Vehicle attitude control method and control system

Abstract

The invention provides a vehicle attitude control method and system, and the method comprises the steps: obtaining current vehicle speed information and curve information in a vehicle navigation map, and judging whether the vehicle speed information and the curve information meet set values or not; if yes, the height of the air suspension of the inner wheel is reduced or the height of the air suspension of the outer wheel is increased according to the turning direction of the vehicle; and if not, refreshing the obtained vehicle speed information and curve information. The suspension is adjusted in real time according to different vehicle speeds and curve conditions, the curve information in the navigation map is combined, the turning requirement is predicted, the air suspension is actively controlled to make adjustment in advance, the posture of the vehicle body is actively controlled, and the problems that the vehicle body is unstable and the riding comfort is insufficient due to vehicle turning side tipping are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of air suspension, and in particular to a vehicle posture control method and a control system. Background Art

[0002] With the continuous development of automobile technology and the increasing demand for vehicle comfort, more and more automobile manufacturers are configuring air suspension as a standard product of chassis technology. As a new type of suspension system, the air suspension system also needs to deal with the centrifugal force and roll problem when the vehicle turns.

[0003] The existing method of dealing with vehicle roll is mainly to add a lateral stabilizer bar to adjust the body posture. During the cornering process, the stabilizer bar is subjected to shear force, and its own elastic force will make the stabilizer bar tend to return to its original state, thereby reducing the roll angle of the body and improving the body stability. Therefore, in order to improve the stability of the entire body and ensure the riding comfort of passengers, it is necessary to improve this situation according to the characteristics of the air suspension itself.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present invention and does not constitute any limitation to the present invention. Summary of the invention

[0005] In view of the above shortcomings of the prior art, the present invention provides a vehicle posture control method and control system, which adjusts the suspension in real time according to different vehicle speeds and curve conditions, combines the curve information in the navigation map, predicts the turning demand, and actively controls the air suspension to make adjustments in advance, thereby achieving active control of the vehicle body posture to solve the problems of vehicle body instability and insufficient ride comfort caused by vehicle turning and roll.

[0006] The present invention provides a vehicle posture control method, comprising:

[0007] Obtain the current vehicle speed information and the curve information in the vehicle navigation map, and determine whether the vehicle speed information and the curve information meet the set values;

[0008] If the conditions are met, the air suspension height of the inner wheel is lowered or the air suspension height of the outer wheel is raised according to the turning direction of the vehicle;

[0009] If not satisfied, the acquired vehicle speed information and curve information are refreshed.

[0010] In one embodiment of the present invention, obtaining current vehicle speed information and curve information in the vehicle navigation map includes: determining vehicle speed information based on a wheel speed sensor; and determining a turning radius and a curve length based on the curve information in the vehicle navigation map.

[0011] In one embodiment of the present invention, determining whether the vehicle speed information and the curve information meet the set values ​​includes: determining whether the current vehicle speed is not less than the speed set value; determining whether the turning radius is less than the radius set value; determining whether the curve length is greater than the length set value; and determining to continue to execute the vehicle posture control step after the judgment conditions of the current vehicle speed, turning radius and curve length are met at the same time.

[0012] In one embodiment of the present invention, the parameters among the speed setting value, radius setting value and length setting value corresponding to the current vehicle speed, turning radius and curve length have a positive correlation.

[0013] In one embodiment of the present invention, lowering the air suspension height of the inner wheel or raising the air suspension height of the outer wheel according to the turning direction of the vehicle includes: obtaining the current position height of the vehicle's air suspension and the turning direction of the vehicle; determining the position height of the air suspension that needs to be adjusted in the turning direction of the vehicle; and determining to lower the air suspension height of the inner wheel in the turning direction of the vehicle or raise the air suspension height of the outer wheel in the turning direction of the vehicle based on the current position height of the air suspension and the position height that needs to be adjusted.

[0014] In one embodiment of the present invention, the current position height and the position height to be adjusted of the air suspension include a plurality of gears, and the current position height and the position height to be adjusted are adjacent gears.

[0015] In one embodiment of the present invention, determining the height of the position of the air suspension that needs to be adjusted in the turning direction of the vehicle includes: determining that the height of the outer air suspension of the vehicle in the turning direction is greater than the height of the inner air suspension; and lowering the height of the outer air suspension in the turning direction of the vehicle.

[0016] In one embodiment of the present invention, after lowering the air suspension height of the inner wheels in the turning direction of the vehicle or raising the air suspension height of the outer wheels in the turning direction of the vehicle, it includes: acquiring the current position information of the vehicle in the vehicle navigation map; determining whether the current position of the vehicle leaves the curved road section in the vehicle navigation map; and determining to restore the vehicle air suspension to the initial height based on the vehicle leaving the curved road section in the vehicle navigation map.

[0017] In one embodiment of the present invention, refreshing the acquired vehicle speed information and curve information includes: repeatedly acquiring the current vehicle speed information and curve information in the vehicle navigation map based on a set period; when the vehicle speed information and curve information meet the set values, executing subsequent steps and pausing the acquisition of the vehicle speed information and curve information.

[0018] The present invention provides a vehicle posture control system, comprising:

[0019] A navigation map unit, which is used to determine the current position of the vehicle in the vehicle navigation map and to feedback the curve information on the vehicle's driving path in the vehicle navigation map; and

[0020] The electronic control unit is used to obtain current vehicle speed information and execute the above-mentioned vehicle posture control method according to the curve information provided by the navigation map unit.

[0021] The beneficial effects of the present invention are as follows: the vehicle speed information and curve information are obtained to infer the roll condition that the vehicle will enter, and accordingly the air suspension height of the inner and outer wheels is actively adjusted to reduce the roll and improve the stability when turning. The vehicle body posture is actively controlled to reduce unnecessary vibration and uncomfortable driving experience, and enhance the comfort of the driver and passengers. The suspension is adjusted in real time according to different vehicle speeds and curve conditions. Combined with the curve information in the navigation map, the need for turning can be accurately predicted, and adjustments can be made in advance to improve driving stability.

[0022] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present invention, and together with the specification, are used to explain the principles of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0024] Figure 1 is a flow chart of a method for controlling vehicle posture of the present invention;

[0025] Figure 2 A logic diagram of a method for controlling a vehicle posture according to the present invention;

[0026] Figure 3 It is a structural diagram of the control system of the vehicle posture of the present invention. DETAILED DESCRIPTION

[0027] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied by other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the features in the following embodiments and embodiments can be combined with each other without conflict. It should also be understood that the terms used in the embodiments of the present invention are to describe specific specific embodiments, rather than to limit the scope of protection of the present invention.

[0028] See also Figures 1 to 3 . It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings in this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any structural modification, change in proportional relationship, or adjustment of size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical content disclosed by the present invention. At the same time, the terms such as position and quantitative relationship cited in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0029] See also Figure 1 The present invention provides a method for controlling vehicle posture, comprising: obtaining current vehicle speed information and curve information in a vehicle navigation map, and judging whether the vehicle speed information and the curve information meet set values; if so, lowering the air suspension height of the inner wheel or raising the air suspension height of the outer wheel according to the turning direction of the vehicle; if not, refreshing the obtained vehicle speed information and curve information.

[0030] Specifically, the vehicle speed information can be obtained by monitoring the current driving speed in real time through the vehicle speed sensor. The curve information is obtained through the map database of the car navigation, such as the curve radius and the curve length of the current driving section. By setting a reasonable speed range and curve characteristics such as curve radius, turning angle, etc., when the speed information and curve information meet the set conditions, the adjustment of the air suspension height is triggered. For example, if the vehicle speed exceeds a certain threshold and the radius of the curve is less than a certain value, it indicates that the curve is a sharper curve and the vehicle roll needs to be actively reduced to maintain the riding experience. The same threshold setting can be adjusted according to different vehicle models, road conditions and driving needs, which will not be elaborated here.

[0031] More specifically, after the set conditions for vehicle posture adjustment are met, the suspension height of the inner wheel is lowered by adjustment, that is, when turning, since the load on the inner wheel is usually smaller, in order to further reduce the roll of the vehicle body, the air suspension height of the inner wheel can be lowered to reduce the suspension pressure of the inner wheel and optimize the turning performance. Alternatively, the suspension height of the outer wheel can be raised, that is, since the centrifugal force on the outer wheel is larger, in order to avoid the roll of the vehicle body, the suspension height of the outer wheel can be raised to increase the stability and support of the outer wheel and improve the balance of the vehicle.

[0032] When the set conditions for vehicle posture adjustment are not met, the vehicle speed and curve information are refreshed to continue monitoring the vehicle speed and curve information, and make judgments and adjustments based on the new data, ensuring that the vehicle does not affect comfort or safety due to excessive adjustments during driving.

[0033] It should be noted that the roll degree of the vehicle can be inferred based on the acquired vehicle speed information and curve information, and the air suspension can be actively adjusted accordingly to balance the roll condition of the vehicle, because the specific parameters of the vehicle speed information and curve information are correlated with the vehicle roll condition. In the embodiment of the present invention, it is not necessary to calculate the specific roll degree value of the vehicle based on the vehicle speed information and curve information, but to directly judge the parameters of the vehicle speed information and curve information as dependent variables based on the existing calculation process such as the calculation formula to decide whether to perform active adjustment of the air suspension and realize the control of the vehicle posture. At the same time, it also reduces the processing load of the vehicle system and optimizes the control steps of the vehicle posture.

[0034] In this way, by actively adjusting the air suspension height of the inner and outer wheels, the roll can be significantly reduced and the stability when cornering can be improved. The vehicle body posture can be actively controlled to reduce unnecessary vibration and uncomfortable driving experience, and enhance the comfort of the driver and passengers. The suspension can be adjusted in real time according to different vehicle speeds and curve conditions, and the system has strong adaptive capabilities. Combined with the curve information in the navigation map, the need for turning can be accurately predicted, and adjustments can be made in advance to improve driving safety.

[0035] In one embodiment, obtaining the current vehicle speed information and the curve information in the vehicle navigation map includes: determining the vehicle speed information based on the wheel speed sensor; and determining the turning radius and the curve length based on the curve information in the vehicle navigation map.

[0036] Specifically, in the embodiment of the present invention, the vehicle speed information is obtained by reading the data of the wheel speed sensor, and the values ​​of the curve radius and the curve length in the curve information are obtained through the map database or image size in the vehicle navigation map. In this way, by combining the current vehicle speed and the radius, length and other information of the curve, it is possible to accurately determine whether the vehicle body posture adjustment is required. For example, when the vehicle speed is too fast and is about to enter a curve, the system may lower the inner suspension in advance and raise the outer suspension to overcome the vehicle roll and maintain stability.

[0037] See also Figure 1 and Figure 2 In one embodiment, determining whether the vehicle speed information and the curve information meet the set values ​​includes: determining whether the current vehicle speed is not less than the speed set value; determining whether the turning radius is less than the radius set value; determining whether the curve length is greater than the length set value; and determining to continue to execute the vehicle posture control step after the judgment conditions of the current vehicle speed, turning radius and curve length are met at the same time.

[0038] Furthermore, the parameters among the speed setting value, radius setting value and length setting value corresponding to the current vehicle speed, turning radius and curve length have a positive correlation.

[0039] Specifically, in an embodiment of the present invention, it can be determined by judging whether the current vehicle speed is not less than a speed setting value, such as 80 km / h; judging whether the turning radius is less than a radius setting value, such as 1000 m; judging whether the curve length is greater than a length setting value, such as 1000 m; in this way, after the set values ​​of the three conditions are met, the control steps for executing the vehicle posture can be determined, and the air suspension can be actively adjusted to cope with the roll condition of the vehicle when turning.

[0040] More specifically, the positive correlation between the speed setting value, radius setting value and length setting value corresponding to the current vehicle speed, turning radius and curve length, that is, in the triggering condition of the vehicle posture control method, when the vehicle speed increases, the setting values ​​of the corresponding curve radius and curve length are also increased synchronously to ensure compliance with the triggering logic of the vehicle posture control. For example, when the vehicle speed increases and the setting values ​​of the curve radius and curve length do not increase or decrease, the corresponding actual vehicle condition may be in an accelerated cornering condition (involving dangerous driving behavior), and such special cases are not within the scope of the vehicle posture control purpose involved in the embodiments of the present invention. Similarly, when the vehicle speed decreases and the setting values ​​of the curve radius and curve length remain unchanged or increase, it can be seen that the roll force on the vehicle will be reduced, that is, compared with the normal setting value, the corresponding roll triggers the active suspension adjustment to perform vehicle posture control, and the corresponding roll degree is reduced, so there is no need to perform vehicle posture control.

[0041] Furthermore, the curve length and curve radius in the curve information are marked in the car navigation map, which can also be obtained through the parties involved in the road design. The three variables used for judgment, namely, the curve length, curve radius and current speed, must meet the requirements at the same time. There is no priority in the judgment logic, but there is a sequence in the judgment process of the vehicle control module.

[0042] Furthermore, for example, the minimum turning angle of a highway is about 5-10°. If the curve is not long enough, the corresponding passing time is short. Combined with the air suspension adjustment time and the time for the roll feedback to the occupants, there is no need to actively adjust the air suspension for vehicle posture control. For example, under the highway working condition with a design speed of 120km / h (33.3m / s), the minimum flat curve radius is generally 1000 meters (the corresponding length of the 5-10° curve path is about 87-174m, and the passing time is about 2-6s); when the design speed is 100km / h (27.7m / s), the minimum flat curve radius is usually 700 meters (the corresponding length of the 5-10° curve is about 61-122m, and the passing time is about 2-5s); when the design speed is 80km / h (22.2m / s), the minimum flat curve radius is about 400 meters (the corresponding length of the 5-10° curve is 35-70m, and the passing time is 2-3s). At the same time, the active suspension has an action time of about 1s during the adjustment process, and it also needs to be reset after the corner is completed. Therefore, when the set values ​​of vehicle speed, curve radius and curve length are not met at the same time, the active adjustment of the air suspension does not match the vehicle's roll process, which will also cause roll effect.

[0043] In this way, by setting specific parameters corresponding to the current vehicle speed, turning radius and curve length, and then executing the step of actively adjusting the air suspension when all three conditional parameters are met, the effect of vehicle posture control is ensured.

[0044] In one embodiment, lowering the air suspension height of the inner wheel or raising the air suspension height of the outer wheel according to the turning direction of the vehicle includes: obtaining the current position height of the vehicle's air suspension and the turning direction of the vehicle; determining the position height of the air suspension that needs to be adjusted in the turning direction of the vehicle; and determining to lower the air suspension height of the inner wheel in the turning direction of the vehicle or raise the air suspension height of the outer wheel in the turning direction of the vehicle based on the current position height of the air suspension and the position height that needs to be adjusted.

[0045] Further, the current position height and the position height to be adjusted of the air suspension include multiple gears, and the current position height and the position height to be adjusted are adjacent gears.

[0046] Specifically, in an embodiment of the present invention, the air suspension system usually monitors the height of each wheel in real time through a sensor and manages it through a corresponding control unit. The current position height is usually divided into multiple gears, such as low gear, mid-range, high gear, etc. Each gear represents a specific suspension height. For example, the specific gear of the current suspension can be obtained by reading sensor data (such as a pressure sensor, a position sensor, etc.). The turning direction of the vehicle is determined by the on-board steering wheel angle sensor, the front wheel angle, GPS data or other sensors (such as a gyroscope). And the suspension height adjustment of the inner and outer wheels is determined according to the turning direction of the vehicle. When turning left, the left side is the inner wheel and the right side is the outer wheel; the right turn is the opposite. When the vehicle turns, in order to reduce the roll of the body, the suspension adjustment of the inner and outer wheels in the turning direction is required. Inner wheel (inner side of the curve direction): It is usually necessary to lower the suspension height of the inner wheel. Because the center of gravity of the vehicle will shift to the outside when turning, lowering the height of the inner wheel helps to reduce the tilt of the body and improve stability. Outer wheel (outer side of the curve direction): It is usually necessary to increase the suspension height of the outer wheel. By raising the outer wheels, the support force of the outer wheels can be increased, helping the vehicle to remain stable and avoid rolling.

[0047] The height of the air suspension is usually expressed in gears, and different gears correspond to different air compression states, which determines the height of the suspension. Usually, the height of the suspension is divided into multiple gears from low to high (for example: gear 1 is the lowest gear, and gear 5 is the highest gear). According to the difference between the current suspension height and the target suspension height, select the appropriate gear for adjustment. After obtaining the current suspension position height, first determine the direction of the vehicle's turn. If it is determined to enter a left turn, it is necessary to lower the suspension height of the left wheel and increase the suspension height of the right wheel; conversely, if it is a right turn, the left wheel is raised and the right wheel is lowered. Since the air suspension is usually divided into multiple gears, the gear to be adjusted is determined according to the difference between the current position and the target position. Usually, adjacent gears can be selected for adjustment to avoid discomfort or instability caused by over-adjustment.

[0048] More specifically, the height of the vehicle body on the corresponding side is set by a height sensor through the air suspension, and the air spring is adjusted by lowering or increasing the height. For example, when the current position of the air suspension as a whole in the vehicle is at the highest, high, standard and low positions, the air suspension of the inner wheel is controlled to drop one height; when the current position of the air suspension as a whole in the vehicle is at the lowest position, the air suspension of the outer wheel is controlled to rise to a low state, so as to achieve the purpose of controlling the vehicle body posture.

[0049] In one embodiment, determining the height of the position of the air suspension that needs to be adjusted in the turning direction of the vehicle includes: determining that the outer air suspension height of the vehicle in the turning direction is greater than the inner air suspension height; and lowering the outer air suspension height in the turning direction of the vehicle.

[0050] Specifically, in the embodiment of the present invention, in addition to judging the inside and outside of the vehicle according to the turning direction corresponding to the curve information in the navigation map of the vehicle machine, and adjusting the height position of the air suspension accordingly, the height data of each wheel can also be directly obtained according to the sensor in the air suspension (such as a pressure sensor or a displacement sensor) to monitor the height of the inner and outer wheels in real time. When the vehicle turns, the center of gravity will shift to the outside, so the outer wheel usually needs to be adjusted to a higher height, while the inner wheel should be adjusted to a lower height. That is to say, when the vehicle turns, if the suspension height of the outer wheel is indeed greater than that of the inner wheel, this situation usually means that the vehicle is in a roll state, and the height of each wheel when the vehicle turns is detected by the sensor, and the suspension height of the outer and inner wheels is compared. If the height of the outer wheel is greater than that of the inner wheel, it means that the outer wheel is too high, and the outer wheel is adjusted to lower height. In this way, the process of obtaining the vehicle speed information and the curve information can be skipped, and the roll situation of the vehicle during the turning process can also be balanced.

[0051] In one embodiment, after lowering the air suspension height of the inner wheels in the turning direction of the vehicle or raising the air suspension height of the outer wheels in the turning direction of the vehicle, the method includes: obtaining the current position information of the vehicle in the vehicle navigation map; determining whether the current position of the vehicle leaves the curved road section in the vehicle navigation map; and determining to restore the vehicle air suspension to the initial height based on the vehicle leaving the curved road section in the vehicle navigation map.

[0052] Specifically, the vehicle's GPS or vehicle positioning system obtains the vehicle's latitude and longitude information, as well as the current direction, speed and other data in real time. These data will be transmitted to the vehicle navigation system. The vehicle navigation system will determine whether the vehicle is on a curve based on the real-time position and road information, and provide the relationship between the current position and the navigation map. The vehicle navigation system can identify the curves in the map and compare them with the current position of the vehicle. If the vehicle is in a curve, the air suspension system can start adjustment. The curve information in the map includes the radius, curvature, turning angle, etc. of the curve. This information helps to determine whether it is currently in a curve and the turning amplitude of the curve. According to the vehicle's speed, direction and the curve position of the navigation map, it can be determined whether the vehicle has entered the curve. If the vehicle is in a curve, the air suspension system will adjust the height of the inner and outer wheels according to the direction of the turn (for example: lower the inner wheel and raise the outer wheel) to reduce the body roll and improve stability. Once the vehicle's navigation system detects that the vehicle has left the curve and entered a straight road or a new curve, it will trigger the action of restoring the suspension height. The judgment of leaving the curve can be based on the relative position of the vehicle and the current curve, or based on the real-time data of the navigation system to determine whether the curve has been left. When it is determined that the vehicle has left the curve, the air suspension system will adjust the suspension height by controlling the air compressor and valve to restore it to the initial setting value. The recovery process needs to be smooth to avoid unnecessary shock or discomfort. A smooth transition process can be set to gradually adjust to the initial height instead of immediately returning to the original state, which can avoid discomfort during driving.

[0053] In this way, by combining the car navigation and the vehicle's real-time location data to optimize the dynamic adjustment of the air suspension system, not only can the stability and comfort of the vehicle be improved when turning, but it can also quickly return to the initial suspension height after the vehicle leaves the curve, ensuring the smoothness and safety of the driving experience. The entire system uses real-time road data and dynamic control to maximize the vehicle's controllability and comfort while ensuring the driving experience.

[0054] In one embodiment, refreshing the acquired vehicle speed information and curve information includes: repeatedly acquiring the current vehicle speed information and curve information in the vehicle navigation map based on a set period; when the vehicle speed information and curve information meet the set values, executing subsequent steps and pausing the acquisition of vehicle speed information and curve information.

[0055] Specifically, in an embodiment of the present invention, excessive data updates can be avoided by periodically refreshing vehicle speed information and curve information. This can be achieved using a timer or a periodic task. The current vehicle speed information and curve information in the vehicle navigation are periodically obtained by setting a period (such as every second or every few hundred milliseconds). The cycle selection needs to balance the computing resource reaction time to ensure timely response and not too frequent data processing. For example, the vehicle speed information and curve information are obtained once a second. The vehicle speed data is periodically obtained and it is determined whether the vehicle is in a turning state, and a preliminary judgment is made mainly by detecting the change in vehicle speed (for example, a significant slowdown in vehicle speed usually means that the vehicle enters a curve). The curve information, especially the turning angle and curvature, is obtained through the vehicle navigation system or map data. Within the cycle, the system determines whether the vehicle is in a curve area or is about to enter a curve. A minimum vehicle speed threshold can also be set. Only when the vehicle speed is lower than a certain level (for example, lower than 60km / h), it is considered that the vehicle has entered a curve or is turning. For example, when the vehicle speed is too high, the air suspension may not need to be adjusted. A threshold of curve angle or curvature can also be set. For example, when the vehicle detects that the curve angle is greater than a certain value (such as 30 degrees), the suspension will be adjusted. Curvature information of the curve can help determine the urgency of the curve: sharp curves require stronger suspension adjustment.

[0056] In this way, by combining the vehicle speed information with the curve information, a composite condition is formed. That is, when the vehicle speed is less than a certain value and the curve angle is greater than a threshold, the vehicle is considered to be in a curve where the suspension needs to be adjusted. After the vehicle speed information and the curve information meet the set conditions, the air suspension adjustment steps are started. By adjusting the suspension when the vehicle turns, the driver's driving experience is ensured, while the utilization efficiency of the vehicle control system resources is optimized.

[0057] See also Figure 3 The present invention provides a vehicle posture control system, including a navigation map unit and an electronic control unit. The navigation map unit is used to determine the current position of the vehicle in the vehicle navigation map and to feed back the curve information on the vehicle's driving path in the vehicle navigation map; the electronic control unit is used to obtain the current vehicle speed information and execute the above-mentioned vehicle posture control method according to the curve information provided by the navigation map unit.

[0058] Specifically, in an embodiment of the present invention, the navigation map unit can obtain the current position, driving direction and upcoming curve information of the vehicle in real time through the vehicle-mounted GPS and map data (such as high-definition map data or a vehicle navigation system). By inputting the current position of the vehicle, the geographical information on the current driving path, the curvature and angle of the curve. Feedback to the electronic control unit (ECU) about the curve information on the vehicle's driving path, including the angle and curvature of the curve and the prediction of the vehicle's driving path. The electronic control unit (ECU) is responsible for processing the curve information received from the navigation map unit, and obtaining real-time vehicle speed information at the same time, judging whether the vehicle posture needs to be adjusted (such as air suspension adjustment) based on these data, and executing the posture control command according to the set control algorithm and the dynamic requirements of the vehicle. The electronic control unit receives the curve information, vehicle speed information, and the current posture of the vehicle (for example, obtained through the vehicle height sensor) from the navigation map unit. To output control instructions such as signals for air suspension adjustment (for example, raising the outer wheels and lowering the inner wheels) and other dynamic stability control instructions.

[0059] More specifically, the vehicle posture control system also involves some related units including an air suspension control unit, which is used to receive control signals from the electronic control unit, and by adjusting the pressure of the air suspension airbag, the height of the wheel is changed, thereby adjusting the posture of the vehicle to adapt to the dynamic requirements when turning. For example, the body posture sensor is used to monitor the real-time posture of the vehicle, such as the tilt angle of the vehicle body, the height of the vehicle body, etc. It helps to determine whether the vehicle needs further posture adjustment. The vehicle posture data output by it is transmitted to the electronic control unit. Under the cooperation of the navigation map unit and the electronic control unit, the system not only responds according to the instant curve information, but also can predict the upcoming curve in advance, make posture adjustments in advance, and improve vehicle stability. When driving at high speed, especially in large curves, the suspension system will actively raise the outer wheel and lower the inner wheel to enhance stability; while when driving at low speed (such as urban roads), it focuses more on comfort adjustment to avoid excessive rigidity adjustment. Similarly, the body posture sensor (if any) can also be used to detect the tilt angle of the vehicle in real time, adjust the response sensitivity of the air suspension, ensure that the system can respond quickly, adjust the wheel height, and reduce the roll or shaking of the vehicle body.

[0060] In this way, through an efficient collaboration mechanism, components such as the navigation map unit and the electronic control unit are combined to dynamically and intelligently adjust the vehicle posture according to real-time vehicle speed, curve information and other dynamic data, and optimize the vehicle's roll condition to ensure stability, comfort and safety.

[0061] In summary, the vehicle posture control method and control system provided by the present invention can infer the roll condition that the vehicle will enter by acquiring vehicle speed information and curve information, and actively adjust the air suspension height of the inner and outer wheels accordingly, which can significantly reduce the roll and improve the stability when turning. Active control of the vehicle body posture is achieved, unnecessary vibration and uncomfortable driving experience are reduced, and the comfort of the driver and passengers is enhanced.

[0062] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A method for controlling vehicle posture, characterized in that: include: Obtain the current vehicle speed information and the curve information in the vehicle navigation map, and determine whether the vehicle speed information and the curve information meet the set values; If the conditions are met, the air suspension height of the inner wheel is lowered or the air suspension height of the outer wheel is raised according to the turning direction of the vehicle; If not satisfied, the acquired vehicle speed information and curve information are refreshed.

2. The control method according to claim 1, characterized in that: Obtaining the current vehicle speed information and the curve information in the vehicle navigation map includes: Determining vehicle speed information based on a wheel speed sensor; Determine the turning radius and length of the curve based on the curve information in the vehicle navigation map.

3. The control method according to claim 1, characterized in that: Judging whether the vehicle speed information and the curve information meet the set values ​​includes: Determine whether the current vehicle speed is not less than the speed setting value; Determine whether the turning radius is less than the radius setting value; Determine whether the curve length is greater than the set length value; After the judgment conditions based on the current vehicle speed, turning radius and curve length are met at the same time, it is determined to continue to execute the control step of the vehicle posture.

4. The control method according to claim 3, characterized in that: The parameters among the speed setting value, radius setting value and length setting value corresponding to the current vehicle speed, turning radius and curve length have a positive correlation.

5. The control method according to claim 1, characterized in that: Lowering the air suspension height of the inner wheel or raising the air suspension height of the outer wheel according to the turning direction of the vehicle includes: Get the current position height of the vehicle's air suspension and the vehicle's turning direction; Determine the height of the position where the air suspension needs to be adjusted in the direction of the vehicle's turning; Based on the current position height of the air suspension and the position height to be adjusted, it is determined whether to lower the air suspension height of the inner wheel in the turning direction of the vehicle or to raise the air suspension height of the outer wheel in the turning direction of the vehicle.

6. The control method according to claim 5, characterized in that: The current position height and the position height to be adjusted of the air suspension include multiple gears, and the current position height and the position height to be adjusted are adjacent gears.

7. The control method according to claim 5, characterized in that: The height of the position where the air suspension needs to be adjusted in the direction of the vehicle's turning includes: Determining that the outer air suspension height of the vehicle in the turning direction is greater than the inner air suspension height; Lower the outside air suspension height in the direction the vehicle is turning.

8. The control method according to claim 5, characterized in that: After lowering the air suspension height of the inner wheel in the direction of turning of the vehicle or raising the air suspension height of the outer wheel in the direction of turning of the vehicle, including: Get the vehicle's current location information in the vehicle navigation map; Determine whether the current position of the vehicle leaves the curved road section in the vehicle navigation map; Based on the vehicle leaving the curved road section in the vehicle navigation map, determine to restore the vehicle air suspension to the initial height.

9. The control method according to claim 1, characterized in that: The refreshed vehicle speed information and curve information include: Repeatedly obtain the current vehicle speed information and the curve information in the vehicle navigation map based on a set period; When the vehicle speed information and the curve information meet the set values, the subsequent steps are executed and the acquisition of the vehicle speed information and the curve information is suspended.

10. A vehicle posture control system, characterized in that: include: A navigation map unit, which is used to determine the current position of the vehicle in the vehicle navigation map and to feedback the curve information on the vehicle's driving path in the vehicle navigation map; as well as An electronic control unit is used to obtain current vehicle speed information and execute a vehicle posture control method as described in any one of claims 1 to 9 according to the curve information provided by the navigation map unit.

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