height function, wherein the target angle range includes angles within the preset angle range when the suspension of the vehicle is within the preset suspension height range; According to the target angle range, a target suspension height range is determined by using the preset suspension height function.

4. The method according to claim 3, characterized in that Determining the target angle range of the inner and outer ball cage swing angles of the vehicle's transmission shaft according to the steering stroke by using the preset suspension height function includes: According to the steering stroke, by means of the preset suspension height function, a candidate angle range corresponding to the preset suspension height range is determined, wherein the candidate angle range includes the angles of the inner and outer ball cage swing angles of the transmission shaft of the vehicle when the suspension of the vehicle is within the preset suspension height range; A target angle range is determined according to the candidate angle range and the preset angle range.

5. The method according to claim 1, characterized in that The step of adjusting the suspension height of the suspension according to the steering stroke and the suspension height comprises: When the suspension height is not within the target suspension height range, the suspension height of the suspension is adjusted so that the suspension height is within the target suspension height range.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: According to the steering stroke and the suspension height, the corresponding target transmission shaft inner and outer ball cage swing angles are determined by the preset suspension height function; When it is determined that the swing angle of the inner and outer ball cages of the target transmission shaft is not within the preset angle range, the suspension height is reset.

7. A suspension control device, characterized in that: Applied to a vehicle, the device comprises: An acquisition module, used for acquiring a steering stroke corresponding to a target wheel of the vehicle and a suspension height of a suspension connected to the target wheel; The adjustment module is used to adjust the suspension height of the suspension according to the steering stroke and the suspension height so that the suspension height is within a target suspension height range, and the target suspension height range is determined according to a preset angle range corresponding to the swing angles of the inner and outer ball cages of the vehicle's drive shaft.

8. A controller, characterized in that: The controller comprises: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 6.

9. A vehicle, characterized in that: Comprising the controller as claimed in claim 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

11. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 6.

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