Suspension system control method, device, equipment, medium, program product and vehicle

Abstract

The invention relates to a suspension system control method, device and equipment, a medium, a program product and a vehicle, the suspension system comprises a motor, the motor is used for outputting acting force for changing the height of a suspension, and the method comprises the steps that when the vehicle is in a target working condition, the motor is controlled to work at a target rotating speed, so that the suspension is kept at the target height, and the target rotating speed is controlled to rotate; wherein the target rotating speed is obtained by the suspension system through self-learning. The suspension is controlled to keep the target height through the rotating speed of the motor, the rotating speed of the motor cannot be greatly changed due to large fluctuation of road surface excitation when the suspension passes through uneven road surfaces such as a bumpy road surface, and the problem that a vehicle shakes when the height of the suspension is rapidly adjusted due to large fluctuation of road surface excitation can be avoided; the height keeping stability of the vehicle suspension can be improved, and the use experience of a user is improved.

Description

Technical Field

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

[0002] Active suspension is a type of suspension that can automatically generate and adjust the main parameters such as active force, damping, stiffness, height, etc. as the vehicle's driving conditions and driver needs change. For vehicles with low chassis and poor passability, the vehicle can use active suspension to raise the chassis height and pass through some undulating roads, potholes, and steep slopes.

[0003] However, in the prior art, the height maintenance of the suspension adopts a conventional height suspension system control method. After the vehicle height is raised, if the vehicle passes through an uneven road surface such as a pothole road, the height maintenance will have a large shaking problem, affecting the user experience. Summary of the invention

[0004] The embodiment of the present application provides a suspension system control method, which can avoid the problem of large jitter in height maintenance when the vehicle passes through uneven roads such as potholes after the vehicle height is raised, thereby improving the user experience and at least partially solving the above technical problems.

[0005] In order to achieve the above object, according to a first aspect of the present application, a suspension system control method is provided, wherein the suspension system includes a motor, and the motor is used to output a force for changing the height of the suspension, and the method includes:

[0006] When the vehicle is in a target operating condition, the motor is controlled to operate at a target speed so that the suspension maintains a target height, wherein the target speed is obtained by the suspension system through self-learning.

[0007] Optionally, controlling the motor to operate at a target speed so that the suspension maintains a target height includes:

[0008] Determining a target height of the suspension according to the target operating condition;

[0009] determining a target rotation speed according to the target altitude;

[0010] Based on the target speed, the suspension is controlled to maintain the target height.

[0011] Optionally, determining a target rotation speed according to the target altitude includes:

[0012] The target rotation speed is determined according to the target height and a preset mapping relationship; the preset mapping relationship is a mapping relationship between height and rotation speed.

[0013] Optionally, the method further comprises:

[0014] When a road surface lift or road bump is detected, it is determined that the vehicle is in the target operating condition.

[0015] Optionally, after controlling the suspension to maintain the target height based on the target speed, the method further comprises:

[0016] Obtaining an actual height corresponding to the suspension;

[0017] The target rotation speed is adjusted according to a first height difference between the actual height and the target height.

[0018] Optionally, adjusting the target rotation speed according to a first height difference between the actual height and the target height includes:

[0019] If the first height difference is greater than a first preset difference, within a first preset time, counting the number of times the first height difference is greater than the first preset difference;

[0020] If the number is greater than a first preset threshold, the target rotation speed is adjusted.

[0021] Optionally, the method further comprises:

[0022] When the suspension is raised to a target height, determining a target rotation speed for keeping the suspension at the target height;

[0023] The target altitude and the target rotation speed are stored in association with each other.

[0024] Optionally, determining a target rotation speed for maintaining the suspension at the target height includes:

[0025] Obtaining the real-time height corresponding to the suspension;

[0026] A target rotation speed for keeping the suspension at the target height is determined according to the real-time height and the target height.

[0027] Optionally, determining a target rotation speed for maintaining the suspension at the target height according to the real-time height and the target height includes:

[0028] Determine a second height difference between the real-time height and the target height;

[0029] If the second height difference is less than a second preset difference, a target speed for maintaining the suspension at the target height is determined according to the motor speed corresponding to the real-time height.

[0030] Optionally, determining a target speed for maintaining the suspension at the target height according to the motor speed corresponding to the real-time height includes:

[0031] Within a second preset time, collecting a first rotation speed set corresponding to the real-time height;

[0032] Eliminate the maximum speed and the minimum speed in the first speed set to obtain a second speed set;

[0033] An average of all rotation speeds in the second rotation speed set is determined as a target rotation speed for maintaining the suspension at the target height.

[0034] Optionally, the suspension is an active suspension.

[0035] According to a second aspect of the present application, an embodiment of the present application further provides a suspension system control device, the suspension system control device comprising:

[0036] A control unit is used to control the motor to operate at a target speed when the vehicle is in a target operating condition so that the suspension maintains a target height, wherein the target speed is obtained by the suspension system through self-learning.

[0037] According to the third aspect of the present application, an embodiment of the present application also provides an electronic device, which includes: one or more processors and a memory; and one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor in any one of the steps of the suspension system control method provided in the embodiment of the present application.

[0038] According to the fourth aspect of the present application, an embodiment of the present application also provides a computer-readable storage medium, which stores multiple computer programs. The computer programs are suitable for loading by a processor to execute the steps of any suspension system control method provided in the embodiment of the present application.

[0039] According to the fifth aspect of the present application, an embodiment of the present application also provides a computer program product, including a computer program or a computer program, which implements the steps of any suspension system control method provided in the embodiment of the present application when the computer program or the computer program is executed by a processor.

[0040] According to the sixth aspect of the present application, an embodiment of the present application also provides a vehicle, which includes the electronic device provided by the embodiment of the present application, or the suspension system control device provided by the embodiment of the present application, or executes the steps of any suspension system control method provided by the embodiment of the present application.

[0041] The suspension system control method of the embodiment of the present application controls the motor to operate at a target speed when the vehicle is in a target operating condition so that the suspension maintains a target height, wherein the target speed is obtained by the suspension system through self-learning. By controlling the suspension to maintain a target height through the motor speed, when passing through an uneven road surface such as a pothole road, the motor speed will not undergo a large change due to large fluctuations in road surface excitation, which can avoid the problem of vehicle shaking when the suspension height is quickly adjusted due to large fluctuations in road surface excitation, and can improve the stability of the vehicle suspension height maintenance and improve the user experience.

[0042] Other features and advantages of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0044] Figure 1 A schematic flow chart of a first embodiment of a suspension system control method provided in an embodiment of the present application;

[0045] Figure 2 A schematic flow chart of a second embodiment of a suspension system control method provided in an embodiment of the present application;

[0046] Figure 3 A schematic flow chart of a third embodiment of a suspension system control method provided in an embodiment of the present application;

[0047] Figure 4 A schematic flow chart of a fourth embodiment of a suspension system control method provided in an embodiment of the present application;

[0048] Figure 5 A schematic flow chart of a fifth embodiment of a suspension system control method provided in an embodiment of the present application;

[0049] Figure 6 A schematic diagram of the structure of a suspension system control device provided in an embodiment of the present application;

[0050] Figure 7 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0052] Embodiments of the present application provide a suspension system control method, device, equipment, medium, program product, and vehicle.

[0053] The suspension system control method provided in the embodiment of the present application can be applied to a vehicle, which may be a fuel vehicle, a plug-in hybrid vehicle, or a new energy vehicle, etc., and the present disclosure does not make any specific limitation on this.

[0054] The following is a detailed description of the embodiments in conjunction with the accompanying drawings. It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments. Although the logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in an order different from that shown in the accompanying drawings.

[0055] Please refer to Figure 1 , Figure 1 A schematic flow chart of a first embodiment of a suspension system control method provided in an embodiment of the present application. The method comprises:

[0056] Step 101, when the vehicle is in a target operating condition, controlling the motor to operate at a target speed so that the suspension maintains a target height, wherein the target speed is obtained by the suspension system through self-learning.

[0057] In this step, the suspension system includes a motor, which is used to output a force for changing the height of the suspension. When the vehicle detects that it is in the target working condition, the motor is controlled to work at a target speed so that the suspension maintains the target height, wherein the target speed is obtained by the suspension system through self-learning. Specifically, the vehicle determines the target height of the suspension according to the target working condition, and then determines the target speed among all the motor speeds obtained by the suspension system through self-learning according to the target height, and controls the motor to work at the target speed so that the suspension maintains the target height. Among them, the suspension is an active suspension, which is an advanced vehicle suspension system that can adjust the hardness and height of the suspension in real time according to information such as road conditions, vehicle speed, and turning angle, thereby improving the vehicle's handling, comfort and stability; unlike traditional passive suspensions (such as springs and shock absorbers), active suspension systems dynamically adjust the response of the suspension through electronic control systems, sensors and actuators to optimize the vehicle's driving performance.

[0058] It should be noted that the existing vehicle suspension height is maintained by using a height sensor control. When passing through uneven roads such as potholes, the height will change significantly due to the large fluctuations in road excitation. At this time, the height sensor is prone to misjudgment, resulting in vehicle shaking when the suspension height is quickly adjusted. However, the present application uses a height sensor control when the vehicle suspension height is maintained. When passing through uneven roads such as potholes, the motor speed will not change significantly due to the large fluctuations in road excitation, which can avoid vehicle shaking when the suspension height is quickly adjusted due to large fluctuations in road excitation, and can improve the stability of maintaining the vehicle suspension height.

[0059] The vehicle of this embodiment, when the vehicle is in the target working condition, controls the motor to operate at the target speed so that the suspension maintains the target height, wherein the target speed is obtained by the suspension system through self-learning. By controlling the suspension to maintain the target height through the motor speed, when passing through uneven roads such as potholes, the motor speed will not undergo a large change due to large fluctuations in road excitation, which can avoid the problem of vehicle shaking when the suspension height is quickly adjusted due to large fluctuations in road excitation, and can improve the stability of the vehicle suspension height maintenance and improve the user experience.

[0060] Please refer to Figure 2 , Figure 2 A schematic flow chart of a second embodiment of a suspension system control method provided in an embodiment of the present application. The step of controlling the motor to operate at a target speed so that the suspension maintains a target height includes:

[0061] Step 201, determining a target height of the suspension according to the target working condition;

[0062] In this step, when the vehicle is determined to be in the target operating condition, the target height of the suspension is determined according to the target operating condition. Specifically, when the vehicle detects that the road surface is lifted or bumpy, it is determined that the vehicle is in the target operating condition, the vehicle obtains the height of the road surface under the target operating condition, and determines the target height of the suspension according to the height of the road surface and the height of the vehicle chassis.

[0063] Step 202, determining a target speed according to the target height;

[0064] Specifically, step 202 includes:

[0065] Step 2021, determining a target rotational speed according to the target altitude and a preset mapping relationship; the preset mapping relationship is a mapping relationship between altitude and rotational speed.

[0066] In this step, after determining the target height, the vehicle determines the target speed according to the target height and a preset mapping relationship, wherein the preset mapping relationship is a mapping relationship between height and speed. Specifically, the vehicle determines the target height of the suspension according to the target working condition, and then determines the target speed according to the target height among all motor speeds obtained by the suspension system through self-learning.

[0067] Step 203: Based on the target speed, control the suspension to maintain the target height.

[0068] In this step, after determining the target speed, the vehicle controls the speed of the motor to gradually increase to the target speed, so that the motor can output the corresponding force to lift the suspension. When the suspension is lifted to the target height, the suspension is controlled to remain at the target height based on maintaining the motor speed at the target speed.

[0069] The vehicle of this embodiment determines the target height of the suspension according to the target working condition; determines the target speed according to the target height; and controls the suspension to maintain the target height based on the target speed. By controlling the suspension to maintain the target height through the motor speed, when passing through uneven roads such as potholes, the motor speed will not change significantly due to large fluctuations in road excitation, which can avoid the problem of vehicle shaking when the suspension height is quickly adjusted due to large fluctuations in road excitation, improve the stability of the vehicle suspension height maintenance, and improve the user experience.

[0070] Please refer to Figure 3 , Figure 3 A schematic flow chart of a third embodiment of the suspension system control method provided in an embodiment of the present application. After controlling the suspension to maintain the target height based on the target speed, the method includes:

[0071] Step 301, obtaining the actual height corresponding to the suspension;

[0072] In this step, after the vehicle controls the suspension to maintain the target height through the target speed, the actual height corresponding to the suspension is obtained. It can be understood that the target height is the theoretical height of the suspension lift. In actual situations, the actual height of the suspension lift will always have a certain deviation from the theoretical height, and the actual height will fluctuate with a small difference. However, if the floating difference does not exceed the preset value, it can be considered that the suspension has been lifted to the target height.

[0073] Step 302: adjusting the target rotation speed according to a first height difference between the actual height and the target height.

[0074] In this step, the vehicle calculates the first height difference between the actual height and the target height, and adjusts the target speed according to the first height difference. Optionally, the vehicle calculates the first height difference between the actual height and the target height, and when the first height difference is greater than a first preset difference, the vehicle adjusts the target speed according to the first height difference. Optionally, after the vehicle considers that the suspension has been lifted to the target height, within a preset time period, it obtains multiple actual heights corresponding to the suspension, calculates the first height difference between each actual height and the target height, counts the number of first height differences greater than the first preset difference, and if the condition is met, adjusts the target speed according to the first height difference.

[0075] Specifically, adjusting the target rotation speed according to a first height difference between the actual height and the target height includes:

[0076] Step 3021: If the first height difference is greater than a first preset difference, within a first preset time, count the number of times the first height difference is greater than the first preset difference;

[0077] In this step, within the first preset time after the vehicle considers that the suspension has been lifted to the target height, multiple actual heights corresponding to the suspension are obtained, a first height difference between each actual height and the target height is calculated, and the first number of first height differences greater than the first preset difference within the first preset time is counted.

[0078] Step 3022: If the number is greater than a first preset threshold, adjust the target speed.

[0079] In this step, the vehicle compares the first number of height differences greater than the first preset difference within the first preset time with the first preset threshold. If it is determined that the first number is greater than the first preset threshold, it means that the actual height maintained by the suspension controlled by the current target speed cannot be stabilized at the target height, and the step is re-executed: when the suspension is lifted to the target height, determine the target speed that keeps the suspension at the target height.

[0080] The vehicle of this embodiment obtains the actual height corresponding to the suspension; calculates the height difference between the actual height and the target height, and adjusts the target speed according to the height difference. If the actual height maintained by the suspension under the current target speed cannot be stabilized at the target height, the target speed can be readjusted so that the adjusted target speed can control the actual height maintained by the suspension to be stabilized at the target height, thereby improving the stability of the vehicle suspension height maintenance and improving the user experience.

[0081] Please refer to Figure 4 , Figure 4 A fourth embodiment of the flow chart of the suspension system control method provided in the present application is shown in FIG. After the suspension is controlled to maintain the target height based on the target speed, the method includes:

[0082] Step 401, when the suspension is raised to a target height, determining a target rotation speed for keeping the suspension at the target height;

[0083] In this step, when the vehicle detects the command to raise the height, it obtains the target height in the command, first determines whether the suspension has a fault, and when it is determined that the suspension does not have a fault, performs height PID control, and simultaneously performs actual height stability judgment, actual height and target height deviation value calculation, and when it is determined that the actual height is close to the target height, it is considered that the suspension has been raised to the target height. Then the vehicle determines the target speed that keeps the suspension at the target height.

[0084] Step 402: Store the target altitude and the target rotation speed in association with each other.

[0085] In this step, the vehicle stores the target height and the target speed in association with each other, so that when the suspension needs to be raised to the target height later, the raising of the suspension can be controlled according to the target speed.

[0086] The vehicle of this embodiment determines the target speed for keeping the suspension at the target height when the suspension is raised to the target height; and stores the target height and the target speed in association. By self-learning the target speed of the suspension system, the target speed can be quickly determined when the vehicle is in the target working condition, thereby improving the efficiency of controlling the suspension to maintain the target height. At the same time, the speed will not change significantly due to large fluctuations in road excitation, which can avoid the problem of vehicle shaking when the suspension height is quickly adjusted due to large fluctuations in road excitation, and can improve the stability of the vehicle suspension height maintenance and improve the user experience.

[0087] Please refer to Figure 5 , Figure 5 The fifth embodiment of the flow chart of the suspension system control method provided in the embodiment of the present application is as follows. The step of determining the target speed for maintaining the suspension at the target height comprises:

[0088] Step 501, obtaining the real-time height corresponding to the suspension;

[0089] In this step, the vehicle obtains the corresponding real-time height of the suspension within a preset time period after the suspension is considered to be lifted to the target height. It can be understood that the target height is the theoretical height of the suspension lift. In actual situations, the real-time height of the suspension lift will always have a certain deviation from the theoretical height, and the real-time height will fluctuate with a small difference. However, if the floating difference does not exceed the preset value, it can be considered that the suspension has been lifted to the target height.

[0090] Step 502: Determine a target rotation speed for maintaining the suspension at the target height according to the real-time height and the target height.

[0091] In this step, the vehicle determines a target speed for keeping the suspension at the target height based on the real-time height and the target height.

[0092] Specifically, determining a target rotation speed for keeping the suspension at the target height according to the real-time height and the target height includes:

[0093] Step 5021, determining a second height difference between the real-time height and the target height;

[0094] Step 5022: If the second height difference is less than a second preset difference, a target speed for maintaining the suspension at the target height is determined according to the motor speed corresponding to the real-time height.

[0095] In step 5021 to step 5022, the vehicle may optionally calculate a second height difference between the real-time height and the target height. When the second height difference is less than the second preset difference, the vehicle may determine the motor speed corresponding to the real-time height as the target speed. Optionally, after the vehicle deems that the suspension has been lifted to the target height, within a preset time period, it obtains multiple real-time heights corresponding to the suspension, calculates the second height difference between each real-time height and the target height, and if each second height difference is less than the second preset difference, the average of the motor speeds corresponding to the multiple real-time heights is determined as the target speed.

[0096] Specifically, determining a target speed for maintaining the suspension at the target height according to the motor speed corresponding to the real-time height includes:

[0097] Step 50221, collecting a first rotation speed set corresponding to the real-time height within a second preset time;

[0098] In this step, the vehicle collects multiple real-time heights of the suspension within a second preset time after the suspension is considered to be lifted to the target height, and then obtains the first motor speed corresponding to each real-time height to obtain a first speed set.

[0099] Step 50222, eliminating the maximum speed and the minimum speed in the first speed set to obtain a second speed set;

[0100] In this step, after the vehicle obtains the first speed set, each first motor speed in the first speed set is compared to determine the maximum speed and the minimum speed, and the maximum speed and the minimum speed are eliminated to obtain the second speed set.

[0101] Step 50223, determining the average of all speeds in the second speed set as the target speed for maintaining the suspension at the target height.

[0102] In this step, after the vehicle obtains the second rotational speed set, the average of all rotational speeds in the second rotational speed set is calculated, and the average is determined as the target rotational speed for keeping the suspension at the target height.

[0103] The vehicle of this embodiment obtains the real-time height corresponding to the suspension, collects the first speed set corresponding to the real-time height within the second preset time, removes the maximum speed and the minimum speed in the first speed set, and obtains the second speed set; the average of the speeds in the second speed set is determined as the target speed for keeping the suspension at the target height. The accuracy of determining the target speed can be improved, and the accuracy of maintaining the vehicle suspension height can be improved, thereby improving the user experience.

[0104] Furthermore, after controlling the suspension to maintain the target height based on the target speed, the method further includes:

[0105] Step a, obtaining the actual height corresponding to the suspension;

[0106] In this step, after the vehicle controls the lifting of the suspension through the target speed, the actual height corresponding to the suspension is obtained. It can be understood that the target height is the theoretical height of the suspension lifting. In actual situations, the actual height of the suspension lifting will always have a certain deviation from the theoretical height, and the actual height will fluctuate with a small difference, but if the floating difference does not exceed the preset value, it can be considered that the suspension has been lifted to the target height.

[0107] Step b: calculating a third height difference between the actual height and the target height, and adjusting the actual height according to the height difference.

[0108] In this step, the vehicle calculates the third height difference between the actual height and the target height, and adjusts the target speed according to the height difference. Optionally, the vehicle calculates the third height difference between the actual height and the target height, and when the third height difference is greater than the third preset difference, the vehicle adjusts the target speed according to the height difference. Optionally, after the vehicle considers that the suspension has been lifted to the target height, within a preset time period, it obtains multiple actual heights corresponding to the suspension, calculates the third height difference between each actual height and the target height, counts the number of third height differences greater than the third preset difference, and if the condition is met, adjusts the actual height according to the height difference.

[0109] Specifically, adjusting the actual height according to the height difference includes:

[0110] Step b1, if the third height difference is greater than a third preset difference, counting a second number of times that the actual height is greater than the third preset difference within a third preset time;

[0111] In this step, after the vehicle considers that the suspension has been lifted to the target height, it obtains multiple actual heights corresponding to the suspension within the third preset time, calculates the third height difference between each actual height and the target height, and counts the second number of third height differences greater than the second preset difference within the second preset time.

[0112] Step b2: if the second number is greater than a second preset threshold, adjusting the actual height.

[0113] In this step, the vehicle compares the second number of times the third height difference is greater than the third preset difference within the third preset time with the second preset threshold. If it is determined that the second number is greater than the second preset threshold, it means that the actual height maintained by the suspension controlled by the current target speed deviates too much from the target height and the actual height needs to be readjusted.

[0114] Specifically, the vehicle re-performs PID height control on the suspension, and at the same time determines the actual height stability and calculates the deviation value between the actual height and the target height. When it is determined that the actual height is close to the target height, it is considered that the adjustment of the actual height is completed.

[0115] The vehicle of this embodiment obtains the actual height corresponding to the suspension; calculates the third height difference between the actual height and the target height, and adjusts the actual height according to the third height difference. If the actual height maintained by the suspension controlled by the current target speed deviates too much from the target height, the actual height is readjusted so that the adjusted actual height is within the preset deviation range from the target height, thereby improving the stability of the vehicle suspension height maintenance and improving the user experience.

[0116] Accordingly, reference Figure 6 The present application also provides a suspension system control device, the suspension system control device comprising:

[0117] The control unit 1001 is used to control the motor to operate at a target speed when the vehicle is in a target operating condition so that the suspension maintains a target height, wherein the target speed is obtained by the suspension system through self-learning.

[0118] Optionally, the control unit is further configured to:

[0119] Determining a target height of the suspension according to the target operating condition;

[0120] determining a target rotation speed according to the target altitude;

[0121] Based on the target speed, the suspension is controlled to maintain the target height.

[0122] Optionally, the control unit is further configured to:

[0123] The target rotation speed is determined according to the target height and a preset mapping relationship; the preset mapping relationship is a mapping relationship between height and rotation speed.

[0124] Optionally, the control unit is further configured to:

[0125] When a road surface lift or road bump is detected, it is determined that the vehicle is in the target operating condition.

[0126] Optionally, the suspension system control device further includes an adjustment unit, and the adjustment unit is used to:

[0127] Obtaining an actual height corresponding to the suspension;

[0128] The target rotation speed is adjusted according to a first height difference between the actual height and the target height.

[0129] Optionally, the adjustment unit is further configured to:

[0130] If the first height difference is greater than a first preset difference, within a first preset time, counting the number of times the first height difference is greater than the first preset difference;

[0131] If the number is greater than a first preset threshold, the target rotation speed is adjusted.

[0132] Optionally, the suspension system control device further includes a determination unit, the determination unit being configured to:

[0133] When the suspension is raised to a target height, determining a target rotation speed for keeping the suspension at the target height;

[0134] The target altitude and the target rotation speed are stored in association with each other.

[0135] Optionally, the determination unit is further configured to:

[0136] Obtaining the real-time height corresponding to the suspension;

[0137] A target rotation speed for keeping the suspension at the target height is determined according to the real-time height and the target height.

[0138] Optionally, the determination unit is further configured to:

[0139] Determine a second height difference between the real-time height and the target height;

[0140] If the second height difference is less than a second preset difference, a target speed for maintaining the suspension at the target height is determined according to the motor speed corresponding to the real-time height.

[0141] Optionally, the determination unit is further configured to:

[0142] Within a second preset time, collecting a first rotation speed set corresponding to the real-time height;

[0143] Eliminate the maximum speed and the minimum speed in the first speed set to obtain a second speed set;

[0144] An average of all rotation speeds in the second rotation speed set is determined as a target rotation speed for maintaining the suspension at the target height.

[0145] The suspension system control device of this embodiment controls the motor to operate at a target speed when the vehicle is in a target working condition, so that the suspension maintains a target height, wherein the target speed is obtained by the suspension system through self-learning. By controlling the suspension to maintain a target height through the motor speed, when passing through an uneven road surface such as a pothole road, the motor speed will not undergo a large change due to large fluctuations in road surface excitation, which can avoid the problem of vehicle shaking when the suspension height is quickly adjusted due to large fluctuations in road surface excitation, and can improve the stability of the vehicle suspension height maintenance and improve the user experience.

[0146] Accordingly, the embodiment of the present application also provides a vehicle, such as Figure 7 As shown, Figure 7 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle 1100 includes a processor 1101 having one or more processing cores, a memory 1102 having one or more computer-readable storage media, and a computer program stored in the memory 1102 and executable on the processor. The processor 1101 is electrically connected to the memory 1102. It will be understood by those skilled in the art that the vehicle structure shown in the figure does not constitute a limitation on the vehicle, and may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0147] The processor 1101 is the control center of the vehicle 1100, and uses various interfaces and lines to connect various parts of the entire vehicle 1100. By running or loading software programs and / or units stored in the memory 1102, and calling data stored in the memory 1102, it executes various functions of the vehicle 1100 and processes data, thereby monitoring the vehicle 1100 as a whole. The processor 1101 can be a processor CPU, a graphics processor GPU, a network processor (Network Processor, NP), etc., and can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application.

[0148] In an embodiment of the present application, the processor 1101 in the vehicle 1100 will load the computer program corresponding to the process of one or more applications into the memory 1102 according to the following steps, and the processor 1101 will run the application stored in the memory 1102 to execute the suspension system control method.

[0149] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0150] Optional, such as Figure 7 As shown, the vehicle 1100 further includes: a touch screen 1103, a radio frequency circuit 1104, an audio circuit 1105, an input unit 1106, and a power supply 1107. The processor 1101 is electrically connected to the touch screen 1103, the radio frequency circuit 1104, the audio circuit 1105, the input unit 1106, and the power supply 1107, respectively. Those skilled in the art will appreciate that Figure 7 The vehicle structure shown in the figure does not constitute a limitation on the vehicle, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0151] The touch display screen 1103 can be used to display a graphical user interface and receive operation instructions generated by the user acting on the graphical user interface. The touch display screen 1103 may include a display panel and a touch panel. Among them, the display panel can be used to display information input by the user or information provided to the user and various graphical user interfaces of the vehicle, which can be composed of graphics, text, icons, videos and any combination thereof. Optionally, the display panel can be configured in the form of a liquid crystal display (LCD, Liquid Crystal Display), an organic light-emitting diode (OLED, Organic Light-Emitting Diode) and the like. The touch panel can be used to collect the user's touch operation on or near it (such as the user uses any suitable object or accessory such as a finger, a stylus, etc. on the touch panel or near the touch panel), and generate corresponding operation instructions, and the operation instructions execute the corresponding program. Optionally, the touch panel may include two parts: a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch orientation, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into the touch point coordinates, and then sends it to the processor 1101, and can receive the command sent by the processor 1101 and execute it. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it is transmitted to the processor 1101 to determine the type of touch event, and then the processor 1101 provides a corresponding visual output on the display panel according to the type of touch event. In an embodiment of the present application, the touch panel and the display panel can be integrated into the touch display screen 1103 to realize the input and output functions. However, in some embodiments, the touch panel and the touch panel can be used as two independent components to realize the input and output functions. That is, the touch display screen 1103 can also be used as a part of the input unit 1106 to realize the input function.

[0152] The RF circuit 1104 may be used to send and receive RF signals to establish wireless communication with network devices or other vehicles through wireless communication, and to send and receive signals with network devices or other vehicles.

[0153] The audio circuit 1105 can be used to provide an audio interface between the user and the vehicle through a speaker and a microphone. The audio circuit 1105 can transmit the electrical signal converted from the received audio data to the speaker, which is converted into a sound signal for output; on the other hand, the microphone converts the collected sound signal into an electrical signal, which is received by the audio circuit 1105 and converted into audio data, and then the audio data is output to the processor 1101 for processing, and then sent to another vehicle through the radio frequency circuit 1104, or the audio data is output to the memory 1102 for further processing. The audio circuit 1105 may also include an earphone jack to provide communication between an external headset and the vehicle.

[0154] The input unit 1106 may be used to receive input numbers, character information or user feature information (such as fingerprint, iris, facial information, etc.), and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0155] The power supply 1107 is used to supply power to various components of the vehicle 1100. Optionally, the power supply 1107 can be logically connected to the processor 1101 through a power management device, so that the power management device can manage charging, discharging, and power consumption. The power supply 1107 can also include one or more DC or AC power supplies, recharging devices, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0156] although Figure 7 Not shown, the vehicle 1100 may also include a camera, a sensor, a wireless fidelity module, a Bluetooth module, etc., which will not be described in detail here.

[0157] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0158] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by a computer program, or by controlling related hardware through a computer program. The computer program may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0159] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0160] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0161] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0162] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A suspension system control method, characterized in that: The suspension system includes a motor, and the motor is used to output a force for changing the height of the suspension. The method includes: When the vehicle is in a target operating condition, the motor is controlled to operate at a target speed so that the suspension maintains a target height, wherein the target speed is obtained by the suspension system through self-learning.

2. The method according to claim 1, characterized in that The step of controlling the motor to operate at a target speed so that the suspension maintains a target height includes: Determining a target height of the suspension according to the target operating condition; determining a target rotation speed according to the target altitude; Based on the target speed, the suspension is controlled to maintain the target height.

3. The method according to claim 2, characterized in that Determining the target rotation speed according to the target height includes: The target rotation speed is determined according to the target height and a preset mapping relationship; the preset mapping relationship is a mapping relationship between height and rotation speed.

4. The method according to claim 2, characterized in that: The method further comprises: When a road surface lift or road bump is detected, it is determined that the vehicle is in the target operating condition.

5. The method according to claim 2, characterized in that: After controlling the suspension to maintain the target height based on the target speed, the method further comprises: Obtaining an actual height corresponding to the suspension; The target rotation speed is adjusted according to a first height difference between the actual height and the target height.

6. The method according to claim 5, characterized in that The step of adjusting the target rotation speed according to a first height difference between the actual height and the target height includes: If the first height difference is greater than a first preset difference, within a first preset time, counting the number of times the first height difference is greater than the first preset difference; If the number is greater than a first preset threshold, the target rotation speed is adjusted.

7. The method according to claim 1, characterized in that The method further comprises: When the suspension is raised to a target height, determining a target rotation speed for keeping the suspension at the target height; The target altitude and the target rotation speed are stored in association with each other.

8. The method according to claim 7, characterized in that The determining of the target rotation speed for maintaining the suspension at the target height comprises: Obtaining the real-time height corresponding to the suspension; A target rotation speed for keeping the suspension at the target height is determined according to the real-time height and the target height.

9. The method according to claim 8, characterized in that The step of determining a target rotation speed for maintaining the suspension at the target height according to the real-time height and the target height comprises: Determine a second height difference between the real-time height and the target height; If the second height difference is less than a second preset difference, a target speed for maintaining the suspension at the target height is determined according to the motor speed corresponding to the real-time height.

10. The method according to claim 9, characterized in that The step of determining a target speed for maintaining the suspension at the target height according to the motor speed corresponding to the real-time height includes: Within a second preset time, collecting a first rotation speed set corresponding to the real-time height; Eliminate the maximum speed and the minimum speed in the first speed set to obtain a second speed set; An average of all rotation speeds in the second rotation speed set is determined as a target rotation speed for maintaining the suspension at the target height.

11. The method according to any one of claims 1 to 10, characterized in that: The suspension is an active suspension.

12. A suspension system control device, characterized in that: The suspension system control device comprises: A control unit is used to control the motor to operate at a target speed when the vehicle is in a target operating condition so that the suspension maintains a target height, wherein the target speed is obtained by the suspension system through self-learning.

13. An electronic device, characterized in that: It comprises a processor; and a memory for storing processor executable instructions; wherein the processor is configured to execute the steps of the suspension system control method as described in any one of claims 1 to 11 above.

14. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and the computer program is loaded by a processor to execute the steps in the suspension system control method according to any one of claims 1 to 11.

15. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the computer program product executes the steps in the suspension system control method according to any one of claims 1 to 11.

16. A vehicle, characterized in that: It comprises the suspension system control device as claimed in claim 12, or the electronic device as claimed in claim 13.

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