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

Abstract

The application relates to a suspension system control method, device, equipment, medium, program product and vehicle, the suspension system comprises a motor, the motor is used for outputting an acting force for changing the suspension height, the method comprises the following steps: when the vehicle is in a target working condition, the motor is controlled to work at a target rotating speed, so that the suspension height is kept at a target height, wherein the target rotating speed is obtained by self-learning of the suspension system. By controlling the suspension height by the motor rotating speed, when passing through the uneven road surface such as the uneven road surface, the motor rotating speed will not change greatly due to the large fluctuation of the road excitation, the problem of vehicle shaking caused by the rapid adjustment of the suspension height due to the large fluctuation of the road excitation can be avoided, the stability of the vehicle suspension height keeping can be improved, and the user experience is improved.

Description

Technical Field

[0001] This 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 Technology

[0002] Active suspension is a type of suspension that automatically generates and adjusts key parameters such as active force, damping, stiffness, and height according to changes in vehicle driving conditions and driver needs. For vehicles with low chassis and poor off-road capability, active suspension can raise the chassis height to facilitate passage on uneven, potholed, or steep roads.

[0003] However, in the existing technology, the height holding of the suspension adopts the conventional height suspension system control method. When the vehicle height is increased, if it goes over uneven road surfaces such as potholes, the height holding will have a large vibration problem, which will affect the user experience. Summary of the Invention

[0004] This application provides a suspension system control method that can prevent significant vibrations in maintaining vehicle height when driving over uneven surfaces such as potholes after the vehicle height has been increased, thereby improving the user experience and at least partially solving the aforementioned technical problems.

[0005] To achieve the above objectives, according to a first aspect of this application, a suspension system control method is provided, the suspension system including a motor, the motor being used to output a force that changes the suspension height, the method comprising:

[0006] When the vehicle is in the target operating condition, the motor is controlled 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.

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

[0008] Based on the target operating conditions, determine the target height of the suspension;

[0009] The target rotational speed is determined based on the target height.

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

[0011] Optionally, determining the target rotational speed based on the target height includes:

[0012] The target rotational speed is determined based on the target height and the preset mapping relationship; the preset mapping relationship is the mapping relationship between height and rotational speed.

[0013] Optionally, the method further includes:

[0014] When a road surface elevation or bump is detected, the vehicle is determined to be in the target operating condition.

[0015] Optionally, after controlling the suspension to maintain the target height based on the target rotational speed, the following steps are included:

[0016] Obtain the actual height corresponding to the suspension;

[0017] The target rotational speed is adjusted based on the first height difference between the actual height and the target height.

[0018] Optionally, adjusting the target rotational speed based on the first height difference between the actual height and the target height includes:

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

[0020] If the number of times exceeds the first preset threshold, then the target rotational speed is adjusted.

[0021] Optionally, the method further includes:

[0022] When the suspension is raised to the target height, a target rotational speed is determined to keep the suspension at the target height;

[0023] The target height and the target rotation speed are associated and stored.

[0024] Optionally, determining the target rotational speed that keeps the suspension at the target height includes:

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

[0026] Based on the real-time altitude and the target altitude, a target rotational speed is determined to keep the suspension at the target altitude.

[0027] Optionally, determining the target rotational speed for maintaining the suspension at the target height based on the real-time height and the target height includes:

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

[0029] If the second height difference is less than the second preset difference, then the target speed for keeping the suspension at the target height is determined based on the motor speed corresponding to the real-time height.

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

[0031] Within a second preset time period, the first set of rotational speeds corresponding to the real-time height is collected;

[0032] The maximum and minimum speeds are removed from the first speed set to obtain the second speed set;

[0033] The average of all speeds in the second set of speeds is determined as the target speed for keeping the suspension at the target height.

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

[0035] According to a second aspect of this application, embodiments of this application also provide a suspension system control device, the suspension system control device comprising:

[0036] The 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 a third aspect of this application, embodiments of this application also provide an electronic device, the electronic device including: one or more processors and a memory; and one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the processor to perform steps of any of the suspension system control methods provided in embodiments of this application.

[0038] According to a fourth aspect of this application, embodiments of this application also provide a computer-readable storage medium storing a plurality of computer programs adapted for loading by a processor to perform the steps of any of the suspension system control methods provided in embodiments of this application.

[0039] According to a fifth aspect of this application, embodiments of this application also provide a computer program product, including a computer program or computer program that, when executed by a processor, implements the steps in any of the suspension system control methods provided in embodiments of this application.

[0040] According to a sixth aspect of this application, embodiments of this application also provide a vehicle, which includes the electronic equipment provided in embodiments of this application, or the suspension system control device provided in embodiments of this application, or performs the steps in any of the suspension system control methods provided in embodiments of this application.

[0041] The suspension system control method of this application embodiment 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. The target speed is obtained by the suspension system through self-learning. By controlling the motor speed to maintain the target height, when driving over uneven road surfaces such as potholes, the motor speed will not change significantly due to large fluctuations in road surface excitation. This avoids vehicle vibration problems caused by rapid suspension height adjustments due to large fluctuations in road surface excitation, thus improving the stability of vehicle suspension height maintenance and enhancing the user experience.

[0042] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 A schematic flowchart of the first embodiment of the suspension system control method provided in this application;

[0045] Figure 2 A schematic flowchart of a second embodiment of the suspension system control method provided in this application;

[0046] Figure 3 A schematic flowchart of a third embodiment of the suspension system control method provided in this application;

[0047] Figure 4 A schematic flowchart of the fourth embodiment of the suspension system control method provided in this application;

[0048] Figure 5 A schematic flowchart of the fifth embodiment of the suspension system control method provided in this application;

[0049] Figure 6 This is a schematic diagram of the structure of the suspension system control device provided in the embodiments of this application;

[0050] Figure 7 This is a structural schematic diagram of the vehicle provided in an embodiment of this application. Detailed Implementation

[0051] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0052] This application provides a suspension system control method, apparatus, device, medium, program product, and vehicle.

[0053] The suspension system control method provided in this application can be applied to vehicles, such as gasoline vehicles, plug-in hybrid electric vehicles, or new energy vehicles, etc. This disclosure does not specifically limit the application.

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

[0055] Please refer to Figure 1 , Figure 1 A schematic flowchart of a first embodiment of the suspension system control method provided in this application. The method includes:

[0056] Step 101: When the vehicle is in the target operating condition, control 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.

[0057] In this step, the suspension system includes a motor that outputs a force to change the suspension height. When the vehicle detects that it is in a target operating condition, it controls the motor to operate at a target speed to maintain the suspension at the target height. The target speed is obtained by the suspension system through self-learning. Specifically, the vehicle determines the target suspension height based on the target operating condition, and then, based on the target height, determines the target speed from all the motor speeds obtained by the suspension system through self-learning, and controls the motor to operate at the target speed to maintain the suspension at the target height. The suspension is an active suspension, an advanced vehicle suspension system that can adjust the suspension stiffness and height in real time based on road conditions, vehicle speed, turning angle, and other information, 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 suspension response through electronic control systems, sensors, and actuators to optimize vehicle driving performance.

[0058] It should be noted that existing vehicle suspension height maintenance uses a height sensor for control. When traversing uneven road surfaces such as potholes, the height can change significantly due to large fluctuations in road surface excitation. In such cases, the height sensor is prone to misjudging, leading to vehicle vibration problems when rapidly adjusting the suspension height. In contrast, this application uses a height sensor for vehicle suspension height maintenance. When traversing uneven road surfaces such as potholes, the motor speed does not change significantly due to large fluctuations in road surface excitation. This avoids vehicle vibration problems caused by large fluctuations in road surface excitation when rapidly adjusting the suspension height, thus improving the stability of vehicle suspension height maintenance.

[0059] In this embodiment, when the vehicle is under target operating conditions, the motor is controlled to operate at a target speed to maintain the suspension at a target height. This target speed is obtained by the suspension system through self-learning. By controlling the suspension height through motor speed control, the motor speed does not change significantly due to large fluctuations in road surface excitation, even when traversing uneven surfaces such as potholes. This avoids vehicle vibration issues caused by rapid suspension height adjustments due to large road surface excitation fluctuations, improving the stability of the vehicle's suspension height maintenance and enhancing the user experience.

[0060] Please refer to Figure 2 , Figure 2 A flowchart illustrating a second embodiment of the suspension system control method provided in this application. Controlling the motor to operate at a target speed to maintain the suspension at a target height includes:

[0061] Step 201: Determine the target height of the suspension based on the target operating conditions;

[0062] In this step, when the vehicle is determined to be in the target operating condition, the target height of the suspension is determined based on the target operating condition. Specifically, when the vehicle detects a road surface rise or bump, it is determined that the vehicle is in the target operating condition. The vehicle obtains the road surface height under the target operating condition, and determines the target height of the suspension based on the road surface height and the vehicle chassis height.

[0063] Step 202: Determine the target rotational speed based on the target height;

[0064] Specifically, step 202 includes:

[0065] Step 2021: Determine the target rotational speed based on the target height and the preset mapping relationship; the preset mapping relationship is the mapping relationship between height and rotational speed.

[0066] In this step, after determining the target height, the vehicle determines the target speed based on the target height and a preset mapping relationship, whereby the preset mapping relationship is the mapping relationship between height and speed. Specifically, the vehicle determines the target height of the suspension based on the target operating conditions, and then determines the target speed from all motor speeds obtained by the suspension system through self-learning based on the target height.

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

[0068] In this step, after the vehicle determines the target speed, the control motor speed is gradually increased 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 keeping the motor speed at the target speed.

[0069] In this embodiment, the vehicle determines a target suspension height based on the target operating conditions; a target rotational speed is determined based on the target height; and the suspension is controlled to maintain the target height based on the target rotational speed. By controlling the suspension to maintain the target height through motor rotational speed, the motor rotational speed will not change significantly due to large fluctuations in road surface excitation when traversing uneven road surfaces such as potholes. This avoids vehicle vibration issues caused by rapid suspension height adjustments due to large fluctuations in road surface excitation, thereby improving the stability of the vehicle's suspension height maintenance and enhancing the user experience.

[0070] Please refer to Figure 3 , Figure 3 This is a schematic flowchart of a third embodiment of the suspension system control method provided in this application. After controlling the suspension to maintain the target height based on the target rotational speed, the method includes:

[0071] Step 301: Obtain the actual height corresponding to the suspension;

[0072] In this step, after the vehicle controls the suspension to maintain the target height by controlling the target speed, the actual height of the suspension is obtained. It can be understood that the target height is the theoretical height the suspension can be raised to. In reality, the actual height the suspension raises will always deviate slightly from the theoretical height, and the actual height will fluctuate within a small range. However, as long as the fluctuation does not exceed a preset value, the suspension can be considered to have reached the target height.

[0073] Step 302: Adjust the target rotation speed based on the first height difference between the actual height and the target height.

[0074] In this step, the vehicle calculates a first height difference between the actual height and the target height, and adjusts the target speed based on this first height difference. Optionally, the vehicle calculates the first height difference between the actual height and the target height, and adjusts the target speed based on the first height difference when the first height difference is greater than a first preset difference value. Optionally, after the vehicle believes the suspension has reached the target height, it acquires multiple actual heights corresponding to the suspension within a preset time period, 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 value, and if the condition is met, adjusts the target speed based on the first height difference.

[0075] Specifically, adjusting the target rotational speed based on the first height difference between the actual height and the target height includes:

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

[0077] In this step, after the vehicle believes that the suspension has been raised to the target height, it acquires multiple actual heights corresponding to the suspension within a first preset time period, calculates the first height difference between each actual height and the target height, and counts the first number of times the first height difference is greater than the first preset difference within the first preset time period.

[0078] Step 3022: If the number of times exceeds the first preset threshold, then adjust the target rotation speed.

[0079] In this step, the vehicle compares the first number of height differences greater than the first preset difference within a 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 under the control of the current target speed cannot be stabilized at the target height. The step is then repeated: when the suspension is raised to the target height, the target speed that keeps the suspension at the target height is determined.

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

[0081] Please refer to Figure 4 , Figure 4 This is a flowchart illustrating a fourth embodiment of the suspension system control method provided in this application. After controlling the suspension to maintain the target height based on the target rotational speed, the method includes:

[0082] Step 401: When the suspension is raised to the target height, determine the target rotational speed that keeps the suspension at the target height;

[0083] In this step, when the vehicle detects a height increase command, it obtains the target height from the command, first determines whether there is a suspension malfunction, and if the suspension is determined to be fault-free, it performs height PID control, simultaneously assesses the stability of the actual height, and calculates the deviation between the actual height and the target height. When the actual height and the target height are determined to be close, the suspension is considered to have reached the target height. The vehicle then determines the target rotational speed to maintain the suspension at the target height.

[0084] Step 402: Store the target height and the target rotation speed together.

[0085] In this step, the vehicle stores the target height and the target rotational speed together so that when the suspension needs to be raised to the target height later, the lifting of the suspension can be controlled according to the target rotational speed.

[0086] In this embodiment, when the vehicle suspension is raised to a target height, a target rotational speed is determined to maintain the suspension at that height; the target height and the target rotational speed are then associated and stored. By self-learning the target rotational speed through the suspension system, the target rotational speed can be quickly determined when the vehicle is in the target operating condition, thereby improving the efficiency of controlling the suspension to maintain the target height. Simultaneously, the rotational speed will not change significantly due to large fluctuations in road surface excitation, avoiding vehicle vibration problems caused by rapid suspension height adjustments due to large fluctuations in road surface excitation. This improves the stability of the vehicle's suspension height maintenance and enhances the user experience.

[0087] Please refer to Figure 5 , Figure 5 A flowchart illustrating the fifth embodiment of the suspension system control method provided in this application. Determining the target rotational speed for maintaining the suspension at the target height includes:

[0088] Step 501: Obtain the real-time height corresponding to the suspension;

[0089] In this step, after the vehicle is deemed to have raised the suspension to the target height, the real-time height of the suspension is acquired within a preset time period. It is understood that the target height is the theoretical height at which the suspension can be raised. In reality, the real-time height of the suspension will always deviate slightly from the theoretical height, and the real-time height will fluctuate within a small range. However, as long as the fluctuation does not exceed a preset value, the suspension can be considered to have reached the target height.

[0090] Step 502: Determine the target rotational speed that keeps the suspension at the target height based on the real-time height and the target height.

[0091] In this step, the vehicle determines the target rotational speed that will keep the suspension at the target height, based on the real-time altitude and the target altitude.

[0092] Specifically, determining the target rotational speed for maintaining the suspension at the target height based on the real-time height and the target height includes:

[0093] Step 5021: Determine the second height difference between the real-time height and the target height;

[0094] Step 5022: If the second height difference is less than the second preset difference, then determine the target speed for keeping the suspension at the target height based on the motor speed corresponding to the real-time height.

[0095] In steps 5021 to 5022, optionally, the vehicle calculates a second height difference between the real-time height and the target height. When the second height difference is less than a second preset difference, the vehicle can determine the motor speed corresponding to the real-time height as the target speed. Optionally, after the vehicle believes that the suspension has been raised to the target height, it acquires multiple real-time heights corresponding to the suspension within a preset time period, 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 the target rotational speed for maintaining the suspension at the target height based on the motor rotational speed corresponding to the real-time height includes:

[0097] Step 50221: Within a second preset time period, collect the first set of rotational speeds corresponding to the real-time height;

[0098] In this step, after the vehicle believes that the suspension has been raised to the target height, it collects multiple real-time heights of the suspension within a second preset time period, and then obtains the first motor speed corresponding to each real-time height to obtain the first speed set.

[0099] Step 50222: Remove the maximum and minimum speeds from the first speed set to obtain the second speed set;

[0100] In this step, after the vehicle obtains the first set of speeds, the speeds of each first motor in the first set of speeds are compared to determine the maximum and minimum speeds. The maximum and minimum speeds are then removed to obtain the second set of speeds.

[0101] Step 50223: Determine the average value of all speeds in the second speed set as the target speed for keeping the suspension at the target height.

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

[0103] In this embodiment, the vehicle acquires the real-time height corresponding to the suspension. Within a second preset time period, a first set of rotational speeds corresponding to the real-time height is collected. The maximum and minimum rotational speeds in the first set are removed to obtain a second set of rotational speeds. The average value of the rotational speeds in the second set is determined as the target rotational speed for maintaining the suspension at the target height. This improves the accuracy of determining the target rotational speed, thereby improving the accuracy of maintaining the vehicle's suspension height and enhancing the user experience.

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

[0105] Step a: Obtain the actual height corresponding to the suspension;

[0106] In this step, after the vehicle controls the suspension to lift at the target speed, the actual height of the suspension is obtained. It's understandable that the target height is the theoretical height the suspension should lift. In reality, the actual height of the suspension will always deviate slightly from the theoretical height, and the actual height will fluctuate within a small range. However, as long as the fluctuation does not exceed a preset value, the suspension can be considered to have reached the target height.

[0107] Step b: Calculate the third height difference between the actual height and the target height, and adjust the actual height according to the height difference.

[0108] In this step, the vehicle calculates a third height difference between the actual height and the target height, and adjusts the target engine speed based on this height difference. Optionally, the vehicle calculates a third height difference between the actual height and the target height, and adjusts the target engine speed based on this third height difference when it is greater than a third preset difference. Optionally, after the vehicle believes the suspension has reached the target height, it acquires multiple actual heights corresponding to the suspension within a preset time period, 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 adjusts the actual height based on the height difference if the condition is met.

[0109] Specifically, adjusting the actual height based on the height difference includes:

[0110] Step b1: If the third height difference is greater than the third preset difference, then within the third preset time period, count the second number of times the actual height is greater than the third preset difference.

[0111] In this step, after the vehicle believes that the suspension has been raised to the target height, it acquires multiple actual heights corresponding to the suspension within a third preset time period, calculates the third height difference between each actual height and the target height, and counts the second number of times the third height difference is greater than the second preset difference within a second preset time period.

[0112] Step b2: If the second number of times is greater than the second preset threshold, then adjust 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 under the current target speed control deviates too much from the target height, and the actual height needs to be readjusted.

[0114] Specifically, the vehicle re-implements PID control for suspension height, while simultaneously assessing actual height stability and calculating the deviation between actual and target height. When the actual height and target height are determined to be close, the adjustment of the actual height is considered complete.

[0115] In this embodiment, the vehicle obtains the actual height corresponding to the suspension; calculates a third height difference between the actual height and the target height, and adjusts the actual height based on the third height difference. If the actual height maintained by the suspension deviates too much from the target height due to the current target engine speed, the actual height is readjusted to ensure that the deviation between the adjusted actual height and the target height is within a preset range, thereby improving the stability of the vehicle's suspension height maintenance and enhancing the user experience.

[0116] Accordingly, refer to Figure 6 This application also provides a suspension system control device, which includes:

[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 as to keep the suspension at a target height, wherein the target speed is obtained by the suspension system through self-learning.

[0118] Optionally, the control unit is also used for:

[0119] Based on the target operating conditions, determine the target height of the suspension;

[0120] The target rotational speed is determined based on the target height.

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

[0122] Optionally, the control unit is also used for:

[0123] The target rotational speed is determined based on the target height and the preset mapping relationship; the preset mapping relationship is the mapping relationship between height and rotational speed.

[0124] Optionally, the control unit is also used for:

[0125] When a road surface elevation or bump is detected, the vehicle is determined to be in the target operating condition.

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

[0127] Obtain the actual height corresponding to the suspension;

[0128] The target rotational speed is adjusted based on the first height difference between the actual height and the target height.

[0129] Optionally, the adjustment unit is also used for:

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

[0131] If the number of times exceeds the first preset threshold, then the target rotational speed is adjusted.

[0132] Optionally, the suspension system control device further includes a determining unit, which is used for:

[0133] When the suspension is raised to the target height, a target rotational speed is determined to keep the suspension at the target height;

[0134] The target height and the target rotation speed are associated and stored.

[0135] Optionally, determining the unit is also used for:

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

[0137] Based on the real-time altitude and the target altitude, a target rotational speed is determined to keep the suspension at the target altitude.

[0138] Optionally, determining the unit is also used for:

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

[0140] If the second height difference is less than the second preset difference, then the target speed for keeping the suspension at the target height is determined based on the motor speed corresponding to the real-time height.

[0141] Optionally, determining the unit is also used for:

[0142] Within a second preset time period, the first set of rotational speeds corresponding to the real-time height is collected;

[0143] The maximum and minimum speeds are removed from the first speed set to obtain the second speed set;

[0144] The average of all speeds in the second set of speeds is determined as the target speed for keeping the suspension at the target height.

[0145] In this embodiment, the suspension system control device 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. This target speed is obtained by the suspension system through self-learning. By controlling the motor speed to maintain the target height, the motor speed does not change significantly due to large fluctuations in road surface excitation, even when traversing uneven surfaces such as potholes. This avoids vehicle vibration issues caused by rapid suspension height adjustments due to large road surface excitation fluctuations, improving the stability of the vehicle's suspension height maintenance and enhancing the user experience.

[0146] Accordingly, embodiments of this application also provide a vehicle, such as Figure 7 As shown, Figure 7 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle 1100 includes a processor 1101 with one or more processing cores, a memory 1102 with one or more computer-readable storage media, and a computer program stored on the memory 1102 and executable on the processor. The processor 1101 and the memory 1102 are electrically connected. Those skilled in the art will understand 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 have different component arrangements.

[0147] The processor 1101 is the control center of the vehicle 1100. It connects to various parts of the vehicle 1100 via various interfaces and lines. By running or loading software programs and / or units stored in the memory 1102, and by calling data stored in the memory 1102, it executes various functions of the vehicle 1100 and processes data, thereby performing overall monitoring of the vehicle 1100. The processor 1101 can be a CPU, GPU, network processor (NP), etc., and can implement or execute the methods, steps, and logic diagrams disclosed in the embodiments of this application.

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

[0149] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0150] Optional, such as Figure 7 As shown, the vehicle 1100 also includes: a touch screen display 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 display 1103, the radio frequency circuit 1104, the audio circuit 1105, the input unit 1106, and the power supply 1107. Those skilled in the art will understand that... Figure 7 The vehicle structure shown does not constitute a limitation on the vehicle and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0151] The touch display screen 1103 can be used to display a graphical user interface (GUI) and receive operation commands generated by the user interacting with the GUI. The touch display screen 1103 may include a display panel and a touch panel. The display panel can be used to display information input by the user or information provided to the user, as well as various graphical user interfaces of the vehicle. These graphical user interfaces can be composed of graphics, text, icons, video, and any combination thereof. Optionally, the display panel can be configured using a liquid crystal display (LCD), organic light-emitting diode (OLED), or other similar technologies. The touch panel can be used to collect touch operations performed by the user on or near it (such as operations performed by the user using a finger, stylus, or any suitable object or accessory on or near the touch panel), generate corresponding operation commands, and execute the corresponding program according to the operation commands. Optionally, the touch panel may include two parts: a touch detection device and a touch controller. The touch detection device detects the user's touch location and the signal generated by the touch operation, transmitting the signal to the touch controller. The touch controller receives touch information from the touch detection device, converts it into touch point coordinates, and sends it to the processor 1101. It can also receive and execute commands from the processor 1101. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it transmits the information to the processor 1101 to determine the type of touch event. Subsequently, the processor 1101 provides corresponding visual output on the display panel based on the type of touch event. In this embodiment, the touch panel and the display panel can be integrated into the touch display screen 1103 to achieve input and output functions. However, in some embodiments, the touch panel and the touch display screen 1103 can be implemented as two independent components to achieve input and output functions. That is, the touch display screen 1103 can also be used as part of the input unit 1106 to achieve input functions.

[0152] The radio frequency circuit 1104 can be used to transmit and receive radio frequency signals to establish wireless communication with network devices or other vehicles, and to transmit and receive signals with network devices or other vehicles.

[0153] Audio circuit 1105 can be used to provide an audio interface between the user and the vehicle via a speaker and a microphone. Audio circuit 1105 can convert received audio data into electrical signals and transmit them to the speaker, where the speaker converts them into sound signals for output. Conversely, the microphone converts collected sound signals into electrical signals, which are then received by audio circuit 1105, converted back into audio data, and processed by processor 1101 before being transmitted via radio frequency circuit 1104 to, for example, another vehicle, or output to memory 1102 for further processing. Audio circuit 1105 may also include an earphone jack to provide communication between external headphones and the vehicle.

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

[0155] Power supply 1107 is used to supply power to various components of vehicle 1100. Optionally, power supply 1107 can be logically connected to processor 1101 through a power management device, thereby enabling functions such as charging, discharging, and power consumption management through the power management device. Power supply 1107 may also include one or more DC or AC power supplies, recharging devices, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0156] although Figure 7 As not shown in the diagram, vehicle 1100 may also include cameras, sensors, wireless fidelity modules, Bluetooth modules, etc., which will not be described in detail here.

[0157] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0158] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by a computer program, or by a computer program controlling related hardware. The computer program can 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 construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0160] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0161] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0162] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A suspension system control method, characterized in that, The suspension system includes a motor, the motor being used to output a force that changes the suspension height, and the method includes: When the vehicle is in the target operating condition, the motor is controlled 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; Controlling the motor to operate at a target speed to maintain the suspension at a target height includes: Based on the target operating conditions, determine the target height of the suspension; The target rotational speed is determined based on the target height. Based on the target rotational speed, control the suspension to maintain the target height; After controlling the suspension to maintain the target height based on the target rotational speed, the process includes: Obtain the actual height corresponding to the suspension; The target rotational speed is adjusted based on the first height difference between the actual height and the target height.

2. The method according to claim 1, characterized in that, Determining the target rotational speed based on the target height includes: The target rotational speed is determined based on the target height and the preset mapping relationship; the preset mapping relationship is the mapping relationship between height and rotational speed.

3. The method according to claim 1, characterized in that, The method further includes: When a road surface elevation or bump is detected, the vehicle is determined to be in the target operating condition.

4. The method according to claim 1, characterized in that, The step of adjusting the target rotational speed based on the first height difference between the actual height and the target height includes: If the first height difference is greater than the first preset difference, then within a first preset time period, count the number of times the first height difference is greater than the first preset difference; If the number of times exceeds the first preset threshold, then the target rotational speed is adjusted.

5. The method according to claim 1, characterized in that, The method further includes: When the suspension is raised to the target height, a target rotational speed is determined to keep the suspension at the target height; The target height and the target rotation speed are associated and stored.

6. The method according to claim 5, characterized in that, Determining the target rotational speed that keeps the suspension at the target height includes: Obtain the real-time height corresponding to the suspension; Based on the real-time altitude and the target altitude, a target rotational speed is determined to keep the suspension at the target altitude.

7. The method according to claim 6, characterized in that, Determining the target rotational speed for maintaining the suspension at the target height based on the real-time height and the target height includes: Determine a second altitude difference between the real-time altitude and the target altitude; If the second height difference is less than the second preset difference, then the target speed for keeping the suspension at the target height is determined based on the motor speed corresponding to the real-time height.

8. The method according to claim 7, characterized in that, The step of determining the target rotational speed for maintaining the suspension at the target height based on the motor rotational speed corresponding to the real-time height includes: Within a second preset time period, the first set of rotational speeds corresponding to the real-time height is collected; The maximum and minimum speeds are removed from the first speed set to obtain the second speed set; The average of all speeds in the second set of speeds is determined as the target speed for keeping the suspension at the target height.

9. The method according to any one of claims 1-8, characterized in that, The suspension is an active suspension.

10. A suspension system control device, characterized in that, The suspension system control device includes: The control unit is used to control the motor to operate at a target speed when the vehicle is in a target operating condition, so as to keep the suspension at a target height, wherein the target speed is obtained by the suspension system through self-learning, and the motor is used to output a force to change the height of the suspension; Controlling the motor to operate at a target speed to maintain the suspension at a target height includes: Based on the target operating conditions, determine the target height of the suspension; The target rotational speed is determined based on the target height. Based on the target rotational speed, control the suspension to maintain the target height; After controlling the suspension to maintain the target height based on the target rotational speed, the process includes: Obtain the actual height corresponding to the suspension; The target rotational speed is adjusted based on the first height difference between the actual height and the target height.

11. An electronic device, characterized in that, The system includes a processor; a memory for storing processor-executable instructions; wherein the processor is configured to perform the steps of the suspension system control method according to any one of claims 1-9.

12. A computer-readable storage medium, characterized in that, It stores a computer program, which is loaded by a processor to execute the steps of the suspension system control method according to any one of claims 1-9.

13. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, causes the computer program product to perform the steps in the suspension system control method as described in any one of claims 1-9.

14. A vehicle, characterized in that, Includes the suspension system control device as claimed in claim 10, or the electronic device as claimed in claim 11.

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