Damping force adjusting method of electric control shock absorber, controller, vehicle and product

Abstract

The invention provides a damping force adjusting method of an electric control shock absorber, a controller, a vehicle and a product, and the method comprises the steps: determining an abnormal sensor position of an abnormal wheel height sensor after a control instruction of an electric control detector is detected; if the position of the abnormal sensor is the front axle position, the predicted damper speed corresponding to the abnormal wheel height sensor is determined according to the motion state of the vehicle; if the position of the abnormal sensor is the position of the rear axle, the predicted damper speed corresponding to the abnormal wheel height sensor is determined according to the actual displacement value corresponding to the normal wheel height sensor of the front axle of the vehicle; and a target current value is determined according to the predicted speed of the shock absorber and the expected damping force, and the damping force of the electric control shock absorber is adjusted according to the target current value. According to the method, when the wheel height sensor is abnormal, the damping force of the electric control shock absorber can be normally adjusted.

Description

Technical Field

[0001] The present application relates to the field of vehicle driving control technology, and in particular to a damping force adjustment method, controller, vehicle and product of an electronically controlled shock absorber. Background Art

[0002] At present, wheel height sensors and corresponding shock absorbers are generally installed between the four suspension arms of the vehicle and the vehicle body. The wheel height sensor is used to collect the height change between the vehicle body and the wheel, adjust the damping force of the shock absorber according to the height change, reduce the vibration and impact caused by uneven road surface during driving, and thus improve the driving smoothness and handling stability of the vehicle.

[0003] However, in actual applications, a wheel height sensor may have an abnormal fault. When the wheel height sensor has an abnormal fault, the wheel height sensor cannot provide accurate measurement data, which will cause the electronically controlled shock absorber to be unable to determine the target current value for control.

[0004] Therefore, how to ensure that the damping force of the electronically controlled shock absorber can be adjusted normally when the wheel height sensor is abnormal is a technical problem that technical personnel in this field need to solve at present. Summary of the invention

[0005] The purpose of the present application is to provide a damping force adjustment method, device, controller, a vehicle, a computer-readable storage medium and a computer program product of an electronically controlled shock absorber, so as to enable normal damping force adjustment of the electronically controlled shock absorber when the wheel height sensor is abnormal.

[0006] In a first aspect, the present application provides a method for adjusting the damping force of an electronically controlled shock absorber. The method comprises:

[0007] After detecting the control command of the electronically controlled detector, determining the abnormal sensor position of the abnormal wheel height sensor;

[0008] If the abnormal sensor position is the front axle position, determining a predicted shock absorber speed corresponding to the abnormal wheel height sensor according to the vehicle motion state;

[0009] If the abnormal sensor position is the rear axle position, determining the predicted shock absorber speed corresponding to the abnormal wheel height sensor according to the actual displacement value corresponding to the normal wheel height sensor of the front axle of the vehicle;

[0010] A target current value is determined according to the predicted shock absorber speed and the expected damping force, and the damping force of the electronically controlled shock absorber is adjusted according to the target current value.

[0011] In one embodiment, determining the predicted shock absorber speed corresponding to the abnormal wheel height sensor according to the vehicle motion state includes:

[0012] Determining whether the vehicle motion state meets a preset condition;

[0013] If the vehicle motion state satisfies a preset condition, determining a predicted displacement value of the abnormal wheel height sensor according to the actual displacement value of each normal wheel height sensor;

[0014] A predicted damper speed corresponding to the abnormal wheel height sensor is determined based on the predicted displacement value.

[0015] In one embodiment, the method further comprises:

[0016] If the vehicle motion state does not satisfy the condition, determining the road surface flatness of the driving road on which the vehicle is located, and determining whether the road surface flatness is greater than a preset flatness threshold;

[0017] If the road surface roughness is greater than a preset roughness threshold, a predicted shock absorber speed of the abnormal wheel height sensor is set according to a maximum shock absorber speed.

[0018] In one of the embodiments, after determining the road surface flatness of the driving road on which the vehicle is located if the vehicle motion state does not satisfy the condition and determining whether the road surface flatness is greater than a preset flatness threshold, the method further includes:

[0019] If the road surface flatness is less than or equal to a preset flatness threshold, determining an actual displacement value corresponding to a normal wheel height sensor coaxial with the abnormal wheel height sensor;

[0020] A predicted displacement value of the abnormal wheel height sensor is determined according to the actual displacement value, and a predicted damper speed corresponding to the abnormal wheel height sensor is determined according to the predicted displacement value.

[0021] In one embodiment, determining the predicted displacement value of the abnormal wheel height sensor according to the actual displacement value of each normal wheel height sensor includes:

[0022] The predicted displacement value of the abnormal wheel height sensor is determined according to the actual displacement value of each normal wheel height sensor and the weight coefficient corresponding to each normal wheel height sensor.

[0023] In one embodiment, the vehicle motion state includes a vehicle body motion direction, a vehicle body acceleration direction, a wheel motion direction, and a wheel acceleration direction; and determining whether the vehicle motion state satisfies a preset condition includes:

[0024] If the directions of the multiple body accelerations of the vehicle are the same, and the body motion direction, the wheel motion direction and the wheel acceleration direction are the same, then it is determined that the vehicle motion state meets the preset condition;

[0025] Otherwise, it is determined that the vehicle motion state does not satisfy the preset condition.

[0026] In one embodiment, determining the predicted shock absorber speed corresponding to the abnormal wheel height sensor according to the actual displacement value corresponding to the normal wheel height sensor of the front axle of the vehicle includes:

[0027] Determining a target delay duration for the vehicle;

[0028] Determine an actual displacement value corresponding to a normal wheel height sensor of a front axle of the vehicle;

[0029] After delaying the actual displacement value by the target delay time, assigning the actual displacement value to the predicted displacement value of the abnormal wheel height sensor;

[0030] A predicted damper speed corresponding to the abnormal wheel height sensor is determined based on the predicted displacement value.

[0031] In a second aspect, the present application also provides a damping force adjustment device for an electronically controlled shock absorber. The device comprises:

[0032] a detection module, for determining an abnormal sensor position of an abnormal wheel height sensor after detecting a control instruction of an electronically controlled detector;

[0033] a first determination module, configured to determine a predicted shock absorber speed corresponding to the abnormal wheel height sensor according to a vehicle motion state if the abnormal sensor position is a front axle position;

[0034] a second determination module, configured to determine a predicted shock absorber speed corresponding to the abnormal wheel height sensor according to an actual displacement value corresponding to a normal wheel height sensor of a front axle of the vehicle if the abnormal sensor position is a rear axle position;

[0035] The regulating module is used to determine a target current value according to the predicted shock absorber speed and the expected damping force, and to regulate the damping force of the electronically controlled shock absorber according to the target current value.

[0036] In a third aspect, the present application further provides a controller, wherein the controller comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0037] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0038] In a fifth aspect, the present application also provides a vehicle, including a vehicle body and a controller, wherein the controller executes the steps of the above method.

[0039] In a sixth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0040] The present application provides a damping force adjustment method for an electronically controlled shock absorber. After detecting the control instruction of the electronically controlled detector, the abnormal sensor position of the abnormal wheel height sensor is determined; if the abnormal sensor position is the front axle position, the predicted shock absorber speed corresponding to the abnormal wheel height sensor is determined according to the vehicle motion state; if the abnormal sensor position is the rear axle position, the predicted shock absorber speed corresponding to the abnormal wheel height sensor is determined according to the actual displacement value corresponding to the normal wheel height sensor of the front axle of the vehicle; the target current value is determined according to the predicted shock absorber speed and the expected damping force, and the damping force of the electronically controlled shock absorber is adjusted according to the target current value. It can be seen that the present method adopts corresponding strategies to determine the predicted shock absorber speed for the abnormal wheel height sensor at the front axle position and the abnormal wheel height sensor at the rear axle position, and then determines the target current value according to the predicted shock absorber speed and the expected damping force, and uses the target current value to adjust the damping force of the electronically controlled shock absorber. That is, when the wheel height sensor is abnormal, the present method can normally adjust the damping force of the electronically controlled shock absorber.

[0041] It can be understood that the damping force adjustment device, controller, vehicle, computer-readable storage medium and computer program product of an electronically controlled shock absorber provided in the embodiments of the present application have the same beneficial effects as the damping force adjustment method of the electronically controlled shock absorber described above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0043] Figure 1 A flowchart of a damping force adjustment method of an electronically controlled shock absorber provided in an embodiment of the present application;

[0044] Figure 2 A schematic diagram of an abnormal front axle position wheel height sensor provided in an embodiment of the present application;

[0045] Figure 3 A schematic diagram of an abnormal wheel height sensor at a rear axle position provided in an embodiment of the present application;

[0046] Figure 4 A mapping relationship diagram of a shock absorber speed, damping force and current value provided in an embodiment of the present application;

[0047] Figure 5 A schematic diagram of a vibration damper motion quadrant provided in an embodiment of the present application;

[0048] Figure 6 The figure shows a schematic structural diagram of a damping force adjustment device of an electronically controlled shock absorber provided in an embodiment of the present application;

[0049] Figure 7 A schematic diagram of the structure of a controller provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0051] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0052] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0053] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0054] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0055] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways. "Multiple" means "two or more".

[0056] A damping force adjustment method for an electronically controlled shock absorber provided in an embodiment of the present application may be executed by a controller when running a corresponding computer program.

[0057] Figure 1 This is a flow chart of a damping force adjustment method of an electronically controlled shock absorber provided in an embodiment of the present application. For ease of explanation, only the part related to the present embodiment is shown. The method provided in the present embodiment includes the following steps:

[0058] S100: After detecting the control instruction of the electronically controlled detector, determining the abnormal sensor position of the abnormal wheel height sensor.

[0059] Among them, the electronically controlled detector control instruction refers to the control instruction that requires the electronically controlled shock absorber to adjust the damping force. The damping force is the force that the electronically controlled shock absorber resists movement during operation, which is used to reduce the vibration and impact of the vehicle during driving, thereby improving driving smoothness and handling stability. By adjusting the damping force of the electronically controlled shock absorber, the dynamic performance of the vehicle under different road conditions can be optimized. For example, the damping force is increased on rough roads to reduce the vibration of the vehicle body; the damping force is reduced on smooth roads to improve driving comfort.

[0060] It should be noted that a normal wheel height sensor refers to a sensor that can operate normally, accurately collect the height change between the vehicle body and the vehicle, that is, the actual displacement value, and output the collected actual displacement value to the controller; an abnormal wheel height sensor refers to a sensor that cannot operate normally, cannot accurately collect the actual displacement value between the vehicle body and the vehicle, or cannot output the collected actual displacement value to the controller, that is, this embodiment does not limit the abnormal type of the abnormal wheel height sensor. In this embodiment, the abnormal sensor position includes the front axle position and the rear axle position.

[0061] S200: If the abnormal sensor position is the front axle position, determine a predicted shock absorber speed corresponding to the abnormal wheel height sensor according to the vehicle motion state.

[0062] like Figure 2 A schematic diagram of a front axle position wheel height sensor abnormality provided in an embodiment of the present application. In this embodiment, when the abnormal sensor position is the front axle position, it means that the left front wheel height sensor or the right front wheel height sensor is an abnormal wheel height sensor, that is, only one wheel height sensor at the front axle position fails.

[0063] The vehicle motion state includes, but is not limited to, the vehicle body motion direction, vehicle body acceleration direction, wheel motion direction, and wheel acceleration direction.

[0064] In this step, if the abnormal sensor position is the front axle position, the vehicle motion state is obtained, and the predicted damper speed corresponding to the abnormal wheel height sensor is determined according to the vehicle motion state. The predicted damper speed refers to the calculated predicted damper speed corresponding to the abnormal wheel height sensor.

[0065] S300: If the abnormal sensor position is the rear axle position, a predicted shock absorber speed corresponding to the abnormal wheel height sensor is determined according to an actual displacement value corresponding to a normal wheel height sensor of the front axle of the vehicle.

[0066] like Figure 3 A schematic diagram of an abnormal wheel height sensor at a rear axle position provided in an embodiment of the present application. When the abnormal sensor position is the rear axle position, it means that the left rear wheel height sensor and / or the right rear wheel height sensor are abnormal wheel height sensors, that is, the rear axle position may be a single wheel height sensor failure or both wheel height sensors failure.

[0067] When the abnormal sensor position is the rear axle position, it means that the wheel height sensor of the front axle of the vehicle is a normal wheel height sensor, so the actual displacement value of the normal wheel height sensor is obtained, and the predicted shock absorber speed corresponding to the abnormal wheel height sensor is determined according to the actual displacement value. The actual displacement value refers to the displacement value between the vehicle body and the wheel collected by the normal wheel height sensor.

[0068] S400: determining a target current value according to the predicted shock absorber speed and the expected damping force, and adjusting the damping force of the electronically controlled shock absorber according to the target current value.

[0069] The expected damping force refers to a value calculated based on sensor data and a preset control strategy, indicating the damping force that the electronically controlled shock absorber needs to generate at a specific shock absorber speed. After determining the predicted shock absorber speed and the expected damping force, the target current value corresponding to the predicted shock absorber speed and the expected damping force is determined according to a preset mapping relationship.

[0070] Figure 4 A mapping relationship diagram of a shock absorber speed, damping force and current value is provided in an embodiment of the present application. After the predicted shock absorber speed and the expected damping force are determined, the target current value corresponding to the predicted shock absorber speed and the expected damping force is searched according to the mapping relationship diagram.

[0071] It should be noted that the electronically controlled shock absorber adjusts the oil flow inside the shock absorber through the opening of the solenoid valve, thereby changing the damping force. The opening of the solenoid valve is controlled by the current flowing through it. Therefore, after determining the target current value, the current of the solenoid valve of the electronically controlled shock absorber is adjusted in real time according to the target current value, thereby changing the opening of the solenoid valve and realizing precise control of the damping force of the electronically controlled shock absorber.

[0072] The embodiment of the present application provides a damping force adjustment method for an electronically controlled shock absorber. After detecting the control instruction of the electronically controlled detector, the abnormal sensor position of the abnormal wheel height sensor is determined; if the abnormal sensor position is the front axle position, the predicted shock absorber speed corresponding to the abnormal wheel height sensor is determined according to the vehicle motion state; if the abnormal sensor position is the rear axle position, the predicted shock absorber speed corresponding to the abnormal wheel height sensor is determined according to the actual displacement value corresponding to the normal wheel height sensor of the front axle of the vehicle; the target current value is determined according to the predicted shock absorber speed and the expected damping force, and the damping force of the electronically controlled shock absorber is adjusted according to the target current value. It can be seen that the method adopts corresponding strategies to determine the predicted shock absorber speed for the abnormal wheel height sensor at the front axle position and the abnormal wheel height sensor at the rear axle position, and then determines the target current value according to the predicted shock absorber speed and the expected damping force, and uses the target current value to adjust the damping force of the electronically controlled shock absorber. That is, when the wheel height sensor is abnormal, the method can normally adjust the damping force of the electronically controlled shock absorber.

[0073] Based on the above embodiment, this embodiment further illustrates and optimizes the technical solution. Specifically, in this embodiment, the predicted shock absorber speed corresponding to the abnormal wheel height sensor is determined according to the vehicle motion state, including:

[0074] Determine whether the vehicle's motion state meets a preset condition;

[0075] If the vehicle motion state meets the preset conditions, the predicted displacement value of the abnormal wheel height sensor is determined according to the actual displacement value of each normal wheel height sensor;

[0076] A predicted damper speed corresponding to the abnormal wheel height sensor is determined based on the predicted displacement value.

[0077] Specifically, after obtaining the vehicle motion state, it is determined whether the vehicle motion state meets the preset conditions. If the vehicle motion state meets the preset conditions, the actual displacement values ​​of the normal wheel height sensors other than the abnormal wheel height sensor in the vehicle are obtained, and the predicted displacement value of the abnormal wheel height sensor is calculated based on the actual displacement values ​​of each normal wheel height sensor, which can be an average or weighted average of the actual displacement values ​​of each normal wheel height sensor to obtain the predicted displacement value; the predicted displacement value is differentiated to determine the predicted damper speed corresponding to the abnormal wheel height sensor.

[0078] According to the method of this embodiment, when the vehicle's motion state meets the preset conditions, the predicted shock absorber speed corresponding to the abnormal wheel height sensor can be determined according to the actual displacement value of each normal wheel height sensor, and the predicted shock absorber speed can be accurately determined, thereby improving the accuracy of the damping force adjustment of the electronically controlled shock absorber.

[0079] In a specific embodiment, the vehicle motion state includes the vehicle body motion direction, the vehicle body acceleration direction, the wheel motion direction and the wheel acceleration direction; determining whether the vehicle motion state meets the preset conditions includes:

[0080] If the directions of multiple body accelerations of the vehicle are the same, and the body motion direction, wheel motion direction and wheel acceleration direction are the same, it is determined that the vehicle motion state meets the preset conditions;

[0081] Otherwise, it is determined that the vehicle motion state does not meet the preset condition.

[0082] Specifically, the vehicle body acceleration sensor corresponding to each wheel position is used to detect the speed and acceleration of the vehicle in the vertical direction to determine the vehicle body movement direction and the vehicle body acceleration direction, both of which include upward movement and downward movement. Specifically, the wheel speed sensor and the wheel acceleration sensor can be used to collect the wheel movement direction and the wheel acceleration direction respectively, and the wheel height sensor can also be used to obtain the displacement change of the wheel, determine the wheel movement direction according to the displacement change, and perform differential processing on the displacement change to obtain the vertical speed and acceleration of the wheel, thereby determining the wheel movement direction and the wheel acceleration direction.

[0083] Specifically, in this embodiment, after collecting the vehicle body movement directions, vehicle body acceleration directions, wheel movement directions, and wheel acceleration directions, it is determined whether the vehicle body acceleration directions are the same, such as whether the vehicle body accelerations detected by the four vehicle body acceleration sensors are simultaneously positive or simultaneously negative, and whether the vehicle body movement directions, wheel movement directions, and wheel acceleration directions are the same, to determine whether the vehicle motion state meets the preset conditions. If the vehicle body acceleration directions are the same, and the vehicle body movement directions, wheel movement directions, and wheel acceleration directions are the same, it is determined that the vehicle motion state meets the preset conditions; otherwise, that is, the vehicle body acceleration directions are different, or the vehicle body movement directions, wheel movement directions, and wheel acceleration directions are different, it is determined that the vehicle motion state does not meet the preset conditions.

[0084] In one specific example, the shock absorber motion quadrant is preset. Figure 5 A schematic diagram of a vibration damper motion quadrant provided in an embodiment of the present application. Figure 5 As shown, in the first quadrant, the body movement direction is upward, the vehicle movement direction is downward, or decelerated upward movement, and the shock absorber works in the rebound direction; in the second quadrant, the body movement direction is upward, the vehicle movement direction is accelerated upward movement, and the shock absorber works in the compression direction; in the third quadrant, the body movement direction is downward, the vehicle movement direction is upward, or decelerated downward movement, and the shock absorber works in the compression direction; in the fourth quadrant, the body movement direction is downward, the vehicle movement direction is accelerated downward movement, and the shock absorber works in the rebound direction.

[0085] In this embodiment, the shock absorber motion quadrant is determined by determining the body movement direction, the vehicle movement direction and the acceleration direction. When the reducer motion quadrant is the second quadrant or the fourth quadrant, and the accelerations of the vehicle bodies are the same, it is determined that the vehicle motion state meets the preset conditions; otherwise, it is determined that the vehicle motion state does not meet the preset conditions.

[0086] According to the method of this embodiment, it is possible to efficiently and accurately determine whether the vehicle's motion state meets the preset conditions, thereby enabling the damping force of the electronically controlled shock absorber to be adjusted more efficiently and accurately.

[0087] On the basis of the above-mentioned embodiment, this embodiment further illustrates and optimizes the technical solution. Specifically, in this embodiment, the predicted displacement value of the abnormal wheel height sensor is determined according to the actual displacement value of each normal wheel height sensor, including:

[0088] The predicted displacement value of the abnormal wheel height sensor is determined according to the actual displacement value of each normal wheel height sensor and the weight coefficient corresponding to each normal wheel height sensor.

[0089] In a specific embodiment, if the left front wheel height sensor is an abnormal wheel height sensor, the calculation process of the prediction data FL_HighFC corresponding to the left front wheel height sensor is as follows:

[0090] FL_HighFC=k1*FR_HighReal+k2*RL_HighReal+k3*RR_HighReal;

[0091] Among them, FR_HighReal is the actual displacement value corresponding to the right front wheel height sensor, RL_HighReal is the actual displacement value corresponding to the left rear wheel height sensor, and RR_HighReal is the actual displacement value corresponding to the right rear wheel height sensor. k1, k2 and k3 are weight coefficients corresponding to the right front wheel height sensor, the left rear wheel height sensor and the right rear wheel height sensor, respectively. In this embodiment, the specific values ​​of k1, k2 and k3 are not limited and can be calibrated according to actual conditions, and it is necessary to ensure that k1+k2+k3=100%.

[0092] If the right front wheel height sensor is an abnormal wheel height sensor, the calculation process of the prediction data FR_HighFC corresponding to the right front wheel height sensor is as follows:

[0093] FR_HighFC=k4*FL_HighReal+k5*RL_HighReal+k6*RR_HighReal;

[0094] Among them, FL_HighReal is the actual displacement value corresponding to the left front wheel height sensor, RL_HighReal is the actual displacement value corresponding to the left rear wheel height sensor, and RR_HighReal is the actual displacement value corresponding to the right rear wheel height sensor. K4, k5 and k6 are weight coefficients corresponding to the left front wheel height sensor, the left rear wheel height sensor and the right rear wheel height sensor, respectively. In this embodiment, the specific values ​​of k4, k5 and k6 are not limited and can be calibrated according to actual conditions, and it is necessary to ensure that k4+k5+k6=100%.

[0095] According to the method of this embodiment, the predicted displacement value of the abnormal wheel height sensor is determined based on the actual displacement value of each normal wheel height sensor and the weight coefficient corresponding to each normal wheel height sensor, so that the predicted shock absorber speed can be determined more accurately, thereby improving the accuracy of the damping force adjustment of the electronically controlled shock absorber.

[0096] On the basis of the above embodiments, this embodiment further illustrates and optimizes the technical solution. Specifically, in this embodiment, a damping force adjustment method of an electronically controlled shock absorber further includes:

[0097] If the vehicle motion state does not meet the condition, determining the road surface smoothness of the driving road on which the vehicle is located, and determining whether the road surface smoothness is greater than a preset smoothness threshold;

[0098] If the road surface roughness is greater than a preset roughness threshold, a predicted damper speed of the abnormal wheel height sensor is set according to the maximum damper speed.

[0099] In this embodiment, when it is determined that the vehicle's motion state does not satisfy a condition, that is, multiple body acceleration directions of the vehicle are different, or the body motion direction, wheel motion direction and wheel acceleration direction are different, the road surface smoothness of the driving road on which the vehicle is located is determined, and it is determined whether the road surface smoothness is greater than a preset smoothness threshold.

[0100] Among them, road surface flatness refers to a quantitative parameter that characterizes the flatness of the road surface. It is determined whether the road surface flatness is greater than a preset flatness threshold; the preset flatness threshold is the dividing line for determining whether the driving road surface is a rough road surface or a smooth road surface. If the road surface flatness is greater than the preset flatness threshold, it means that the driving road surface is a rough road surface; if the road surface flatness is less than or equal to the preset flatness threshold, it means that the driving road surface is a smooth road surface.

[0101] In this embodiment, the target road grade may be used to characterize the road surface flatness; the lower the target road grade, the smoother the road surface; and the higher the target road grade, the rougher the road surface.

[0102] Specifically, a correspondence between the geometric mean and the road surface grade is preset; after the normal wheel height sensor is used to collect road information and the geometric mean is determined according to each road information, the target road surface grade corresponding to the calculated geometric mean is determined according to the correspondence, that is, the target road surface grade of the driving road where the vehicle is located is determined. The geometric mean is the nth root of the product of n values, and is used to smooth multiple road information and reduce the influence of noise and abnormal values.

[0103] In a specific example, the target road surface grade of the driving road is determined according to the calculated geometric mean and compared with the preset road surface grade standard. Table 1 below is an eight-level classification standard for road surface flatness provided in an embodiment of the present application, i.e., a corresponding relationship table of eight road surface grades and the geometric mean ranges corresponding to each road surface grade.

[0104] Table 1 Eight-level classification standard of road surface smoothness

[0105] Road surface grade Geometric mean A 16 B 64 C 256 D 1024 E 4096 F 16384 G 65536 H 262144

[0106] Then, it is determined whether the target road surface grade is greater than a preset road surface grade threshold. If so, the driving road surface is determined to be a rough road surface; if less than, the driving road surface is determined to be a smooth road surface. The preset road surface grade threshold is the dividing line between a rough road surface and a smooth road surface. When the road surface grade is greater than the preset road surface grade threshold, it indicates that the road surface is a rough road surface; when the road surface grade is less than the preset road surface grade threshold, it indicates that the road surface is a smooth road surface.

[0107] The maximum shock absorber speed is the maximum speed value or the maximum acceleration value in the FV curve. In this embodiment, if the vehicle motion state does not meet the conditions and the road surface flatness is greater than the preset flatness threshold, the predicted shock absorber speed corresponding to the abnormal wheel height sensor is set according to the maximum shock absorber speed, that is, the shock absorber speed corresponding to the abnormal wheel height sensor position is set to the preset maximum value, so as to determine the target current value according to the maximum shock absorber speed and the expected damping force. Figure 4 As shown, the preset maximum value corresponding to the shock absorber speed in this embodiment is 500 mm / s, that is, the maximum shock absorber speed is 500 mm / s.

[0108] In this embodiment, during the driving process of the vehicle, the four wheels of the vehicle generally drive on the same road surface, that is, the front wheels and the rear wheels of the vehicle drive on the same road surface state, and the corresponding predicted shock absorber speed is determined according to the road surface state. In another embodiment, the driving road surface of the vehicle can be updated in real time, and the corresponding predicted shock absorber speed is determined according to the updated driving road surface, and then the corresponding target current value is determined according to the updated predicted shock absorber speed, so as to realize real-time adjustment of the electronically controlled shock absorber.

[0109] According to the method of this embodiment, when the vehicle motion state does not meet the conditions and the road surface flatness is greater than the preset flatness threshold, the predicted shock absorber speed of the abnormal wheel height sensor can be set according to the maximum shock absorber speed, and then the target current value can be determined according to the maximum shock absorber speed and the expected damping force, so as to accurately adjust the damping force of the electronically controlled shock absorber.

[0110] Based on the above embodiment, this embodiment further illustrates and optimizes the technical solution. Specifically, in this embodiment, if the vehicle motion state does not meet the condition, the road surface flatness of the driving road on which the vehicle is located is determined, and after determining whether the road surface flatness is greater than a preset flatness threshold, the method further includes:

[0111] If the road surface flatness is less than or equal to a preset flatness threshold, determining an actual displacement value corresponding to a normal wheel height sensor coaxial with the abnormal wheel height sensor;

[0112] The predicted displacement value of the abnormal wheel height sensor is determined according to the actual displacement value, and the predicted shock absorber speed corresponding to the abnormal wheel height sensor is determined according to the predicted displacement value. The normal wheel height sensor coaxial with the abnormal wheel height sensor refers to a normal wheel height sensor on the same axle as the abnormal wheel height sensor. For example, if the height sensor of the left front wheel fails, the height sensor of the right front wheel is the normal wheel height sensor coaxial with the abnormal wheel height sensor.

[0113] In this embodiment, when it is determined that the vehicle motion state does not satisfy the conditions, that is, the directions of multiple body accelerations of the vehicle are different, or the body motion directions, wheel motion directions and wheel acceleration directions are different, and the road surface flatness is less than or equal to a preset flatness threshold, the actual displacement value corresponding to the normal wheel height sensor coaxial with the abnormal wheel height sensor is determined; the predicted displacement value of the abnormal wheel height sensor is determined based on the actual displacement value, and the predicted shock absorber speed corresponding to the abnormal wheel height sensor is determined based on the predicted displacement value.

[0114] According to the method of this embodiment, when the vehicle motion state does not meet the conditions and the road surface flatness is less than or equal to the preset flatness threshold, the predicted shock absorber speed of the abnormal wheel height sensor can be determined according to the actual displacement value corresponding to the normal wheel height sensor coaxial with the abnormal wheel height sensor, and then the target current value can be determined to accurately adjust the damping force of the electronically controlled shock absorber.

[0115] On the basis of the above-mentioned embodiment, this embodiment further illustrates and optimizes the technical solution. Specifically, in this embodiment, the predicted shock absorber speed corresponding to the abnormal wheel height sensor is determined according to the actual displacement value corresponding to the normal wheel height sensor of the front axle of the vehicle, including:

[0116] Determine the target delay duration for the vehicle;

[0117] Determine an actual displacement value corresponding to a normal wheel height sensor of a front axle of the vehicle;

[0118] After delaying the actual displacement value for a target delay time, the actual displacement value is assigned to the predicted displacement value of the abnormal wheel height sensor;

[0119] A predicted damper speed corresponding to the abnormal wheel height sensor is determined based on the predicted displacement value.

[0120] In this embodiment, the target delay time is determined according to the vehicle wheelbase and driving speed. Specifically, the target delay time T = WheelBase / VehSpd; wherein WheelBase represents the vehicle wheelbase, and VehSpd represents the vehicle driving speed. The vehicle wheelbase refers to the distance from the center of the front axle to the center of the rear axle of the vehicle; the vehicle wheelbase corresponding to different vehicle types may be different.

[0121] In this embodiment, after determining the target delay time, the actual displacement value corresponding to the normal wheel height sensor of the front axle of the vehicle is determined, and after delaying the actual displacement value by the target delay time, it is assigned to the predicted displacement value of the abnormal wheel height sensor, and the predicted shock absorber speed corresponding to the abnormal wheel height sensor is determined based on the predicted displacement value.

[0122] In a specific embodiment, it is assumed that the two wheel height sensors corresponding to the rear axle of the vehicle are abnormal, that is, the left rear wheel height sensor and the right rear wheel height sensor are abnormal. Therefore, after obtaining the actual measurement data of the two wheel height sensors of the front axle (the left front wheel height sensor and the right front wheel height sensor), the actual measurement data is delayed by a target delay time and assigned to the left rear wheel height sensor and the right rear wheel height sensor, that is, the left rear wheel height sensor and the right rear wheel height sensor respectively obtain the corresponding predicted displacement values ​​of the shock absorber; then the predicted displacement values ​​are differentiated to obtain the predicted shock absorber speed.

[0123] Specifically, assuming that the actual displacement value of the left front wheel height sensor is FL_HighReal, the actual displacement value of the right front wheel height sensor is FR_HighReal, and the target delay duration is T; the predicted displacement value RL_HighFC corresponding to the left rear wheel height sensor = FL_HighReal delayed by T, and the predicted displacement value RR_HighFC corresponding to the right rear wheel height sensor = FR_HighReal delayed by T.

[0124] According to the method of this embodiment, when the abnormal sensor position is the front axle position, the predicted shock absorber speed corresponding to the abnormal wheel height sensor can be determined efficiently and conveniently.

[0125] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0126] It should be noted that the information collection process (such as face image collection process, fingerprint information collection process, etc.) / feature extraction process involved in this application is performed with the user's knowledge and permission, that is, the information collection process / feature extraction process complies with the requirements of laws and regulations and does not constitute an act that harms the public interest.

[0127] Figure 6 FIG. 1 is a schematic diagram of the structure of a damping force adjustment device for an electronically controlled shock absorber provided in an embodiment of the present application. Figure 6 As shown, the damping force adjustment device of the electronically controlled shock absorber of this embodiment includes a detection module 610, a first determination module 620, a second determination module 630 and an adjustment module 640; wherein,

[0128] A detection module 610, for determining an abnormal sensor position of an abnormal wheel height sensor after detecting a control instruction of an electronically controlled detector;

[0129] a first determination module 620, configured to determine a predicted shock absorber speed corresponding to the abnormal wheel height sensor according to a vehicle motion state if the abnormal sensor position is a front axle position;

[0130] A second determination module 630 is configured to determine a predicted shock absorber speed corresponding to the abnormal wheel height sensor according to an actual displacement value corresponding to a normal wheel height sensor of a front axle of the vehicle if the abnormal sensor position is at a rear axle position;

[0131] The adjustment module 640 is used to determine a target current value according to the predicted shock absorber speed and the expected damping force, and adjust the damping force of the electronically controlled shock absorber according to the target current value.

[0132] A damping force adjustment device for an electronically controlled shock absorber provided in an embodiment of the present application has the same beneficial effects as the damping force adjustment method for an electronically controlled shock absorber described above.

[0133] In one embodiment, the second determination module 630 includes:

[0134] The first condition judgment submodule is used to determine whether the vehicle motion state meets the preset conditions;

[0135] A first predicted displacement value determination submodule, configured to determine a predicted displacement value of an abnormal wheel height sensor according to actual displacement values ​​of each normal wheel height sensor if the vehicle motion state satisfies a preset condition;

[0136] The first predicted damper speed determination submodule is used to determine the predicted damper speed corresponding to the abnormal wheel height sensor according to the predicted displacement value.

[0137] In one embodiment, a damping force adjustment device for an electronically controlled shock absorber further includes:

[0138] The second condition judgment submodule is used to determine the road surface flatness of the driving road on which the vehicle is located if the vehicle motion state does not meet the condition, and determine whether the road surface flatness is greater than a preset flatness threshold;

[0139] The second predicted damper speed determination submodule is used to set the predicted damper speed of the abnormal wheel height sensor according to the maximum damper speed if the road surface roughness is greater than a preset roughness threshold.

[0140] In one embodiment, a damping force adjustment device for an electronically controlled shock absorber further includes:

[0141] a first actual displacement value determination submodule, configured to determine an actual displacement value corresponding to a normal wheel height sensor coaxial with the abnormal wheel height sensor if the road surface flatness is less than or equal to a preset flatness threshold;

[0142] The third predicted shock absorber speed determination submodule is used to determine the predicted displacement value of the abnormal wheel height sensor according to the actual displacement value, and to determine the predicted shock absorber speed corresponding to the abnormal wheel height sensor according to the predicted displacement value.

[0143] In one embodiment, the first predicted displacement value determination submodule includes:

[0144] The predicted displacement value determination unit is used to determine the predicted displacement value of the abnormal wheel height sensor according to the actual displacement value of each normal wheel height sensor and the weight coefficient corresponding to each normal wheel height sensor.

[0145] In one embodiment, the vehicle motion state includes the vehicle body motion direction, the vehicle body acceleration direction, the wheel motion direction and the wheel acceleration direction; the first condition judgment submodule includes:

[0146] The first condition judgment unit is used to determine that the vehicle motion state meets the preset condition if the directions of multiple body accelerations of the vehicle are the same, and the body movement direction, wheel movement direction and wheel acceleration direction are the same; otherwise, determine that the vehicle motion state does not meet the preset condition.

[0147] In one embodiment, the second determination module 630 includes:

[0148] A delay duration determination submodule is used to determine a target delay duration of the vehicle;

[0149] A second actual displacement value determination submodule, used to determine an actual displacement value corresponding to a normal wheel height sensor of a front axle of the vehicle;

[0150] A second predicted displacement value determination submodule is used to delay the actual displacement value by a target delay time and then assign it to the predicted displacement value of the abnormal wheel height sensor;

[0151] The fourth predicted shock absorber speed determination submodule is used to determine the predicted shock absorber speed corresponding to the abnormal wheel height sensor according to the predicted displacement value.

[0152] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0153] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0154] Figure 7 A schematic diagram of the structure of a controller provided in an embodiment of the present application. Figure 7 As shown, the controller 700 of this embodiment includes a memory 701, a processor 702, and a computer program 703 stored in the memory 701 and executable on the processor 702; when the processor 702 executes the computer program 703, the steps in the damping force adjustment method embodiments of the above-mentioned electronically controlled shock absorber are implemented; or when the processor 702 executes the computer program 703, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0155] Exemplarily, the computer program 703 may be divided into one or more modules / units, one or more modules / units are stored in the memory 701, and are executed by the processor 702 to implement the method of the embodiment of the present application. One or more modules / units may be a series of computer program instruction segments that can perform specific functions, and the instruction segments are used to describe the execution process of the computer program 703 in the controller 700. For example, the computer program 703 may be divided into a detection module, a first determination module, a second determination module, and an adjustment module, and the specific functions of each module are as follows:

[0156] a detection module, for determining an abnormal sensor position of an abnormal wheel height sensor after detecting a control instruction of an electronically controlled detector;

[0157] a first determination module, configured to determine a predicted shock absorber speed corresponding to the abnormal wheel height sensor according to a vehicle motion state if the abnormal sensor position is a front axle position;

[0158] a second determination module, for determining a predicted shock absorber speed corresponding to the abnormal wheel height sensor according to an actual displacement value corresponding to a normal wheel height sensor of a front axle of the vehicle if the abnormal sensor position is at a rear axle position;

[0159] The regulating module is used to determine a target current value according to the predicted shock absorber speed and the expected damping force, and to regulate the damping force of the electronically controlled shock absorber according to the target current value.

[0160] The controller 700 may include but is not limited to a memory 701 and a processor 702. Those skilled in the art will appreciate that Figure 7 It is only an example of a controller and does not constitute a limitation of the controller. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the controller may also include input and output devices, network access devices, buses, etc.; wherein the input and output devices may include cameras, audio acquisition / playback devices, display screens, etc.; the network access device may include a communication module for wireless communication with external devices.

[0161] In applications, the controller may be an electronic control unit (ECU) or a body control module (BCM), which is not limited in this embodiment.

[0162] In applications, the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0163] In applications, the memory can be the controller's internal storage unit, such as the controller's hard disk or memory; it can also be the controller's external storage device, such as the controller's plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc.; it can also include both the controller's internal storage unit and external storage device. The memory is used to store operating systems, applications, boot loaders, data, and other programs, such as the program code of computer programs. The memory can also be used to temporarily store data that has been output or is about to be output.

[0164] The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0165] The present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of each of the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying the computer program code to the controller, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, RandomAccess Memory), an electrical carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk.

[0166] A computer-readable storage medium provided in an embodiment of the present application has the same beneficial effects as the damping force adjustment method of the above-mentioned electronically controlled shock absorber.

[0167] An embodiment of the present application also provides a vehicle, including a vehicle body and a controller, which executes the steps in the above-mentioned method embodiments.

[0168] The vehicle may be any type of vehicle, such as a fuel vehicle, a battery electric vehicle (BEV), or a hybrid vehicle (Hybrid Vehicle), etc. In this embodiment, the vehicle includes a vehicle body and a controller, and the controller can implement the steps of the damping force adjustment method of the electronically controlled shock absorber in the above embodiment.

[0169] A vehicle provided in an embodiment of the present application has the same beneficial effects as the damping force adjustment method of the above-mentioned electronically controlled shock absorber.

[0170] An embodiment of the present application further provides a computer program product, including a computer program, which can implement the steps in the above-mentioned method embodiments when executed by a processor.

[0171] A computer program product provided in an embodiment of the present application has the same beneficial effects as the damping force adjustment method of the above-mentioned electronically controlled shock absorber.

[0172] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0173] Those of ordinary skill in the art will appreciate that the devices and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software 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 be beyond the scope of this application.

[0174] In the 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. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interface, indirect coupling or communication connection of devices, which can be electrical, mechanical or other forms.

[0175] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A damping force adjustment method for an electronically controlled shock absorber, characterized in that: The method comprises: After detecting the control command of the electronically controlled detector, determining the abnormal sensor position of the abnormal wheel height sensor; If the abnormal sensor position is the front axle position, determining a predicted shock absorber speed corresponding to the abnormal wheel height sensor according to the vehicle motion state; If the abnormal sensor position is the rear axle position, determining the predicted shock absorber speed corresponding to the abnormal wheel height sensor according to the actual displacement value corresponding to the normal wheel height sensor of the front axle of the vehicle; A target current value is determined according to the predicted shock absorber speed and the expected damping force, and the damping force of the electronically controlled shock absorber is adjusted according to the target current value.

2. The method according to claim 1, characterized in that The step of determining the predicted shock absorber speed corresponding to the abnormal wheel height sensor according to the vehicle motion state includes: Determining whether the vehicle motion state meets a preset condition; If the vehicle motion state satisfies a preset condition, determining a predicted displacement value of the abnormal wheel height sensor according to the actual displacement value of each normal wheel height sensor; A predicted damper speed corresponding to the abnormal wheel height sensor is determined based on the predicted displacement value.

3. The method according to claim 2, characterized in that The method further comprises: If the vehicle motion state does not satisfy the condition, determining the road surface flatness of the driving road on which the vehicle is located, and determining whether the road surface flatness is greater than a preset flatness threshold; If the road surface roughness is greater than a preset roughness threshold, a predicted shock absorber speed of the abnormal wheel height sensor is set according to a maximum shock absorber speed.

4. The method according to claim 3, characterized in that After determining the road surface flatness of the driving road on which the vehicle is located if the vehicle motion state does not satisfy the condition and determining whether the road surface flatness is greater than a preset flatness threshold, the method further includes: If the road surface flatness is less than or equal to a preset flatness threshold, determining an actual displacement value corresponding to a normal wheel height sensor coaxial with the abnormal wheel height sensor; A predicted displacement value of the abnormal wheel height sensor is determined according to the actual displacement value, and a predicted damper speed corresponding to the abnormal wheel height sensor is determined according to the predicted displacement value.

5. The method according to claim 2, characterized in that: The step of determining the predicted displacement value of the abnormal wheel height sensor according to the actual displacement value of each normal wheel height sensor comprises: The predicted displacement value of the abnormal wheel height sensor is determined according to the actual displacement value of each normal wheel height sensor and the weight coefficient corresponding to each normal wheel height sensor.

6. The method according to claim 2, characterized in that The vehicle motion state includes a vehicle body motion direction, a vehicle body acceleration direction, a wheel motion direction, and a wheel acceleration direction; and determining whether the vehicle motion state satisfies a preset condition includes: If the directions of the multiple body accelerations of the vehicle are the same, and the body motion direction, the wheel motion direction and the wheel acceleration direction are the same, then it is determined that the vehicle motion state meets the preset condition; Otherwise, it is determined that the vehicle motion state does not satisfy the preset condition.

7. The method according to any one of claims 1 to 6, characterized in that: The step of determining the predicted shock absorber speed corresponding to the abnormal wheel height sensor according to the actual displacement value corresponding to the normal wheel height sensor of the front axle of the vehicle comprises: Determining a target delay duration for the vehicle; Determine an actual displacement value corresponding to a normal wheel height sensor of a front axle of the vehicle; After delaying the actual displacement value by the target delay time, assigning the actual displacement value to the predicted displacement value of the abnormal wheel height sensor; A predicted damper speed corresponding to the abnormal wheel height sensor is determined based on the predicted displacement value.

8. A controller comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

9. A vehicle, comprising a vehicle body, characterized in that: It also includes a controller, which executes the steps of the method according to any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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