Adjustment parameter determination method and device, equipment, medium, product and vehicle

Abstract

The invention relates to an adjustment parameter determination method and device, equipment, a medium, a product and a vehicle, and relates to the technical field of data processing. The method at least solves the technical problems that in the related technology, the accuracy of determining height adjusting parameters of the air suspension is low, and the effect of adjusting the height of the air suspension is poor, the method comprises the steps that the first roll angle and the first pitch angle of the vehicle are obtained, the first roll angle is the inclination angle of the chassis plane of the vehicle in the transverse direction, and the first pitch angle is the inclination angle of the chassis plane of the vehicle in the transverse direction; the first pitching angle is the inclination angle of the chassis plane in the longitudinal direction; determining a first reference plane based on the first roll angle, the first pitch angle and a first angular position point of the plurality of angular position points; determining a first demand adjustment parameter of each suspension in the plurality of suspensions based on the plurality of angular position points and a first reference plane; and determining a first actual adjustment parameter of each suspension based on the first demand adjustment parameter of each suspension, the actual travel length of each suspension and the preset travel range.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and specifically to a method, device, equipment, medium, product and vehicle for determining an adjustment parameter. Background Art

[0002] With the continuous development of vehicle technology, models equipped with air suspension are gradually becoming popular. Air suspension improves the comfort, driving performance, and passing performance of vehicles. However, as users become more and more familiar with air suspension, they have higher and higher requirements for the comfort of air suspension, and are more and more interested in expanding the use scenarios of air suspension. For example, when the vehicle is parked on a ramp, the vehicle tilts front and back or left and right, which will cause the driver to feel uncomfortable. Or, when the vehicle is parked on a slope or uneven ground, the user hopes to adjust the vehicle's chassis to a horizontal state to facilitate the placement of items on the vehicle.

[0003] In the related art, the road slope at the current position of the vehicle is determined by the longitudinal acceleration signal of the whole vehicle. When the road slope is greater than the ramp threshold value, the suspension height target command of the four wheels of the vehicle is determined according to the road slope, and the suspension height of the four wheels of the vehicle is adjusted to the corresponding target suspension height based on the suspension height target command. Although this scheme can adjust the height of the air suspension, it is necessary to adjust the suspension height of the four wheels of the vehicle separately, and it is easy to have the situation that the suspension height cannot be adjusted when the adjustment amount of the suspension height exceeds the travel range of the suspension. Therefore, when the height of the air suspension of the vehicle needs to be adjusted, the accuracy of determining the height adjustment parameters of the air suspension is low, and the effect of adjusting the height of the air suspension is poor. Summary of the invention

[0004] The present application provides a method, device, equipment, medium, product and vehicle for determining adjustment parameters, so as to at least solve the technical problems in the related art that the accuracy of determining the height adjustment parameters of the air suspension is low and the effect of adjusting the height of the air suspension is poor. The technical solution of the present application is as follows:

[0005] According to a first aspect of the present application, a method for determining an adjustment parameter is provided, the method comprising: obtaining a first roll angle and a first pitch angle of a vehicle, the first roll angle being the inclination angle of a chassis plane of the vehicle in a lateral direction, the first pitch angle being the inclination angle of the chassis plane in a longitudinal direction, the vehicle comprising a plurality of suspensions, the chassis plane comprising a plurality of angular position points, one angular position point corresponding to one suspension; determining a first reference plane based on the first roll angle, the first pitch angle and a first angular position point among the plurality of angular position points, the first angular position point being any angular position point among the plurality of angular position points, the first reference plane comprising the first angular position point; determining a first required adjustment parameter of each suspension among the plurality of suspensions based on the plurality of angular position points and the first reference plane; determining a first actual adjustment parameter of each suspension based on the first required adjustment parameter of each suspension, the actual stroke length of each suspension, and a preset stroke range.

[0006] According to the above technical means, the present application can determine the first reference plane according to the first roll angle of the chassis plane of the vehicle in the lateral direction and the first pitch angle of the chassis plane in the longitudinal direction, combined with the first angular position point among the multiple angular position points included in the chassis plane. Then, according to the multiple angular position points included in the chassis plane and the first reference plane, the first required adjustment parameter of each suspension in the multiple suspensions included in the vehicle can be determined. Further, according to the first required adjustment parameter of each suspension, combined with the actual stroke length and preset stroke range of each suspension, the first actual adjustment parameter of each suspension is determined. In this way, the parking posture of the vehicle can be determined according to the first roll angle and the first pitch angle of the vehicle, and the first required adjustment parameter of the suspension corresponding to each angular position point can be determined according to the position of each angular position point included in the chassis plane of the vehicle relative to the reference plane. Then, the first required adjustment parameter of each suspension is optimized according to the actual stroke length and preset stroke range of each suspension, so that the actual adjustment parameter of each suspension can be accurately determined. Thereby, the accuracy of determining the height adjustment parameter of the suspension can be improved, and the effect of adjusting the height of the suspension can be improved.

[0007] In a possible implementation, the above-mentioned determining the first reference plane based on the first roll angle, the first pitch angle and the first angular position point among the multiple angular position points includes: determining a first vector based on the first roll angle, and determining a second vector based on the first pitch angle, the first vector being a direction vector corresponding to the chassis plane in the lateral direction, and the second vector being a direction vector corresponding to the chassis plane in the longitudinal direction; determining a normal vector of the first vector and the second vector; and determining a reference plane based on the normal vector and the first angular position point.

[0008] According to the above technical means, the present application can determine the first vector corresponding to the chassis plane in the lateral direction based on the first roll angle, and determine the second vector corresponding to the chassis plane in the longitudinal direction based on the first pitch angle. Then, by determining the normal vector of the first vector and the second vector, and then combining the normal vector with the first angular position point, the reference plane passing through the first angular position point can be determined. In this way, by determining the plane passing through the first angular position point as the reference plane of the chassis plane, the required adjustment parameters of the suspension corresponding to each angular position point included in the chassis plane can be determined more conveniently and accurately.

[0009] In a possible embodiment, the first angular position point is the angular position point with the lowest height or the angular position point with the highest height among the multiple angular position points; the above-mentioned determination of the first actual adjustment parameter of each suspension based on the first required adjustment parameter of each suspension, the actual stroke length of each suspension, and the preset stroke range includes: for any suspension among the multiple suspensions, when the actual stroke length of the suspension exceeds the preset stroke range, determining the first actual adjustment parameter of the suspension as the preset adjustment parameter; for any suspension among the multiple suspensions, when the actual stroke length of the suspension does not exceed the preset stroke range, determining the first actual adjustment parameter of the suspension based on the smaller value of the first required adjustment parameter of the suspension and the first allowable adjustment parameter of the suspension, the first allowable adjustment parameter of the suspension being determined based on the actual stroke length of the suspension and the preset stroke range.

[0010] According to the above technical means, the present application can use the plane passing through the lowest angular position point or the highest angular position point as a reference plane. In this way, based on the reference plane, when the actual stroke length of the suspension exceeds the preset stroke range, the first actual adjustment parameter of the suspension can be determined as the preset adjustment parameter; or, when the actual stroke length of the suspension does not exceed the preset stroke range, the first actual adjustment parameter of the suspension is determined based on the smaller value of the first required adjustment parameter of the suspension and the first allowable adjustment parameter of the suspension. It can be understood that the first allowable adjustment parameter of the suspension is the maximum amount that the suspension can adjust based on the actual stroke length of the suspension and the preset stroke range. In this way, it can be ensured that the travel range of the suspension will not be exceeded when adjusting the suspension, avoiding abnormalities in the suspension during adjustment.

[0011] In a possible implementation, the above-mentioned determination of the first actual adjustment parameter of the suspension based on the smaller value of the first required adjustment parameter of the suspension and the first allowable adjustment parameter of the suspension includes: for each suspension among multiple suspensions, determining the smaller value of the first required adjustment parameter of the suspension and the first allowable adjustment parameter of the suspension as the target adjustment parameter of each suspension; determining the ratio between the target adjustment parameter and the first required adjustment parameter of each suspension as the adjustment coefficient, obtaining the adjustment coefficient corresponding to each suspension, and determining the minimum adjustment coefficient from the adjustment coefficients corresponding to each suspension as the target adjustment coefficient; determining the product between the target adjustment coefficient and the first required adjustment parameter of each suspension as the first actual adjustment parameter of each suspension.

[0012] According to the above technical means, the present application can first determine the smaller value of the first required adjustment parameter of each suspension and the first allowable adjustment parameter of the suspension as the target adjustment parameter of each suspension. Then, the ratio between the target adjustment parameter of each suspension and the first required adjustment parameter is determined as the adjustment coefficient to obtain the adjustment coefficient corresponding to each suspension. And determine the minimum adjustment coefficient from the adjustment coefficients corresponding to each suspension as the target adjustment coefficient, so as to determine the first actual adjustment parameter of each suspension by multiplying the target adjustment coefficient and the first required adjustment parameter of each suspension. In this way, by determining a target adjustment coefficient, the adjustment parameters of each suspension can be further optimized to avoid large differences in the adjustment parameters between multiple suspensions, which may cause abnormalities in the suspension adjustment process of the entire vehicle.

[0013] In a possible embodiment, after adjusting the actual stroke length of each suspension based on the first actual adjustment parameter of each suspension to obtain the adjusted stroke length of each suspension, the method also includes: acquiring a second roll angle and a second pitch angle of the vehicle, the second roll angle and the second pitch angle being determined after adjusting the actual stroke length of each suspension; determining a second reference plane based on the second roll angle, the second pitch angle and the second angular position point, the second angular position point being the angular position point with the lowest height or the angular position point with the highest height among multiple angular position points, the second angular position point is different from the first angular position point, and the second reference plane includes the second angular position point; determining a second required adjustment parameter of each suspension among the multiple suspensions based on the multiple angular position points and the second reference plane; determining the second actual adjustment parameter of each suspension based on the second required adjustment parameter of each suspension, the adjusted stroke length of each suspension, and a preset stroke range.

[0014] According to the above technical means, the present application can adjust the actual stroke length of each suspension based on the first actual adjustment parameter of each suspension, and after obtaining the adjusted stroke length of each suspension, the chassis plane is still in a tilted state because the adjustment parameters of some suspensions do not reach the required adjustment parameters. Therefore, the second roll angle and the second pitch angle of the vehicle after the suspension adjustment can be further obtained, and the second reference plane is re-determined based on the second roll angle, the second pitch angle and the second angular position point different from the first angular position point, and the second required adjustment parameter of each suspension is determined. Then, based on the adjusted stroke length of each suspension and the preset stroke range, the second required adjustment parameter of each suspension is optimized to obtain the second actual adjustment parameter of each suspension. In this way, the suspension can be adjusted by determining the adjustment parameters of the suspension multiple times, and the chassis plane can be adjusted to a state close to the horizontal plane to the maximum extent within the preset stroke range, thereby improving the accuracy of determining the height adjustment parameters of the suspension and improving the effect of adjusting the height of the suspension.

[0015] In a possible implementation, the obtaining of the first roll angle and the first pitch angle of the vehicle includes: obtaining a lateral acceleration and a longitudinal acceleration of the vehicle; determining the first roll angle based on the lateral acceleration and the gravitational acceleration, and determining the first pitch angle based on the longitudinal acceleration and the gravitational acceleration.

[0016] According to the above technical means, the present application can obtain the lateral acceleration and longitudinal acceleration of the vehicle, that is, combine the gravity acceleration to determine the first roll angle and the first pitch angle of the vehicle. In this way, according to the lateral acceleration and longitudinal acceleration of the vehicle, the roll angle of the vehicle in the lateral direction and the pitch angle in the longitudinal direction can be accurately and conveniently determined.

[0017] In a possible implementation, the above-mentioned determining the first required adjustment parameter of each suspension in a plurality of suspensions based on a plurality of angular position points and a first reference plane includes: determining the distance between each angular position point in a plurality of angular position points and the first reference plane; determining the distance between each angular position point and the first reference plane as the first required adjustment parameter of the suspension corresponding to each angular position point.

[0018] According to the above technical means, the present application can determine the amount of adjustment required for the suspension corresponding to each angular position point when each angular position point is adjusted to the same horizontal plane by determining the distance between each angular position point and the first reference plane among the multiple angular position points. In this way, the distance between each angular position point and the first reference plane is determined as the first required adjustment parameter of the suspension corresponding to each angular position point, and the required adjustment parameter of each suspension can be accurately determined.

[0019] According to a second aspect provided by the present application, a device for determining an adjustment parameter is provided, the device for determining the adjustment parameter includes: an acquisition module and a processing module; the acquisition module is used to acquire a first roll angle and a first pitch angle of a vehicle, the first roll angle is the tilt angle of a chassis plane of the vehicle in a lateral direction, the first pitch angle is the tilt angle of the chassis plane in a longitudinal direction, the vehicle includes multiple suspensions, the chassis plane includes multiple angular position points, and one angular position point corresponds to one suspension; the processing module is used to determine a first reference plane based on the first roll angle, the first pitch angle and a first angular position point among the multiple angular position points, the first angular position point is any angular position point among the multiple angular position points, and the first reference plane includes the first angular position point; the processing module is also used to determine a first required adjustment parameter of each suspension among the multiple suspensions based on the multiple angular position points and the first reference plane; the processing module is also used to determine the first actual adjustment parameter of each suspension based on the first required adjustment parameter of each suspension, the actual stroke length of each suspension, and the preset stroke range.

[0020] In one possible implementation, the processing module is specifically used to determine a first vector based on a first roll angle, and to determine a second vector based on a first pitch angle, the first vector being a direction vector corresponding to the chassis plane in a lateral direction, and the second vector being a direction vector corresponding to the chassis plane in a longitudinal direction; the processing module is specifically used to determine a normal vector of the first vector and the second vector; the processing module is specifically used to determine a reference plane based on the normal vector and a first angular position point.

[0021] In a possible embodiment, the first angular position point is the angular position point with the lowest height or the angular position point with the highest height among the multiple angular position points; the processing module is specifically used to determine, for any suspension among the multiple suspensions, that the first actual adjustment parameter of the suspension is the preset adjustment parameter when the actual stroke length of the suspension exceeds the preset stroke range; the processing module is specifically used to determine, for any suspension among the multiple suspensions, based on the smaller value of the first required adjustment parameter of the suspension and the first allowable adjustment parameter of the suspension when the actual stroke length of the suspension does not exceed the preset stroke range, the first actual adjustment parameter of the suspension is determined based on the actual stroke length of the suspension and the preset stroke range.

[0022] In one possible implementation, a processing module is specifically used to determine, for each of a plurality of suspensions, a smaller value between a first required adjustment parameter of the suspension and a first allowable adjustment parameter of the suspension as a target adjustment parameter of each suspension; a processing module is specifically used to determine a ratio between the target adjustment parameter of each suspension and the first required adjustment parameter as an adjustment coefficient, obtain the adjustment coefficient corresponding to each suspension, and determine the minimum adjustment coefficient from the adjustment coefficients corresponding to each suspension as the target adjustment coefficient; a processing module is specifically used to determine the product of the target adjustment coefficient and the first required adjustment parameter of each suspension as the first actual adjustment parameter of each suspension.

[0023] In a possible implementation, after adjusting the actual stroke length of each suspension based on the first actual adjustment parameter of each suspension to obtain the adjusted stroke length of each suspension, the acquisition module is also used to acquire the second roll angle and the second pitch angle of the vehicle, the second roll angle and the second pitch angle are determined after adjusting the actual stroke length of each suspension; the processing module is also used to determine the second reference plane based on the second roll angle, the second pitch angle and the second angular position point, the second angular position point being the angular position point with the lowest height or the angular position point with the highest height among multiple angular position points, the second angular position point is different from the first angular position point, and the second reference plane includes the second angular position point; the processing module is also used to determine the second required adjustment parameter of each suspension among the multiple suspensions based on the multiple angular position points and the second reference plane; the processing module is also used to determine the second actual adjustment parameter of each suspension based on the second required adjustment parameter of each suspension, the adjusted stroke length of each suspension, and the preset stroke range.

[0024] In a possible implementation, the acquisition module is specifically used to acquire the lateral acceleration and longitudinal acceleration of the vehicle; the processing module is specifically used to determine the first roll angle based on the lateral acceleration and gravity acceleration, and determine the first pitch angle based on the longitudinal acceleration and gravity acceleration.

[0025] In one possible implementation, the processing module is specifically used to determine the distance between each of the multiple angular position points and the first reference plane; the processing module is specifically used to determine the distance between each angular position point and the first reference plane as the first required adjustment parameter of the suspension corresponding to each angular position point.

[0026] According to the third aspect provided by the present application, an electronic device is provided, comprising: a processor and a memory; wherein the memory is used to store one or more programs, and the one or more programs include computer execution instructions. When the electronic device is running, the processor executes the computer execution instructions stored in the memory, and the electronic device executes the method of the above-mentioned first aspect and any possible implementation method thereof.

[0027] According to the fourth aspect provided by the present application, a computer-readable storage medium is provided. When the computer instructions stored in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device executes the method of the above-mentioned first aspect and any possible implementation method thereof.

[0028] According to the fifth aspect provided by the present application, a computer program product is provided, the computer program product comprising computer instructions, when the computer instructions are executed on an electronic device, the electronic device executes the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0029] According to the sixth aspect provided by the present application, a vehicle is provided, the vehicle includes an adjustment parameter determination device as in the second aspect, and the vehicle is used to implement the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0030] Therefore, the above technical features of the present application have the following beneficial effects:

[0031] (1) The present application can determine a first reference plane according to a first roll angle of the chassis plane of the vehicle in the lateral direction and a first pitch angle of the chassis plane in the longitudinal direction, combined with a first angular position point among a plurality of angular position points included in the chassis plane. Then, according to the plurality of angular position points included in the chassis plane and the first reference plane, a first required adjustment parameter of each of the plurality of suspensions included in the vehicle can be determined. Further, according to the first required adjustment parameter of each suspension, combined with the actual stroke length and the preset stroke range of each suspension, the first actual adjustment parameter of each suspension can be determined. In this way, the parking posture of the vehicle can be determined according to the first roll angle and the first pitch angle of the vehicle, and the first required adjustment parameter of the suspension corresponding to each angular position point can be determined according to the position of each angular position point included in the chassis plane of the vehicle relative to the reference plane. Then, according to the actual stroke length and the preset stroke range of each suspension, the first required adjustment parameter of each suspension can be optimized, and the actual adjustment parameter of each suspension can be accurately determined. Thus, the accuracy of determining the height adjustment parameter of the suspension can be improved, and the effect of adjusting the height of the suspension can be improved.

[0032] (2) The present application can determine the first vector corresponding to the chassis plane in the lateral direction based on the first roll angle, and determine the second vector corresponding to the chassis plane in the longitudinal direction based on the first pitch angle. Then, by determining the normal vector of the first vector and the second vector, and then combining the normal vector with the first angular position point, the reference plane passing through the first angular position point can be determined. In this way, by determining the plane passing through the first angular position point as the reference plane of the chassis plane, the required adjustment parameters of the suspension corresponding to each angular position point included in the chassis plane can be determined more conveniently and accurately.

[0033] (3) The present application may use a plane passing through the lowest angular position point or the highest angular position point as a reference plane. Thus, based on the reference plane, when the actual stroke length of the suspension exceeds the preset stroke range, the first actual adjustment parameter of the suspension may be determined as the preset adjustment parameter; or, when the actual stroke length of the suspension does not exceed the preset stroke range, the first actual adjustment parameter of the suspension may be determined based on the smaller value of the first required adjustment parameter of the suspension and the first allowable adjustment parameter of the suspension. It can be understood that the first allowable adjustment parameter of the suspension is the maximum amount that the suspension can be adjusted based on the actual stroke length of the suspension and the preset stroke range. In this way, it can be ensured that the stroke range of the suspension will not be exceeded when adjusting the suspension, thereby avoiding abnormalities in the suspension during adjustment.

[0034] (4) The present application can first determine the smaller value of the first required adjustment parameter of each suspension and the first allowable adjustment parameter of the suspension as the target adjustment parameter of each suspension. Then, the ratio between the target adjustment parameter of each suspension and the first required adjustment parameter is determined as the adjustment coefficient to obtain the adjustment coefficient corresponding to each suspension. And determine the minimum adjustment coefficient from the adjustment coefficients corresponding to each suspension as the target adjustment coefficient, so as to determine the first actual adjustment parameter of each suspension by multiplying the target adjustment coefficient and the first required adjustment parameter of each suspension. In this way, by determining a target adjustment coefficient, the adjustment parameters of each suspension can be further optimized to avoid large differences in the adjustment parameters between multiple suspensions, which may cause abnormalities in the adjustment process of the entire vehicle suspension.

[0035] (5) The present application can adjust the actual stroke length of each suspension based on the first actual adjustment parameter of each suspension. After obtaining the adjusted stroke length of each suspension, the chassis plane is still in a tilted state because the adjustment parameters of some suspensions do not reach the required adjustment parameters. Therefore, the second roll angle and the second pitch angle of the vehicle after the suspension adjustment can be further obtained, and the second reference plane can be re-determined based on the second roll angle, the second pitch angle and the second angular position point different from the first angular position point, and the second required adjustment parameter of each suspension can be determined. Then, based on the adjusted stroke length of each suspension and the preset stroke range, the second required adjustment parameter of each suspension is optimized to obtain the second actual adjustment parameter of each suspension. In this way, the suspension can be adjusted by determining the adjustment parameters of the suspension multiple times, and the chassis plane can be adjusted to a state close to the horizontal plane to the maximum extent within the preset stroke range, thereby improving the accuracy of determining the height adjustment parameters of the suspension and improving the effect of adjusting the height of the suspension.

[0036] (6) The present application can determine the first roll angle and the first pitch angle of the vehicle by obtaining the lateral acceleration and the longitudinal acceleration of the vehicle, that is, combining the gravity acceleration. In this way, according to the lateral acceleration and the longitudinal acceleration of the vehicle, the roll angle of the vehicle in the lateral direction and the pitch angle in the longitudinal direction can be accurately and conveniently determined.

[0037] (7) The present application can determine the amount of adjustment required for the suspension corresponding to each angular position point when each angular position point is adjusted to the same horizontal plane by determining the distance between each angular position point and the first reference plane. In this way, the distance between each angular position point and the first reference plane is determined as the first required adjustment parameter of the suspension corresponding to each angular position point, and the required adjustment parameter of each suspension can be accurately determined.

[0038] It should be noted that the technical effects brought about by any implementation method in the second to sixth aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here.

[0039] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0041] Figure 1 is a structural schematic diagram of a system for determining adjustment parameters according to an exemplary embodiment;

[0042] Figure 2 is a flow chart of a method for determining an adjustment parameter according to an exemplary embodiment;

[0043] Figure 3 is a schematic diagram of a coordinate system according to an exemplary embodiment;

[0044] Figure 4 is another schematic diagram of a coordinate system according to an exemplary embodiment;

[0045] Figure 5 is a flow chart of another method for determining adjustment parameters according to an exemplary embodiment;

[0046] Figure 6 is a flow chart of another method for determining adjustment parameters according to an exemplary embodiment;

[0047] Figure 7is a flow chart of another method for determining adjustment parameters according to an exemplary embodiment;

[0048] Figure 8 is a flow chart of another method for determining adjustment parameters according to an exemplary embodiment;

[0049] Fig. 9 is a block diagram of a device for determining an adjustment parameter according to an exemplary embodiment;

[0050] Fig.10 is a block diagram of another device for determining adjustment parameters according to an exemplary embodiment;

[0051] Fig.11 is a block diagram of an electronic device according to an exemplary embodiment;

[0052] Fig.12 The diagram is a schematic diagram showing the structure of a computer system of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0053] In order to enable ordinary persons in the art to better understand the technical solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0054] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0055] Currently, when a vehicle equipped with air suspension is parked, if the vehicle is parked on an inclined road, the vehicle body tilts laterally to the left and longitudinally to the rear, that is, the right front wheel (FR) of the vehicle is at the highest position in space, and the left rear wheel (RL) of the vehicle is at the lowest position in space. At this time, the vehicle can be controlled longitudinally first, that is, the front axle is lowered (the suspension of the right front wheel and the left front wheel is deflated), and the rear axle is raised (the suspension of the right rear wheel and the left rear wheel is inflated); then, the vehicle can be controlled laterally, that is, the right side of the vehicle body is lowered (the right front wheel and the right rear wheel are deflated), and the left side of the vehicle body is raised (the left front wheel and the left rear wheel are inflated).

[0056] However, in the above control process, the stress characteristics of the whole vehicle are not taken into account. When the suspension of the right front wheel is basically not stressed after being deflated twice, the left front wheel and the right rear wheel are the main load-bearing positions. When the suspension of the left front wheel is raised, the left rear wheel will also rise, so basically no inflation is required. The load is further transferred to the left front wheel and the right rear wheel. After the adjustment is completed, the main load is transferred to the left front wheel and the right rear wheel. In addition, in the above process, the suspension of the left front wheel is deflated first and then inflated, and the suspension of the right rear wheel is inflated first and then deflated. Ineffective adjustment will lead to an increase in the working time of the air compressor. And if the whole vehicle is in the lowest posture, the lowering adjustment is not required due to the travel range limitation (for example, the lowering adjustment of the suspension of the left front wheel and the right front wheel in the above process), and the rising adjustment can only reach half of the required adjustment amount, which is similar when the whole vehicle is in the highest posture.

[0057] Or, when the vehicle body tilts forward, and the height of the suspension of the left front wheel is greater than that of the suspension of the left rear wheel, but the left front wheel is on a step, the suspension of the left front wheel is compressed due to the high step, resulting in failure to meet the above restrictions and inability to adjust the height of the suspension. There are many similar scenarios, which may result in the inability to adjust the chassis plane of the vehicle. Therefore, under the premise of giving full play to the adjustment capability within the suspension travel, ensuring uniform load on the vehicle body, reducing invalid adjustment actions, and reducing vehicle damage caused by uneven load and frequent actions due to adjustment are technical issues that need to be solved urgently.

[0058] The adjustment parameter determination method provided in the embodiment of the present application can be applied to the adjustment parameter determination system. Figure 1 FIG. 2 shows a schematic diagram of the structure of the adjustment parameter determination system. Figure 1 As shown, the adjustment parameter determination system 10 includes: a controller 11 and a suspension 12. The controller 11 can be a vehicle controller or a suspension controller.

[0059] The controller 11 is used to obtain a first roll angle and a first pitch angle of the vehicle, the first roll angle is the tilt angle of the chassis plane of the vehicle in the lateral direction, the first pitch angle is the tilt angle of the chassis plane in the longitudinal direction, the vehicle includes a plurality of suspensions 12, the chassis plane includes a plurality of angular position points, and one angular position point corresponds to one suspension 12.

[0060] The controller 11 is used to determine a first reference plane based on a first roll angle, a first pitch angle and a first angular position point among multiple angular position points, where the first angular position point is any angular position point among the multiple angular position points, and the first reference plane includes the first angular position point.

[0061] The controller 11 is used to determine a first required adjustment parameter of each suspension 12 in the plurality of suspensions 12 based on the plurality of angular position points and the first reference plane.

[0062] The controller 11 is used to determine a first actual adjustment parameter of each suspension 12 based on the first required adjustment parameter of each suspension 12 , the actual stroke length of each suspension 12 , and a preset stroke range.

[0063] In a possible implementation, the controller 11 is used to determine a first vector based on a first roll angle, and to determine a second vector based on a first pitch angle, wherein the first vector is a direction vector corresponding to the chassis plane in a lateral direction, and the second vector is a direction vector corresponding to the chassis plane in a longitudinal direction.

[0064] The controller 11 is used to determine the normal vector of the first vector and the second vector; and determine the reference plane based on the normal vector and the first angular position point.

[0065] In a possible embodiment, the first angular position point is the angular position point with the lowest height or the angular position point with the highest height among the multiple angular position points; the controller 11 is used to determine that the first actual adjustment parameter of the suspension 12 is the preset adjustment parameter for any suspension 12 among the multiple suspensions 12 when the actual stroke length of the suspension 12 exceeds the preset stroke range.

[0066] The controller 11 is used to determine the first actual adjustment parameter of the suspension 12 for any suspension 12 among the multiple suspensions 12, based on the smaller value of the first required adjustment parameter of the suspension 12 and the first allowable adjustment parameter of the suspension 12, when the actual stroke length of the suspension 12 does not exceed the preset stroke range. The first allowable adjustment parameter of the suspension 12 is determined based on the actual stroke length of the suspension 12 and the preset stroke range.

[0067] In one possible implementation, the controller 11 is used to determine, for each suspension 12 among the multiple suspensions 12, a smaller value between a first required adjustment parameter of the suspension 12 and a first allowable adjustment parameter of the suspension 12 as a target adjustment parameter of each suspension 12; determine a ratio between the target adjustment parameter of each suspension 12 and the first required adjustment parameter as an adjustment coefficient, obtain the adjustment coefficient corresponding to each suspension 12, and determine the minimum adjustment coefficient from the adjustment coefficients corresponding to each suspension 12 as the target adjustment coefficient; and determine the product of the target adjustment coefficient and the first required adjustment parameter of each suspension 12 as the first actual adjustment parameter of each suspension 12.

[0068] In one possible implementation, after adjusting the actual stroke length of each suspension 12 based on the first actual adjustment parameter of each suspension 12 to obtain the adjusted stroke length of each suspension 12, the controller 11 is used to obtain the second roll angle and the second pitch angle of the vehicle, where the second roll angle and the second pitch angle are determined after adjusting the actual stroke length of each suspension 12.

[0069] The controller 11 is used to determine a second reference plane based on a second roll angle, a second pitch angle and a second angular position point, wherein the second angular position point is the angular position point with the lowest altitude or the angular position point with the highest altitude among multiple angular position points, the second angular position point is different from the first angular position point, and the second reference plane includes the second angular position point.

[0070] The controller 11 is used to determine a second required adjustment parameter of each suspension 12 in the plurality of suspensions 12 based on the plurality of angular position points and the second reference plane.

[0071] The controller 11 is used to determine the second actual adjustment parameter of each suspension 12 based on the second required adjustment parameter of each suspension 12 , the adjusted stroke length of each suspension 12 , and the preset stroke range.

[0072] In a possible implementation, the controller 11 is used to obtain the lateral acceleration and longitudinal acceleration of the vehicle; determine a first roll angle based on the lateral acceleration and gravity acceleration, and determine a first pitch angle based on the longitudinal acceleration and gravity acceleration.

[0073] In a possible implementation, the controller 11 is used to determine the distance between each of a plurality of angular position points and a first reference plane; and determine the distance between each angular position point and the first reference plane as a first required adjustment parameter of the suspension 12 corresponding to each angular position point.

[0074] The embodiments of the present application can solve the technical problems existing in the prior art, such as uneven load on each wheel and frequent movements due to adjustment of the suspension stroke, which in turn cause vehicle damage, as well as limited usage scenarios and inability to fully exert the adjustment capability within the suspension stroke range.

[0075] For ease of understanding, the adjustment parameter determination method provided in this application is specifically introduced below with reference to the accompanying drawings.

[0076] Figure 2 is a flow chart of a method for determining an adjustment parameter according to an exemplary embodiment, which is applied to an electronic device (controller), such as Figure 2 As shown, the adjustment parameter determination method includes the following S201-S204:

[0077] S201. Obtain a first roll angle and a first pitch angle of the vehicle.

[0078] Among them, the first roll angle is the inclination angle of the chassis plane of the vehicle in the lateral direction, the first pitch angle is the inclination angle of the chassis plane in the longitudinal direction, the vehicle includes multiple suspensions, the chassis plane includes multiple angular position points, and one angular position point corresponds to one suspension.

[0079] It should be noted that when the vehicle is parked on a non-horizontal road, the chassis plane of the vehicle is not in a horizontal state. Therefore, the chassis plane of the vehicle can be adjusted to a horizontal state (or close to a horizontal state, the inclination angle is less than a preset inclination angle, etc.) by adjusting the travel of the four suspensions corresponding to the four vehicles.

[0080] Optionally, the first roll angle and the first pitch angle of the vehicle may be directly acquired through sensors, or may be determined based on the lateral acceleration and the longitudinal acceleration of the vehicle.

[0081] In some embodiments, in a method for determining an adjustment parameter provided in an embodiment of the present application, the above step S201 may specifically include: obtaining the lateral acceleration and longitudinal acceleration of the vehicle, determining a first roll angle based on the lateral acceleration and gravity acceleration, and determining a first pitch angle based on the longitudinal acceleration and gravity acceleration.

[0082] Optionally, the lateral acceleration alat of the vehicle in the lateral direction (i.e., the vehicle width direction) and the longitudinal acceleration algt of the vehicle in the longitudinal direction (i.e., the vehicle length direction) can be obtained by sensors or the like. According to the ratio of the lateral acceleration (or longitudinal acceleration) to the acceleration of gravity, the angle between the chassis plane and the horizontal plane in the lateral and longitudinal directions in space can be obtained. That is, based on the following formula 1, the first roll angle a of the chassis plane in the lateral direction and the first pitch angle b of the chassis plane in the longitudinal direction can be determined.

[0083]

[0084] Wherein, α is the tilt angle, which may be the first roll angle a or the first pitch angle b, β is the lateral acceleration alat or the longitudinal acceleration algt, and g is the gravitational acceleration.

[0085] Based on formula 1, Figure 3 As shown, by constructing a direction vector with a length of 1 on the X-axis, Formula 2 can be obtained to determine the tilt angle.

[0086]

[0087] In this way, based on Formula 1 and Formula 2, when the lateral acceleration and longitudinal acceleration of the vehicle are known, the first roll angle and the first pitch angle of the vehicle can be determined.

[0088] In the embodiment of the present application, the present application can obtain the lateral acceleration and longitudinal acceleration of the vehicle, that is, combine the gravity acceleration to determine the first roll angle and the first pitch angle of the vehicle. In this way, according to the lateral acceleration and longitudinal acceleration of the vehicle, the roll angle of the vehicle in the lateral direction and the pitch angle in the longitudinal direction can be accurately and conveniently determined.

[0089] S202: Determine a first reference plane based on a first roll angle, a first pitch angle, and a first angular position point among a plurality of angular position points.

[0090] The first angular position point is any angular position point among the multiple angular position points, and the first reference plane includes the first angular position point.

[0091] Optional, such as Figure 4 As shown, a three-dimensional coordinate system can be constructed to obtain the spatial coordinates of the four corner position points included in the chassis plane. Specifically, the chassis plane is the XY plane, and the intersection of the diagonals between the four corner position points on the chassis plane is used as the origin to construct a three-dimensional coordinate system, with the positive direction of the Z axis downward (convenient for determining the required adjustment parameters of the suspension according to the Z-axis coordinates). Since the four corner position points of the chassis plane are all in the XY plane, the Z-direction coordinates of the four corner position points are all 0. According to the wheelbase parameter L and track parameter W of the vehicle, the three-dimensional coordinates of the four corner position points of the chassis plane can be obtained as follows:

[0092] It should be noted that there may be a difference between the wheelbase parameter between the two wheels on the front axle of the vehicle and the wheelbase parameter between the two wheels on the rear axle of the vehicle, so the average value can be taken as the wheelbase parameter W of the vehicle.

[0093] Optionally, in three-dimensional coordinates, the plane equation of the reference plane may be: Ax+By+Cz+D=0, and the plane equation of the chassis plane may be determined based on the position information (coordinates) of each angular position point. Then, the first reference plane of the chassis plane may be determined by combining the first roll angle, the first pitch angle, and the first angular position point among the plurality of angular position points, and the first reference plane is a horizontal plane.

[0094] In some embodiments, Figure 5 As shown, in a method for determining an adjustment parameter provided in an embodiment of the present application, the above step S202 may specifically include S501-S503.

[0095] S501 : Determine a first vector based on a first roll angle, and determine a second vector based on a first pitch angle.

[0096] The first vector is a direction vector corresponding to the chassis plane in the transverse direction, and the second vector is a direction vector corresponding to the chassis plane in the longitudinal direction.

[0097] Optionally, based on the unit vector, based on the first roll angle a and formula three, the Z-axis coordinate Hxz of the direction vector (first vector) corresponding to the chassis plane in the lateral direction can be determined, and based on the first pitch angle b and formula three, the Z-axis coordinate Hyz of the direction vector (second vector) corresponding to the chassis plane in the longitudinal direction can be determined.

[0098]

[0099] Wherein, Hz is the Z-axis coordinate value, and α is the tilt angle, which may be the first roll angle a or the first pitch angle b.

[0100] In this way, based on Formula 3, the Z-axis coordinate value of the first vector and the Z-axis coordinate value of the second vector can be determined, as shown in Formula 4.

[0101]

[0102] Based on formula 4, we can get the first vector as (1,0,Hxz) and the second vector as (0,1,Hyz).

[0103] Optionally, when the first roll angle a and the first pitch angle b of the vehicle are directly obtained, the Z-axis coordinate value of the first vector and the Z-axis coordinate value of the second vector can be directly determined by Formula 4 to obtain the first vector and the second vector.

[0104] S502: Determine the normal vectors of the first vector and the second vector.

[0105] Optionally, a normal vector n perpendicular to the two vectors can be obtained by cross product of the first vector and the second vector, where the normal vector n is perpendicular to the plane formed by the two vectors, wherein n=(A, B, C)=(1,0,Hxz)·(0,1,Hyz).

[0106] S503: Determine a reference plane based on the normal vector and the first corner position point.

[0107] Optionally, the first corner position point (eg ) and the normal vector n, we can determine a plane (that is, determine the parameter D in the plane equation), which is perpendicular to the normal vector and passes through the first corner position point.

[0108] For example, the coordinates of the first corner position point are (x, y, z), and based on the plane equation Ax+By+Cz+D=0, the parameter D=-(A,B,C)*(x,y,z)=-(Ax+By+Cz) can be determined. Based on the determined parameter D and the normal vector n=(A,B,C), the plane equation of the reference plane can be obtained.

[0109] Optionally, the angular position point with the lowest spatial position among the four angular position points in the chassis plane can be used as the first angular position point. In this case, the first angular position point is in the first reference plane, that is, there is no need to adjust the suspension stroke corresponding to the first angular position point, and it is only necessary to reduce the suspension stroke corresponding to the other three angular position points to lower the spatial positions of the other three angular position points in the chassis plane.

[0110] Optionally, the vehicle's posture can be judged as being forward or backward according to the positive or negative longitudinal acceleration, and the vehicle's posture can be judged as being left or right according to the positive or negative lateral acceleration, thereby determining the lowest angular position point in space as the first angular position point. For example, the lateral acceleration is 1m / s^2, and the longitudinal acceleration is 1m / s^2. A positive lateral acceleration indicates that the vehicle is leaning to the left; a positive longitudinal acceleration indicates that the vehicle is leaning backward. Combining the above information, it can be determined that the angular position point on the left rear side of the vehicle is the lowest point in space.

[0111] Optionally, when the angular position point on the left rear side of the vehicle is the lowest point in the space, the coordinates of the first angular position point are Multiply the first corner point by the normal vector to get the reference plane parameters

[0112] In the embodiment of the present application, the present application can determine the first vector corresponding to the chassis plane in the lateral direction based on the first roll angle, and determine the second vector corresponding to the chassis plane in the longitudinal direction based on the first pitch angle. Then, by determining the normal vector of the first vector and the second vector, and then combining the normal vector with the first angular position point, the reference plane passing through the first angular position point can be determined. In this way, by determining the plane passing through the first angular position point as the reference plane of the chassis plane, the required adjustment parameters of the suspension corresponding to each angular position point included in the chassis plane can be determined more conveniently and accurately.

[0113] S203: Determine a first required adjustment parameter of each suspension in the plurality of suspensions based on the plurality of angular position points and the first reference plane.

[0114] Optionally, after obtaining the parameters (A, B, C, D) of the first reference plane, the coordinates of the remaining three corner positions (i.e. ) is substituted into the screen equation of the first reference plane to obtain the Z coordinate corresponding to each corner position point, as shown in Formula 5.

[0115]

[0116] In this way, based on Formula 5, the first required adjustment parameter of each suspension in the plurality of suspensions can be determined based on the plurality of angular position points and the first reference plane.

[0117] In some embodiments, the first corner position point is the corner position point with the lowest height or the corner position point with the highest height among the multiple corner position points; Figure 6 As shown, in a method for determining an adjustment parameter provided in an embodiment of the present application, the above step S203 may specifically include S601-S602.

[0118] S601. For any suspension among the multiple suspensions, when the actual stroke length of the suspension exceeds a preset stroke range, determine a first actual adjustment parameter of the suspension as a preset adjustment parameter.

[0119] Optionally, when the actual stroke length of the suspension exceeds the preset stroke range, it means that the stroke of the suspension cannot be adjusted, and the first actual adjustment parameter of the suspension can be directly determined as the preset adjustment parameter (for example, 0).

[0120] S602: for any suspension among the multiple suspensions, when the actual stroke length of the suspension does not exceed a preset stroke range, determine a first actual adjustment parameter of the suspension based on a smaller value between a first required adjustment parameter of the suspension and a first allowable adjustment parameter of the suspension.

[0121] The first allowable adjustable parameter of the suspension is determined based on the actual stroke length and the preset stroke range of the suspension.

[0122] Optionally, when the actual stroke length of the suspension does not exceed the preset stroke range, it is necessary to first determine the maximum adjustable amount of the suspension (ie, the first allowable adjustment parameter) within the preset stroke range based on the actual stroke length of the suspension.

[0123] In this way, the first actual adjustment parameter of the suspension is determined by the smaller value of the first required adjustment parameter of the suspension and the first allowable adjustment parameter of the suspension, so that the travel of the suspension can be prevented from exceeding the preset travel range after adjustment.

[0124] For example, assuming that the preset travel range of the suspension is [H min , H max ], when the actual travel length of the suspension is less than H min When the actual travel length of the suspension is equal to the lower limit H, it can be determined that the travel of the suspension cannot be adjusted, and the first actual adjustment parameter of the suspension can be directly determined to be 0. min When the distance between them is smaller than the first demand adjustment parameter, the effective demand adjustment amount of the suspension (ie, the target adjustment parameter described below) can be determined as the first allowable adjustment parameter; otherwise, the effective demand adjustment amount is the first demand adjustment parameter.

[0125] In the embodiment of the present application, the present application can use the plane passing through the lowest angular position point or the highest angular position point as a reference plane. In this way, based on the reference plane, when the actual stroke length of the suspension exceeds the preset stroke range, the first actual adjustment parameter of the suspension can be determined as the preset adjustment parameter; or, when the actual stroke length of the suspension does not exceed the preset stroke range, the first actual adjustment parameter of the suspension is determined based on the smaller value of the first required adjustment parameter of the suspension and the first allowable adjustment parameter of the suspension. It can be understood that the first allowable adjustment parameter of the suspension is the maximum amount that the suspension can adjust based on the actual stroke length of the suspension and the preset stroke range. In this way, it can be ensured that the travel range of the suspension will not be exceeded when adjusting the suspension, avoiding abnormalities in the suspension during adjustment.

[0126] In some embodiments, Figure 7 As shown, in a method for determining an adjustment parameter provided in an embodiment of the present application, the above step S602 of "determining a first actual adjustment parameter of the suspension based on the smaller value of the first required adjustment parameter of the suspension and the first allowable adjustment parameter of the suspension" may specifically include S701-S703.

[0127] S701 . For each of a plurality of suspensions, determine a smaller value between a first required adjustment parameter of the suspension and a first allowable adjustment parameter of the suspension as a target adjustment parameter of each suspension.

[0128] S702: Determine the ratio between the target adjustment parameter of each suspension and the first required adjustment parameter as an adjustment coefficient, obtain the adjustment coefficient corresponding to each suspension, and determine the minimum adjustment coefficient from the adjustment coefficients corresponding to each suspension as the target adjustment coefficient.

[0129] Optionally, for each of the multiple suspensions, the adjustment coefficient corresponding to the suspension may be determined according to the ratio between the target adjustment parameter corresponding to the suspension and the first required adjustment parameter. Then, the minimum adjustment coefficient is determined from the adjustment coefficients corresponding to the multiple suspensions as the target adjustment coefficient k.

[0130] S703: Determine the product of the target adjustment coefficient and the first required adjustment parameter of each suspension as the first actual adjustment parameter of each suspension.

[0131] Furthermore, the first actual adjustment parameter of each suspension may be determined by multiplying the determined target adjustment coefficient and the first required adjustment parameter of each suspension.

[0132] Then, the sum of the first actual adjustment parameter of each suspension and the actual stroke length of each suspension is determined, so as to determine the stroke length of each suspension after adjustment.

[0133] Exemplarily, as shown in Formula 6, the stroke length of each suspension after adjustment is:

[0134]

[0135] Among them, TFL, TFR, TRL, TRR are the adjusted stroke lengths of each suspension, k is the target adjustment coefficient, zFL, zFL, zRL, zRR are the first demand adjustment parameters corresponding to each suspension, and HFL, HFR, HRL, HRR are the actual stroke lengths of each suspension.

[0136] In an embodiment of the present application, the present application can first determine the smaller value of the first required adjustment parameter of each suspension and the first allowable adjustment parameter of the suspension as the target adjustment parameter of each suspension. Then, the ratio between the target adjustment parameter of each suspension and the first required adjustment parameter is determined as the adjustment coefficient to obtain the adjustment coefficient corresponding to each suspension. And determine the minimum adjustment coefficient from the adjustment coefficients corresponding to each suspension as the target adjustment coefficient, so as to determine the first actual adjustment parameter of each suspension by multiplying the target adjustment coefficient and the first required adjustment parameter of each suspension. In this way, by determining a target adjustment coefficient, the adjustment parameters of each suspension can be further optimized to avoid large differences in the adjustment parameters between multiple suspensions, which may cause abnormalities in the suspension adjustment process of the entire vehicle.

[0137] S204: Determine a first actual adjustment parameter of each suspension based on a first required adjustment parameter of each suspension, an actual stroke length of each suspension, and a preset stroke range.

[0138] In some embodiments, in a method for determining an adjustment parameter provided in an embodiment of the present application, the above-mentioned step S204 may specifically include: determining the distance between each of a plurality of angular position points and a first reference plane; determining the distance between each angular position point and the first reference plane as a first required adjustment parameter of the suspension corresponding to each angular position point.

[0139] In the embodiment of the present application, the present application can determine the amount of adjustment required for the suspension corresponding to each angular position point when each angular position point is adjusted to the same horizontal plane by determining the distance between each angular position point among the multiple angular position points and the first reference plane. In this way, the distance between each angular position point and the first reference plane is determined as the first required adjustment parameter of the suspension corresponding to each angular position point, and the required adjustment parameter of each suspension can be accurately determined.

[0140] In the embodiment of the present application, the present application can determine the first reference plane according to the first roll angle of the chassis plane of the vehicle in the lateral direction and the first pitch angle of the chassis plane in the longitudinal direction, combined with the first angular position point among the multiple angular position points included in the chassis plane. Then, according to the multiple angular position points included in the chassis plane and the first reference plane, the first required adjustment parameter of each suspension among the multiple suspensions included in the vehicle can be determined. Further, according to the first required adjustment parameter of each suspension, combined with the actual stroke length and preset stroke range of each suspension, the first actual adjustment parameter of each suspension is determined. In this way, the parking posture of the vehicle can be determined according to the first roll angle and the first pitch angle of the vehicle, and the first required adjustment parameter of the suspension corresponding to each angular position point can be determined according to the position of each angular position point included in the chassis plane of the vehicle relative to the reference plane. Then, the first required adjustment parameter of each suspension is optimized according to the actual stroke length and preset stroke range of each suspension, so that the actual adjustment parameter of each suspension can be accurately determined. Thereby, the accuracy of determining the height adjustment parameter of the suspension can be improved, and the effect of adjusting the height of the suspension can be improved.

[0141] In some embodiments, Figure 8 As shown, in a method for determining an adjustment parameter provided in an embodiment of the present application, after adjusting the actual stroke length of each suspension based on the first actual adjustment parameter of each suspension to obtain the adjusted stroke length of each suspension, the method may further include S801-S804.

[0142] S801. Obtain a second roll angle and a second pitch angle of the vehicle.

[0143] The second roll angle and the second pitch angle are determined after adjusting the actual stroke length of each suspension.

[0144] S802: Determine a second reference plane based on the second roll angle, the second pitch angle, and the second angular position point.

[0145] The second angular position point is the angular position point with the lowest height or the angular position point with the highest height among the multiple angular position points, the second angular position point is different from the first angular position point, and the second reference plane includes the second angular position point.

[0146] S803: Determine a second required adjustment parameter of each suspension in the plurality of suspensions based on the plurality of angular position points and the second reference plane.

[0147] S804: Determine a second actual adjustment parameter of each suspension based on the second required adjustment parameter of each suspension, the adjusted stroke length of each suspension, and the preset stroke range.

[0148] Optionally, after the travel of multiple suspensions of the vehicle is adjusted downward, since the posture of the entire vehicle has changed, the lateral acceleration and longitudinal acceleration can be reused to calculate the normal vector of the newly determined horizontal plane; and the angular position point with the highest spatial position is used as the point passing through the second reference plane to calculate the required adjustment parameters that need to be increased for the remaining three angular position points; and the second actual adjustment parameter is obtained in combination with the adjusted stroke length of each suspension, and each suspension is further adjusted upward according to the second actual adjustment parameter.

[0149] It should be noted that the order of the suspension's downward adjustment (determining the reference plane based on the lowest spatial angular position point) and upward adjustment (determining the reference plane based on the highest spatial angular position point) can be adjusted according to actual conditions, and this application does not make specific restrictions. After the above two stages, the chassis plane reaches the level or reaches the limit of the suspension travel range, giving full play to the adjustment ability of the suspension, and in the same adjustment, only the same direction is adjusted, and the height is adjusted from the perspective of the plane as a whole, avoiding uneven load; according to the characteristics of the plane, the invalid adjustment amount at the middle point is smaller, effectively reducing invalid adjustments.

[0150] In the embodiment of the present application, the present application can adjust the actual stroke length of each suspension based on the first actual adjustment parameter of each suspension, and after obtaining the adjusted stroke length of each suspension, the chassis plane is still in a tilted state because the adjustment parameters of some suspensions do not reach the required adjustment parameters. Therefore, the second roll angle and the second pitch angle of the vehicle after the suspension adjustment can be further obtained, and the second reference plane is re-determined based on the second roll angle, the second pitch angle and the second angular position point different from the first angular position point, and the second required adjustment parameter of each suspension is determined. Then, based on the adjusted stroke length of each suspension and the preset stroke range, the second required adjustment parameter of each suspension is optimized to obtain the second actual adjustment parameter of each suspension. In this way, the suspension can be adjusted by determining the adjustment parameters of the suspension multiple times, and the chassis plane can be adjusted to a state close to the horizontal plane to the maximum extent within the preset stroke range, thereby improving the accuracy of determining the height adjustment parameters of the suspension and improving the effect of adjusting the height of the suspension.

[0151] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to achieve the above functions, the adjustment parameter determination device or electronic device includes a hardware structure and / or software module corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0152] The embodiment of the present application can divide the functional modules of the adjustment parameter determination device or electronic device according to the above method. For example, the adjustment parameter determination device or electronic device may include various functional modules corresponding to the various functional divisions, or two or more functions may be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0153] Fig. 9 is a block diagram of a device for determining an adjustment parameter according to an exemplary embodiment. Fig. 9 The adjustment parameter determination device 900 includes: an acquisition module 901 and a processing module 902 .

[0154] An acquisition module 901 is used to acquire a first roll angle and a first pitch angle of the vehicle, wherein the first roll angle is an inclination angle of the chassis plane of the vehicle in a lateral direction, and the first pitch angle is an inclination angle of the chassis plane in a longitudinal direction. The vehicle includes multiple suspensions, and the chassis plane includes multiple angular position points, and one angular position point corresponds to one suspension; a processing module 902 is used to determine a first reference plane based on the first roll angle, the first pitch angle, and a first angular position point among the multiple angular position points, wherein the first angular position point is any angular position point among the multiple angular position points, and the first reference plane includes the first angular position point; the processing module 902 is also used to determine a first required adjustment parameter of each suspension among the multiple suspensions based on the multiple angular position points and the first reference plane; the processing module 902 is also used to determine a first actual adjustment parameter of each suspension based on the first required adjustment parameter of each suspension, the actual stroke length of each suspension, and a preset stroke range.

[0155] In a possible implementation, the processing module 902 is specifically used to determine a first vector based on a first roll angle, and to determine a second vector based on a first pitch angle, the first vector being a direction vector corresponding to the chassis plane in the lateral direction, and the second vector being a direction vector corresponding to the chassis plane in the longitudinal direction; the processing module 902 is specifically used to determine a normal vector of the first vector and the second vector; the processing module 902 is specifically used to determine a reference plane based on the normal vector and the first angular position point.

[0156] In a possible embodiment, the first angular position point is the angular position point with the lowest height or the angular position point with the highest height among the multiple angular position points; the processing module 902 is specifically used to determine, for any suspension among the multiple suspensions, that the first actual adjustment parameter of the suspension is the preset adjustment parameter when the actual stroke length of the suspension exceeds the preset stroke range; the processing module 902 is specifically used to determine, for any suspension among the multiple suspensions, the first actual adjustment parameter of the suspension based on the smaller value of the first required adjustment parameter of the suspension and the first allowable adjustment parameter of the suspension when the actual stroke length of the suspension does not exceed the preset stroke range, the first allowable adjustment parameter of the suspension is determined based on the actual stroke length of the suspension and the preset stroke range.

[0157] In one possible implementation, the processing module 902 is specifically used to determine, for each of the multiple suspensions, a smaller value between a first required adjustment parameter of the suspension and a first allowable adjustment parameter of the suspension as a target adjustment parameter of each suspension; the processing module 902 is specifically used to determine a ratio between the target adjustment parameter of each suspension and the first required adjustment parameter as an adjustment coefficient, obtain the adjustment coefficient corresponding to each suspension, and determine the minimum adjustment coefficient from the adjustment coefficients corresponding to each suspension as the target adjustment coefficient; the processing module 902 is specifically used to determine the product of the target adjustment coefficient and the first required adjustment parameter of each suspension as the first actual adjustment parameter of each suspension.

[0158] In a possible implementation, after adjusting the actual stroke length of each suspension based on the first actual adjustment parameter of each suspension to obtain the adjusted stroke length of each suspension, the acquisition module 901 is also used to obtain the second roll angle and the second pitch angle of the vehicle, the second roll angle and the second pitch angle are determined after adjusting the actual stroke length of each suspension; the processing module 902 is also used to determine the second reference plane based on the second roll angle, the second pitch angle and the second angular position point, the second angular position point being the angular position point with the lowest height or the angular position point with the highest height among multiple angular position points, the second angular position point is different from the first angular position point, and the second reference plane includes the second angular position point; the processing module 902 is also used to determine the second required adjustment parameter of each suspension in the multiple suspensions based on the multiple angular position points and the second reference plane; the processing module 902 is also used to determine the second actual adjustment parameter of each suspension based on the second required adjustment parameter of each suspension, the adjusted stroke length of each suspension, and the preset stroke range.

[0159] In a possible implementation, the acquisition module 901 is specifically used to acquire the lateral acceleration and longitudinal acceleration of the vehicle; the processing module 902 is specifically used to determine a first roll angle based on the lateral acceleration and gravity acceleration, and to determine a first pitch angle based on the longitudinal acceleration and gravity acceleration.

[0160] In one possible implementation, the processing module 902 is specifically used to determine the distance between each of the multiple angular position points and the first reference plane; the processing module 902 is specifically used to determine the distance between each angular position point and the first reference plane as the first required adjustment parameter of the suspension corresponding to each angular position point.

[0161] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0162] Fig.10 is a block diagram of another device for determining adjustment parameters according to an exemplary embodiment. Fig.10 The adjustment parameter determination device 1000 includes: a data acquisition module, a control module, a calculation module and an adjustment execution module.

[0163] Among them, the data acquisition module is used to obtain the tilt posture information of the whole vehicle, such as lateral acceleration, longitudinal acceleration (or roll angle and pitch angle), and obtain the height sensor value of the suspension; the control module is used to control the up and down adjustment process of the suspension; the calculation module is used to calculate the required adjustment parameters of the four suspensions according to the adjustment direction, lateral acceleration, and longitudinal acceleration, select the adjustment coefficient according to the travel range of the suspension, and calculate the actual adjustment parameters of the suspension in combination with the adjustment coefficient, the required adjustment parameters, and the actual travel length of the suspension; the adjustment execution module is used to execute the adjustment action according to the actual adjustment parameters of the suspension.

[0164] Fig.11 FIG. 1 is a block diagram of an electronic device according to an exemplary embodiment. Fig.11 As shown, the electronic device 1100 includes but is not limited to: a processor 1101 and a memory 1102 .

[0165] The memory 1102 is used to store executable instructions of the processor 1101. It can be understood that the processor 1101 is configured to execute instructions to implement the adjustment parameter determination method in the above embodiment.

[0166] It should be noted that those skilled in the art can understand that Fig.11 The electronic device structure shown in the figure does not constitute a limitation on the electronic device, and the electronic device may include Fig.11 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0167] The processor 1101 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 1102, and calling data stored in the memory 1102, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. The processor 1101 may include one or more processing units. Optionally, the processor 1101 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 1101.

[0168] The memory 1102 may be used to store software programs and various data. The memory 1102 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one functional module (such as a processing module, a storage module, etc.), etc. In addition, the memory 1102 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0169] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 1102 including instructions. The above instructions can be executed by the processor 1101 of the electronic device 1100 to implement the adjustment parameter determination method in the above embodiment.

[0170] In actual implementation, Fig. 9 The functions of the processing module 902 in Fig.11 The processor 1101 in the embodiment calls the computer program stored in the memory 1102. The specific execution process can refer to the description of the adjustment parameter determination method in the above embodiment, which will not be repeated here.

[0171] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0172] In an exemplary embodiment, the embodiment of the present application further provides a computer program product including one or more instructions, and the one or more instructions can be executed by the processor 1101 of the electronic device 1100 to complete the adjustment parameter determination method in the above embodiment.

[0173] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the electronic device, the various processes of the above-mentioned adjustment parameter determination method embodiment are implemented, and the same technical effect as the above-mentioned adjustment parameter determination method can be achieved. To avoid repetition, it will not be repeated here.

[0174] Fig.12 A schematic diagram of the structure of a computer system of an electronic device is shown. It should be noted that: Fig.12 The computer system of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0175] like Fig.12As shown, the computer system includes a central processing unit (CPU), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) or the program loaded from the storage part to the random access memory (RAM), such as executing the method in the above embodiment. In the RAM, various programs and data required for system operation are also stored. The CPU, ROM and RAM are connected to each other through a bus. The input / output (I / O) interface is also connected to the bus. The I / O interface is used to implement functions such as data input, output, communication, and storage, and the storage function can be specifically implemented by removable media.

[0176] The following components are connected to the I / O interface: an input part including a keyboard, a mouse, etc.; an output part including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage part including a hard disk, etc.; and a communication part including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication part performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as needed. Removable media, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., are installed on the drive as needed so that a computer program read therefrom is installed into the storage part as needed.

[0177] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication part, and / or installed from a removable medium. When the computer program is executed by a central processing unit (CPU), various functions defined in the system of the present application are executed.

[0178] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. This propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0179] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0180] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0181] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0182] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0183] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the full classification part or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute the full classification part or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, ROM, RAM, disk or CD and other media that can store program code.

[0184] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for determining an adjustment parameter, characterized in that: The method comprises: Acquire a first roll angle and a first pitch angle of the vehicle, wherein the first roll angle is an inclination angle of a chassis plane of the vehicle in a lateral direction, and the first pitch angle is an inclination angle of the chassis plane in a longitudinal direction, the vehicle includes a plurality of suspensions, and the chassis plane includes a plurality of angular position points, and one angular position point corresponds to one suspension; determining a first reference plane based on the first roll angle, the first pitch angle, and a first angular position point among the multiple angular position points, wherein the first angular position point is any angular position point among the multiple angular position points, and the first reference plane includes the first angular position point; determining a first required adjustment parameter of each of the plurality of suspensions based on the plurality of angular position points and the first reference plane; Based on the first required adjustment parameter of each suspension, the actual stroke length of each suspension, and the preset stroke range, the first actual adjustment parameter of each suspension is determined.

2. The method according to claim 1, characterized in that The determining a first reference plane based on the first roll angle, the first pitch angle, and a first angular position point among the plurality of angular position points comprises: determining a first vector based on the first roll angle, and determining a second vector based on the first pitch angle, wherein the first vector is a direction vector corresponding to the chassis plane in the lateral direction, and the second vector is a direction vector corresponding to the chassis plane in the longitudinal direction; determining a normal vector between the first vector and the second vector; The reference plane is determined based on the normal vector and the first corner position point.

3. The method according to claim 1 or 2, characterized in that: The first corner position point is the corner position point with the lowest height or the corner position point with the highest height among the multiple corner position points; The determining of the first actual adjustment parameter of each suspension based on the first required adjustment parameter of each suspension, the actual stroke length of each suspension, and the preset stroke range includes: For any suspension among the plurality of suspensions, when the actual stroke length of the suspension exceeds the preset stroke range, determining a first actual adjustment parameter of the suspension as a preset adjustment parameter; For any suspension among the multiple suspensions, when the actual stroke length of the suspension does not exceed the preset stroke range, the first actual adjustment parameter of the suspension is determined based on the smaller value of the first required adjustment parameter of the suspension and the first allowable adjustment parameter of the suspension, and the first allowable adjustment parameter of the suspension is determined based on the actual stroke length of the suspension and the preset stroke range.

4. The method according to claim 3, characterized in that The determining, based on a smaller value between a first required adjustment parameter of the suspension and a first allowable adjustment parameter of the suspension, a first actual adjustment parameter of the suspension comprises: For each of the plurality of suspensions, determining a smaller value between a first required adjustment parameter of the suspension and a first allowable adjustment parameter of the suspension as a target adjustment parameter of each of the suspensions; Determine the ratio between the target adjustment parameter of each suspension and the first required adjustment parameter as an adjustment coefficient, obtain the adjustment coefficient corresponding to each suspension, and determine the minimum adjustment coefficient from the adjustment coefficients corresponding to each suspension as the target adjustment coefficient; The product of the target adjustment coefficient and the first required adjustment parameter of each of the suspensions is determined as the first actual adjustment parameter of each of the suspensions.

5. The method according to claim 3, characterized in that: After adjusting the actual stroke length of each suspension based on the first actual adjustment parameter of each suspension to obtain the adjusted stroke length of each suspension, the method further includes: Acquiring a second roll angle and a second pitch angle of the vehicle, where the second roll angle and the second pitch angle are determined after adjusting an actual stroke length of each of the suspensions; determining a second reference plane based on the second roll angle, the second pitch angle, and a second angular position point, wherein the second angular position point is an angular position point with the lowest height or an angular position point with the highest height among the multiple angular position points, the second angular position point is different from the first angular position point, and the second reference plane includes the second angular position point; determining a second required adjustment parameter of each of the plurality of suspensions based on the plurality of angular position points and the second reference plane; Based on the second required adjustment parameter of each suspension, the adjusted stroke length of each suspension, and the preset stroke range, a second actual adjustment parameter of each suspension is determined.

6. The method according to claim 1 or 2, characterized in that: The obtaining of a first roll angle and a first pitch angle of the vehicle comprises: Obtaining the lateral acceleration and longitudinal acceleration of the vehicle; The first roll angle is determined based on the lateral acceleration and the gravitational acceleration, and the first pitch angle is determined based on the longitudinal acceleration and the gravitational acceleration.

7. The method according to claim 1 or 2, characterized in that: The step of determining a first required adjustment parameter of each of the plurality of suspensions based on the plurality of angular position points and the first reference plane comprises: determining a distance between each of the plurality of angular position points and the first reference plane; The distance between each of the angular position points and the first reference plane is determined as a first required adjustment parameter of the suspension corresponding to each of the angular position points.

8. A device for determining an adjustment parameter, characterized in that: The adjustment parameter determination device comprises: an acquisition module and a processing module; The acquisition module is used to acquire a first roll angle and a first pitch angle of the vehicle, wherein the first roll angle is an inclination angle of a chassis plane of the vehicle in a lateral direction, and the first pitch angle is an inclination angle of the chassis plane in a longitudinal direction, the vehicle includes a plurality of suspensions, and the chassis plane includes a plurality of angular position points, and one angular position point corresponds to one suspension; The processing module is configured to determine a first reference plane based on the first roll angle, the first pitch angle, and a first angular position point among the multiple angular position points, wherein the first angular position point is any angular position point among the multiple angular position points, and the first reference plane includes the first angular position point; The processing module is further used to determine a first required adjustment parameter of each of the plurality of suspensions based on the plurality of angular position points and the first reference plane; The processing module is further used to determine a first actual adjustment parameter of each suspension based on a first required adjustment parameter of each suspension, an actual stroke length of each suspension, and a preset stroke range.

9. An electronic device, characterized in that: include: A processor and a memory; wherein the memory is used to store one or more programs, and the one or more programs include computer-executable instructions. When the electronic device is running, the processor executes the computer-executable instructions stored in the memory, and the electronic device executes the method described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: When the computer instructions stored in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device executes the method as claimed in any one of claims 1 to 7.

11. A computer program product, characterized in that The computer program product comprises computer instructions, and when the computer instructions are executed on an electronic device, the electronic device executes the method according to any one of claims 1 to 7.

12. A vehicle, characterized in that: The vehicle comprises the regulating parameter determination device according to claim 8, and the vehicle is used to implement the method according to any one of claims 1-7.

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