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

Abstract

The present disclosure relates to a suspension control method, device, controller, vehicle, medium and product, the method comprising: obtaining a target wheel steering stroke corresponding to a target wheel of a vehicle, and a suspension height of a suspension connected to the target wheel; and 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, the target suspension height range being determined according to a preset included angle range corresponding to a transmission shaft inner and outer ball cage swing angle of the vehicle.

Description

TECHNICAL FIELD

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

[0002] At present, when the front wheels of a vehicle are driving wheels (front-wheel drive vehicle or four-wheel drive vehicle), there is a transmission shaft between the power assembly and the front driving wheels. In the case that the front wheels of the vehicle jump or drop to the limit height, if the vehicle is accompanied by steering at this time, the angle of the inner and outer ball cage swing angle of the transmission shaft of the vehicle will exceed the design limit, which will cause damage, abnormal sound and low transmission efficiency of the transmission shaft of the vehicle. SUMMARY

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

[0004] According to a first aspect of the embodiments of the present disclosure, a control method of a suspension is provided, applied to a vehicle, and the method comprises:

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

[0006] adjusting the suspension height of the suspension according to the steering stroke and the suspension height, so that the suspension height is in a target suspension height range, the target suspension height range being determined according to a preset included angle range corresponding to an inner and outer ball cage swing angle of a transmission shaft of the vehicle.

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

[0008] adjusting the suspension height of the suspension according to the steering stroke, the suspension height, and a preset suspension height function, the preset suspension height function being a function with the steering stroke and the suspension height as independent variables and the inner and outer ball cage swing angle of the transmission shaft as dependent variables.

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

[0010] determining a target included angle range of the inner and outer ball cage swing angle of the transmission shaft of the vehicle according to the steering stroke and the preset suspension height function, the target included angle range including an angle in the preset included angle range in the case that the suspension of the vehicle is in a preset suspension height range.

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

[0012] Optionally, the determining the target included angle range of the inboard-outboard ball joint caster angle of the vehicle according to the steering stroke and by the preset suspension height function comprises:

[0013] According to the steering stroke, a candidate included angle range corresponding to the preset suspension height range is determined by the preset suspension height function, the candidate included angle range including an angle of the inboard-outboard ball joint caster angle of the vehicle when the suspension of the vehicle is in the preset suspension height range.

[0014] According to the candidate included angle range and the preset included angle range, the target included angle range is determined.

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

[0016] When the suspension height is not in the target suspension height range, the suspension height of the suspension is adjusted so as to be in the target suspension height range.

[0017] Optionally, the method further comprises:

[0018] According to the steering stroke and the suspension height, a target inboard-outboard ball joint caster angle corresponding thereto is determined by the preset suspension height function.

[0019] When it is determined that the target inboard-outboard ball joint caster angle is not in the preset included angle range, the suspension height is reset.

[0020] According to a second aspect of the embodiments of the present disclosure, a control device of a suspension is provided, applied to a vehicle, and the device comprises:

[0021] An acquisition module is configured 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;

[0022] An adjustment module is configured to adjust the suspension height of the suspension according to the steering stroke and the suspension height so as to be in a target suspension height range, the target suspension height range being determined according to a preset included angle range corresponding to an inboard-outboard ball joint caster angle of the vehicle.

[0023] Optionally, the adjustment module is configured to adjust the suspension height of the suspension according to the steering stroke, the suspension height, and a preset suspension height function, the preset suspension height function being a function with the steering stroke and the suspension height as independent variables and the inboard-outboard ball joint caster angle as a dependent variable.

[0024] Optionally, the adjusting module comprises:

[0025] a first determining sub-module, configured to determine a target included angle range of the inboard-outboard ball joint swing angle of the drive shaft of the vehicle according to the steering stroke and the preset suspension height function, the target included angle range comprising an angle within the preset included angle range when the suspension of the vehicle is within a preset suspension height range;

[0026] a second determining sub-module, configured to determine a target suspension height range according to the target included angle range and the preset suspension height function.

[0027] Optionally, the first determining sub-module is configured to determine a candidate included angle range corresponding to the preset suspension height range according to the steering stroke and the preset suspension height function, the candidate included angle range comprising an angle of the inboard-outboard ball joint swing angle of the drive shaft of the vehicle when the suspension of the vehicle is within the preset suspension height range; and determine the target included angle range according to the candidate included angle range and the preset included angle range.

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

[0029] Optionally, the device further comprises:

[0030] a determining module, configured to determine a corresponding target inboard-outboard ball joint swing angle of the drive shaft according to the steering stroke and the suspension height and the preset suspension height function;

[0031] a resetting module, configured to reset the suspension height when the target inboard-outboard ball joint swing angle of the drive shaft is not within the preset included angle range.

[0032] According to a third aspect of the embodiments of the present disclosure, a controller is provided, comprising:

[0033] a processor;

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

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

[0036] According to a fourth aspect of the embodiments 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 the embodiments of the present disclosure, a computer readable storage medium is provided, and the computer readable storage medium has stored thereon computer program instructions which, when executed by a processor, implement the steps of the control method of the suspension provided in the first aspect of the present disclosure.

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

[0039] The technical solutions provided by the embodiments of the present disclosure can have the following beneficial effects.

[0040] By obtaining the target wheel steering stroke of the vehicle and the suspension height of the suspension connected with the target wheel, and adjusting the suspension height of the suspension according to the steering stroke and the suspension height, so that the suspension height is in a target suspension height range determined according to a preset included angle range corresponding to the inner and outer ball cage swing angles of the transmission shaft of the vehicle, the steering stroke of the wheel can be adjusted by adjusting the suspension height of the vehicle suspension, so as to ensure that the inner and outer ball cage swing angles of the transmission shaft of the vehicle are within the preset included angle range, thereby avoiding the situation that the angles of the inner and outer ball cage swing angles of the transmission shaft of the vehicle exceed the design limit, and preventing the problems of damage and abnormal sound of the transmission shaft of the vehicle, and improving the transmission efficiency of the transmission shaft of the vehicle.

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

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

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

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

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

[0046] Figure 4 is a flowchart of the control method of the suspension according to an exemplary embodiment.

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

[0048] Figure 6 It is based on Figure 4 The illustrated embodiment shows a flowchart of a method for step S102.

[0049] Figure 7 This is a schematic diagram illustrating a method for determining a range of candidate included angles according to an exemplary embodiment.

[0050] Figure 8 This is a schematic diagram illustrating a method for determining a target suspension height range according to an exemplary embodiment.

[0051] Figure 9 This is a flowchart illustrating another suspension control method according to an exemplary embodiment.

[0052] Figure 10 This is a block diagram illustrating a suspension control device according to an exemplary embodiment.

[0053] Figure 11 It is based on Figure 10 The illustrated embodiment shows a block diagram of an adjustment module.

[0054] Figure 12 This is a block diagram illustrating another suspension control device according to an exemplary embodiment.

[0055] Figure 13 This is a block diagram illustrating a controller according to an exemplary embodiment.

[0056] Figure 14 This is a block diagram illustrating another controller according to an exemplary embodiment.

[0057] Figure 15 This is a block diagram illustrating a vehicle according to an exemplary embodiment. Detailed Implementation

[0058] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0059] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0060] Before the detailed description of the specific implementation of the present disclosure, 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 the vehicle are driving wheels (front-wheel drive vehicle or four-wheel drive vehicle), as shown in Figure 1 , there is a transmission shaft between the power assembly and the front driving wheel, and in some driving conditions of the vehicle, the connection point of the driving wheel and the transmission shaft and the connection point of the power assembly and the transmission shaft have a height difference, which will cause the outer ball cage swing angle of one end of the transmission shaft and the driving wheel in the longitudinal direction and the inner ball cage swing angle of the other end of the transmission shaft and the power assembly in the longitudinal direction, as shown in Figure 2 , in the case of upward jump of the driving wheel, the ball cage swing angle (including the outer ball cage swing angle and the inner ball cage swing angle) increases; and as shown in Figure 3 , in the case of steering stroke of the driving wheel, the outer ball cage swing angle of one end of the transmission shaft and the driving wheel in the transverse direction increases, and the inner ball cage swing angle of the other end of the transmission shaft and the power assembly in the transverse direction decreases, that is, in the case of upward jump or downward jump of the front wheels of the vehicle to the limit height, and / or in the case of steering stroke of the wheels of the vehicle to the limit stroke, the angle of the inner and outer ball cage swing angles of the transmission shaft of the vehicle may exceed the design limit, which will cause damage, abnormal sound and low transmission efficiency of the transmission shaft of the vehicle.

[0061] In order to overcome the technical problems existing in the above related technologies, the present disclosure provides a suspension control method, device, controller, vehicle, medium and product. By obtaining the steering stroke corresponding to the target wheel of the vehicle and the suspension height of the suspension connected with the target wheel; according to the steering stroke and the suspension height, the suspension height of the suspension is adjusted to make the suspension height in the target suspension height range, and the target suspension height range is determined according to the preset included angle range corresponding to the inner and outer ball cage swing angles of the transmission shaft of the vehicle. In this way, the steering stroke of the wheel and the suspension height of the vehicle can be adjusted to ensure that the inner and outer ball cage swing angles of the transmission shaft of the vehicle are within the preset included angle range, which can avoid the angle of the inner and outer ball cage swing angles of the transmission shaft of the vehicle exceeding the design limit, thereby preventing the damage and abnormal sound of the transmission shaft of the vehicle, so as to improve the transmission efficiency of the transmission shaft of the vehicle.

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

[0063] Figure 4 is a flow chart of a suspension control method according to an exemplary embodiment, as shown in Figure 4As shown, the method can be applied to a control device in a suspension control system, the suspension control system comprising a power supply, a steering stroke sensor, an active damper, and a suspension height sensor connected to the control device respectively, wherein the power supply is used to supply power to the control device, the control device receives signals of the suspension height sensor and the steering stroke sensor for processing and judgment, and outputs control instructions to the active damper to make the active damper execute the action of adjusting the suspension height.

[0064] The method comprises the following steps.

[0065] In step S101, the steering stroke corresponding to the target wheel of the vehicle is obtained, and the suspension height of the suspension connected to the target wheel is 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 by a steering stroke sensor, wherein the steering stroke sensor can include a rotation angle sensor arranged on the steering wheel, can include a linear displacement sensor on the steering push rod, and can include a sensor directly detecting the rotation angle of the wheel. As long as the device can determine the steering angle of the wheel, it can be used as the steering stroke sensor, and the same is true for the suspension height sensor. The suspension height sensor can include a sensor connected to the suspension swing arm, can include a sensor detecting the stroke of the damper, and can include a sensor directly detecting the bounce height of the wheel. As long as the device can determine the suspension height, it can be used as the suspension height sensor, and the same is true for the suspension height sensor.

[0068] In step S102, according to the steering stroke and the suspension height, the suspension height of the suspension is adjusted to make the suspension height in the target suspension height range.

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

[0070] It should be noted that the wheel of the vehicle is connected to the power assembly of the vehicle through the transmission shaft of the vehicle, and there is a height difference between the connection point of the driving wheel and the transmission shaft and the connection point of the power assembly and the transmission shaft. This will cause the outer ball cage swing angle between one end of the transmission shaft and the driving wheel in the longitudinal direction, and the inner ball cage swing angle between the other end of the transmission shaft and the power assembly in the longitudinal direction. In summary, in the case that the wheel has a steering stroke and / or a bounce height, the inner and outer ball cage swing angles may exceed the design limit.

[0071] Therefore, in the case that the target wheel steering stroke of the vehicle is determined, whether the current inner ball cage swing angle exceeds the design limit range can be determined according to the suspension height, and in the case that the design limit range has been exceeded, the suspension height of the suspension connected with the target wheel can be adjusted according to the steering stroke, so that the inner and outer ball cage swing angle does not exceed the design limit.

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

[0073] It is considered that in the case that the steering stroke of the wheel is determined and the suspension height is determined, the inner and outer ball cage swing angle of the transmission shaft of the vehicle is also determined, that is, there is a functional relationship among the inner and outer ball cage swing angle, the steering stroke, and the suspension height. The functional relationship can be taken as a preset suspension height function, which is a function of the steering stroke and the suspension height as independent variables and the inner and outer ball cage swing angle of the transmission shaft as dependent variables. Therefore, in the case that 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 measured by a vehicle, such as Figure 5 As shown in the diagram, the abscissa is the steering stroke, the left side of the abscissa is left turn, and the right side of the abscissa is right turn; the ordinate is the suspension height, the upper part of the ordinate is suspension up jump, and the lower part of the ordinate is suspension down jump. As shown in the diagram, Figure 5 It can be known that the inner and outer ball cage swing angle of the transmission shaft generally exceeds the design limit range in one or more of the following four working conditions: suspension up jump limit and limit left turn, suspension up jump limit and limit right turn, suspension down jump limit and limit left turn, and suspension down jump limit and limit right turn. Therefore, Figure 5 The four black filled corners shown in the diagram can respectively represent that the ball cage swing angle exceeds the limit angle of the inner and outer ball cage of the transmission shaft in the four working conditions: suspension up jump limit and limit left turn, suspension up jump limit and limit right turn, suspension down jump limit and limit left turn, and suspension down jump limit and limit right turn.

[0075] Optionally, in the case that 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] By employing the above technical solution, the steering travel corresponding to the target wheel of the vehicle and the suspension height of the suspension connected to the target wheel are obtained. Based on the steering travel and suspension height, the suspension height is adjusted to ensure it falls within a target suspension height range. This target suspension height range is determined based on a preset angle range corresponding to the inner and outer CV joint angles of the vehicle's driveshaft. This allows the steering travel of the wheel to be adjusted, and by regulating the vehicle's suspension height, the inner and outer CV joint angles of the vehicle's driveshaft can be kept within the preset angle range. This prevents the angles of the inner and outer CV joints from exceeding design limits, thereby preventing driveshaft damage and abnormal noise, and improving the transmission efficiency of the vehicle's driveshaft.

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

[0078] In step S1021, the target included angle range of the inner and outer ball joint swing angles of the vehicle's drive shaft is determined based on the steering travel and the preset suspension height function.

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

[0080] Optionally, the candidate angle range corresponding to the preset suspension height range can be determined based on the steering travel and the preset suspension height function.

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

[0082] For example, the vehicle's suspension height has a preset suspension height range, which is the mechanical design range of the vehicle's suspension. Therefore, when the steering travel is determined, if the vehicle's suspension is within the preset suspension height range, the candidate angle range corresponding to the preset suspension height range can be determined based on the steering travel and the preset suspension height function.

[0083] For example, such as Figure 7 As shown, the vehicle's steering travel is L1, and the preset suspension height range is H1, which can be achieved through... Figure 7 The function curve shown yields the candidate angle range corresponding to the preset suspension height range. Figure 7 The range of the candidate angle can be represented by the shaded area.

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

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

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

[0087] In step S1022, the target suspension height range is determined based on the target included angle range using the preset suspension height function.

[0088] For example, given the steering travel, the target suspension height range can be determined based on the steering travel and the preset suspension height function, provided that the inner and outer ball joint angles of the vehicle's driveshaft are within the target angle range.

[0089] For example, such as Figure 8 As shown, the vehicle's steering travel is L2, and the target angle range is represented by the shaded area. This target angle range can be determined by... Figure 8 The function curve shown gives the target suspension height range H2.

[0090] By adopting the above technical solution, the steering travel of the wheels can be adjusted by adjusting the suspension height of the vehicle suspension to ensure that the inner and outer CV joints of the vehicle's driveshaft are within a preset angle range. This can prevent the angles of the inner and outer CV joints of the vehicle's driveshaft from exceeding the design limits, thereby preventing problems such as damage to the vehicle's driveshaft and abnormal noise, and improving the transmission efficiency of the vehicle's driveshaft.

[0091] In other embodiments, the corresponding target driveshaft inner and outer CV joint swing angle can be determined based on the steering travel and the suspension height using the preset suspension height function; and if it is determined that the target driveshaft inner and outer CV joint swing angle is not within the preset angle range, the suspension height is reset.

[0092] For example, when the vehicle starts, the self-checking can be firstly started. The steering stroke L and the suspension height H are detected by the steering stroke sensor and the suspension height sensor respectively. The preset suspension height function is used to determine whether the inner and outer ball cage swing angles of the drive shaft in the initial state of the vehicle are in the preset included angle range. In the case that the inner and outer ball cage swing angles are not in the preset included angle range, the suspension height is automatically controlled to return to the initial position to complete the self-checking procedure, or in the case that the inner and outer ball cage swing angles are in the preset included angle range, the self-checking procedure is automatically completed. In the case that the self-checking procedure is completed, the steering stroke is 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 that the suspension can jump up / down under the steering stroke. The real-time suspension height of the vehicle is judged by the suspension height sensor. When the real-time suspension height jumps up to Huplim or jumps down to Hdownlim, the active damper is controlled to prevent it from continuing to jump up or down.

[0093] Figure 9 is a flow chart of another control method of a suspension according to an example embodiment. As shown in Figure 9 , the method comprises the following steps.

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

[0095] In step S202, according to the steering stroke, the preset suspension height function is used to determine the candidate included angle range corresponding to the preset suspension height range.

[0096] The candidate included angle range includes the angle of the inner and outer ball cage swing angles of the drive shaft of the vehicle in the case that the suspension of the vehicle is in the preset suspension height range.

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

[0098] In step S204, according to the target included angle range, the preset suspension height function is used to determine the target suspension height range.

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

[0100] According to the technical scheme, the steering stroke of the wheel and the suspension height of the vehicle suspension are adjusted to ensure that the inner and outer ball cage swing angles of the transmission shaft of the vehicle are within a preset included angle range, so that the angle of the inner and outer ball cage swing angles of the transmission shaft of the vehicle is prevented from exceeding the design limit, and the problems of damage and abnormal sound of the transmission shaft of the vehicle are prevented, and the transmission efficiency of the transmission shaft of the vehicle is improved.

[0101] Figure 10 is a block diagram of a control device of a suspension according to an exemplary embodiment, as shown in Figure 10 , the device comprises an acquisition module 301 and an adjustment module 302.

[0102] The acquisition module 301 is configured to acquire a target steering stroke corresponding to a target wheel of a vehicle and a suspension height of a suspension connected to the target wheel.

[0103] The adjustment module 302 is configured 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 included angle range corresponding to an inner and outer ball cage swing angle of a transmission shaft of the vehicle.

[0104] Optionally, the adjustment module 302 is configured to adjust the suspension height of the suspension according to the steering stroke, the suspension height, and a preset suspension height function, the preset suspension height function being a function with the steering stroke and the suspension height as independent variables and the inner and outer ball cage swing angle of the transmission shaft as dependent variables.

[0105] Figure 11 is a block diagram of an adjustment module according to an embodiment shown in Figure 10 , as shown in Figure 11 , the adjustment module 302 comprises:

[0106] The first determination sub-module 3021 is configured to determine a target included angle range of the inner and outer ball cage swing angle of the transmission shaft of the vehicle according to the steering stroke and the preset suspension height function, the target included angle range including an angle within the preset included angle range when the suspension of the vehicle is within a preset suspension height range.

[0107] The second determination sub-module 3022 is configured to determine a target suspension height range by the preset suspension height function according to the target included angle range.

[0108] Optionally, the first determining sub-module 3021 is configured to determine, according to the steering stroke, a candidate included angle range corresponding to the preset suspension height range by the preset suspension height function, the candidate included angle range including an angle of the drive shaft inner-outer ball cage swing angle of the vehicle when the suspension of the vehicle is in the preset suspension height range; and determine a target included angle range according to the candidate included angle range and the preset included angle range.

[0109] Optionally, the adjusting module 302 is configured to adjust the suspension height of the suspension when the suspension height is not in the target suspension height range, so as to make the suspension height in the target suspension height range.

[0110] Figure 12 is a block diagram of another suspension control device according to an example embodiment. As shown in Figure 12 the device further includes:

[0111] The determining module 303 is configured to determine, according to the steering stroke and the suspension height, a target drive shaft inner-outer ball cage swing angle by the preset suspension height function.

[0112] The resetting module 304 is configured to reset the suspension height when the target drive shaft inner-outer ball cage swing angle is not in the preset included angle range.

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

[0114] In summary, the present disclosure provides a suspension control method, device, controller, vehicle, medium and product, which are applied to a vehicle. The target steering stroke corresponding to a target wheel of the vehicle and the suspension height of a suspension connected with the target wheel are obtained. The suspension height of the suspension is adjusted according to the steering stroke and the suspension height, so that the suspension height is in a target suspension height range, and the target suspension height range is determined according to a preset included angle range corresponding to a drive shaft inner-outer ball cage swing angle of the vehicle. In this way, the suspension height of the vehicle can be adjusted according to the steering stroke of the wheel, so as to ensure that the drive shaft inner-outer ball cage swing angle of the vehicle is in the preset included angle range. This can avoid the angle of the drive shaft inner-outer ball cage swing angle of the vehicle exceeding the design limit, thereby preventing the drive shaft of the vehicle from being damaged or producing abnormal noise, and improving the transmission efficiency of the drive shaft of the vehicle.

[0115] Figure 13 is a block diagram of a controller 400 according to an example embodiment. As shown in Figure 13As shown, the controller 400 can include a processor 401 and a memory 402. The controller 400 can further include one or more of a multimedia component 403, an input / output interface 404, and a communication component 405.

[0116] The processor 401 is configured to control overall operations of the controller 400 to complete all or part of the steps in the above-mentioned suspension control method. The memory 402 is configured to store various types of data to support operations of the controller 400, which can include, for example, instructions for any application or method operating on the controller 400, and application-related data, such as contact data, sent and received messages, pictures, audio, video, and the like. 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 (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The multimedia component 403 can include a screen and an audio component. The screen can be, for example, a touch screen, and the audio component is configured to output and / or input audio signals. For example, the audio component can include a microphone configured to receive external audio signals. The received audio signals can be further stored in the memory 402 or transmitted through the communication component 405. The audio component further includes at least one speaker configured to output audio signals. The input / output interface 404 provides an interface between the processor 401 and other interface modules, which can be a keyboard, a mouse, a button, and the like. The buttons can be virtual buttons or physical buttons. The communication component 405 is configured to perform wired or wireless communication between the controller 400 and other devices. The wireless communication, such as Wi-Fi, Bluetooth, near field communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, and the like, or a combination of one or more of them, is not limited herein. Therefore, the corresponding communication component 405 can include a Wi-Fi module, a Bluetooth module, an NFC module, and the like.

[0117] In an exemplary embodiment, the controller 400 can be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic elements for executing the above-mentioned control method of the suspension.

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

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

[0120] In addition, the controller 500 can also include a power supply component 526, which can be configured to perform power management of the controller 500, and a communication component 550, which can be configured to implement communication of the controller 500, such as wired or wireless communication. In addition, the controller 500 can also include an input / output interface 558. The controller 500 can 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, which, when executed by a processor, implement the steps of the control method of the suspension described above. For example, the non-transitory computer readable storage medium can be the memory 532 described above including program instructions, which can be executed by the processor 522 of the controller 500 to complete the control method of the suspension described above.

[0122] In another exemplary embodiment, a computer program product is also provided, which contains a computer program capable of being executed by a programmable device, the computer program having code portions for executing the control method of the suspension described above when executed by the programmable device.

[0123] Figure 15 is a block diagram of a vehicle according to an exemplary embodiment. As shown in Figure 15 The vehicle 600 can include the controller described above.

[0124] The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details in the above-described embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

[0125] In addition, it should be noted that each specific technical feature described in the above specific embodiments can be combined in any appropriate manner without contradiction, and in order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0126] Furthermore, any combination of the various different embodiments of the present disclosure can also be made, as long as it does not deviate from the idea of the present disclosure, it should also be considered as disclosed by the present disclosure.

Claims

1. A suspension control method, characterized in that, Applied to vehicles, the method includes: Obtain the steering travel corresponding to the target wheel, and the suspension height of the suspension connected to the target wheel; The suspension height is adjusted according to the steering travel and the suspension height to make the suspension height within the target suspension height range. The target suspension height range is determined according to the preset included angle range corresponding to the inner and outer ball joint swing angles of the vehicle's driveshaft. The step of adjusting the suspension height based on the steering travel and the suspension height includes: The suspension height is adjusted based on the steering travel, the suspension height, and a preset suspension height function, wherein the preset suspension height function is a function with the steering travel and the suspension height as independent variables and the inner and outer ball joint angles of the drive shaft as dependent variables.

2. The method according to claim 1, characterized in that, The step of adjusting the suspension height based on the steering travel and the suspension height to bring the suspension height within a target suspension height range includes: Based on the steering travel and the preset suspension height function, the target included angle range of the inner and outer ball joint swing angles of the vehicle's driveshaft is determined. The target included angle range includes the angles within the preset included angle range when the vehicle's suspension is within the preset suspension height range. Based on the target included angle range, the target suspension height range is determined using the preset suspension height function.

3. The method according to claim 2, characterized in that, The step of determining the target included angle range of the inner and outer CV joint angles of the vehicle's driveshaft based on the steering travel and the preset suspension height function includes: Based on the steering travel, a candidate angle range corresponding to the preset suspension height range is determined through the preset suspension height function. The candidate angle range includes the angles of the inner and outer ball joints of the vehicle's drive shaft when the vehicle's suspension is within the preset suspension height range. The target angle range is determined based on the candidate angle range and the preset angle range.

4. The method according to claim 1, characterized in that, The step of adjusting the suspension height based on the steering travel and the suspension height includes: If the suspension height is not within the target suspension height range, adjust the suspension height so that the suspension height is within the target suspension height range.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: Based on the steering travel and the suspension height, the corresponding target driveshaft inner and outer CV joint swing angles are determined using the preset suspension height function; If it is determined that the inner and outer ball cage swing angles of the target drive shaft are not within the preset included angle range, the suspension height is reset.

6. A suspension control device, characterized in that, Applied to vehicles, the device includes: The acquisition module is used to acquire the steering travel corresponding to the target wheel of the vehicle, and the suspension height of the suspension connected to the target wheel; An adjustment module is used to adjust the suspension height of the suspension according to the steering travel and the suspension height, so that the suspension height is within a target suspension height range, wherein the target suspension height range is determined according to a preset included angle range corresponding to the inner and outer ball joint swing angles of the vehicle's driveshaft; The adjustment module is used to adjust the suspension height of the suspension according to the steering travel, the suspension height, and a preset suspension height function. The preset suspension height function is a function with the steering travel and the suspension height as independent variables and the inner and outer CV joint angles of the drive shaft as dependent variables.

7. A controller, characterized in that, The controller includes: A memory on which computer programs are stored; A processor for executing the computer program in the memory to implement the steps of the method according to any one of claims 1-5.

8. A vehicle, characterized in that, Includes the controller as described in claim 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method described in any one of claims 1-5.

10. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1-5.

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