Vehicle, suspension control method, device and system thereof, suspension system and medium

Abstract

The invention discloses a vehicle, a suspension control method, device and system thereof, a suspension system and a medium. The suspension control method comprises the steps that driving information and vehicle body posture information of a vehicle are obtained, the driving information comprises road condition information, and the road condition information comprises the road surface condition capable of representing a to-be-passed road through which the vehicle is about to pass; and according to the driving information and the vehicle body attitude information, controlling a suspension of the vehicle to perform vibration reduction adjustment on the vehicle. According to the suspension control method, by obtaining the road condition information of the to-be-passed road, the road surface condition of the to-be-passed road of the vehicle can be determined in advance, and then vibration reduction adjustment is conducted in combination with the vehicle body posture information, so that when the vehicle passes through the to-be-passed road, the vehicle can adapt to bumping in advance, the stability of the vehicle body is maintained, and the safety of the vehicle is improved. And the vehicle body posture stabilizing effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle vibration reduction, and in particular to a vehicle and a suspension control method, device, system, suspension system and medium thereof. Background Art

[0002] In the related art, when a vehicle is bumped, the suspension height is adjusted to reduce the impact of vibration on the vehicle body posture. This method is passive adaptive control, which can only be adjusted by detecting the tire bounce, and the adjustment effect is delayed. When the vehicle passes through complex roads (such as crossing a slope horizontally), the stabilization effect on the vehicle body posture is limited. Summary of the invention

[0003] The present invention provides a vehicle and a suspension control method, device, system, suspension system and medium thereof to solve at least one of the above-mentioned technical problems.

[0004] A suspension control method for a vehicle of the present invention comprises:

[0005] Acquiring driving information and vehicle posture information of the vehicle, wherein the driving information includes road condition information, and the road condition information includes a road surface condition that can characterize the road to be passed by the vehicle;

[0006] The suspension of the vehicle is controlled according to the driving information and the vehicle body posture information to perform vibration reduction adjustment on the vehicle.

[0007] The above suspension control method can determine in advance the road condition of the road that the vehicle is about to pass by acquiring the road condition information of the road to be passed, and then perform vibration reduction adjustment in combination with the vehicle body posture information, so that the vehicle can adapt to the bumps in advance when passing the road to be passed, thereby maintaining the stability of the vehicle body and improving the stabilization effect of the vehicle body posture.

[0008] In an optional technical solution of the present invention, controlling the suspension of the vehicle to perform vibration reduction adjustment on the vehicle according to the driving information and the vehicle body posture information includes:

[0009] generating a vibration reduction signal according to the driving information and the vehicle body posture information;

[0010] The vibration reduction parameters of the suspension are adjusted according to the vibration reduction signal so that the body posture parameters of the vehicle are within a set posture range, thereby achieving the specific effect of ensuring the stability of the vehicle body.

[0011] In an optional technical solution of the present invention, adjusting the vibration reduction parameters of the vibration reduction assembly of the vehicle according to the vibration reduction signal includes:

[0012] adjusting the elastic stiffness of a first damping member of the suspension to a first target value corresponding to the damping signal, the damping parameter including the elastic stiffness, the first damping member being connected to a wheel of the vehicle; and / or

[0013] adjusting a damping coefficient of a second vibration damping member of the suspension to a second target value corresponding to the vibration damping signal, the vibration damping parameter including the damping coefficient, the second vibration damping member being connected to a wheel of the vehicle; and / or

[0014] The roll angle stiffness of the third damping member of the suspension is adjusted to a third target value corresponding to the damping signal, the damping parameter includes the roll angle stiffness, and the third damping member is connected to the wheel of the vehicle. In this way, the damping adjustment can be performed according to the specific bumpy condition.

[0015] In an optional technical solution of the present invention, the first vibration damping member includes an air spring, and / or the second vibration damping member includes a shock absorber, and / or the third vibration damping member includes a stabilizer bar.

[0016] In an optional technical solution of the present invention, controlling the suspension of the vehicle to perform vibration reduction adjustment on the vehicle according to the driving information and the vehicle body posture information further includes:

[0017] obtaining vehicle motion information of the vehicle;

[0018] After adjusting the vibration reduction parameters of the suspension according to the vibration reduction signal, the vibration reduction parameters of the suspension are adjusted according to the vehicle motion information feedback. In this way, the vibration reduction effect on the vehicle body can be improved.

[0019] In an optional technical solution of the present invention, the vehicle motion information includes at least one of the following:

[0020] The wheel bounce height of the vehicle; the wheel bounce acceleration of the vehicle; the torsion angle of the lateral stabilizer bar of the vehicle.

[0021] In an optional technical solution of the present invention, controlling the suspension of the vehicle to perform vibration reduction adjustment on the vehicle according to the driving information and the vehicle body posture information includes:

[0022] When the vehicle passes the road to be passed in a turning state, the vehicle is subjected to vibration reduction adjustment to increase the roll stiffness of the vehicle on the turning outer side, thereby improving the vibration reduction effect on the vehicle body when the vehicle turns.

[0023] In an optional technical solution of the present invention, the driving information includes at least one of a wheel speed and a driving acceleration of the vehicle, and an adjustment speed when performing vibration reduction adjustment on the vehicle can be determined by at least one of the wheel speed and the driving acceleration; and / or

[0024] The driving information includes steering wheel angle information, and the road to be traveled can be determined by the steering wheel angle information and the road condition information. In this way, the accuracy of vibration reduction adjustment can be improved.

[0025] In an optional technical solution of the present invention, the suspension control method includes:

[0026] When the vehicle is in the automatic driving mode, the suspension is adjusted for vibration reduction according to the road condition information. In this way, the automatic driving of the vehicle can be adapted to improve the riding comfort.

[0027] In an optional technical solution of the present invention, the suspension is an active suspension.

[0028] A suspension control device of the present invention includes a processor, the processor is connected to a memory, the memory stores a computer program, and when the processor executes the computer program, the steps of the suspension control method described in any one of the above technical solutions are implemented.

[0029] The above-mentioned suspension control device can determine in advance the road condition of the road that the vehicle is about to pass by acquiring the road condition information of the road to be passed, and then perform vibration reduction adjustment in combination with the vehicle body posture information, so that the vehicle can adapt to the bumps in advance when passing the road to be passed, thereby maintaining the stability of the vehicle body and improving the stabilization effect of the vehicle body posture.

[0030] A suspension control system of the present invention is used for a vehicle, the suspension control system comprises a first sensor, a second sensor and the suspension control device described in the above technical solution, the first sensor and the second sensor are connected to the suspension control device;

[0031] The first sensor is configured to detect driving information of the vehicle, wherein the driving information includes road condition information, and the road condition information includes a road surface condition that can characterize the road to be passed by the vehicle;

[0032] The second sensor is configured to detect body posture information of the vehicle;

[0033] The suspension control device acquires the driving information from the first sensor and acquires the vehicle body posture information from the second sensor.

[0034] The above-mentioned suspension control system can determine in advance the road condition of the road that the vehicle is about to pass by acquiring the road condition information of the road to be passed, and then perform vibration reduction adjustment in combination with the vehicle body posture information, so that the vehicle can adapt to the bumps in advance when passing the road to be passed, thereby maintaining the stability of the vehicle body and improving the stabilization effect of the vehicle body posture.

[0035] A suspension system of the present invention comprises a suspension and a suspension control device or a suspension control system as described in the above technical solution.

[0036] The above-mentioned suspension system can determine in advance the road condition of the road that the vehicle is about to pass by obtaining the road condition information of the road to be passed, and then perform vibration reduction adjustment in combination with the vehicle body posture information, so that the vehicle can adapt to the bumps in advance when passing the road to be passed, thereby maintaining the stability of the vehicle body and improving the stabilization effect of the vehicle body posture.

[0037] A vehicle of the present invention comprises the suspension control device or suspension control system or suspension system described in the above technical solution.

[0038] The above-mentioned vehicle can determine in advance the road condition of the road that the vehicle is about to pass by obtaining the road condition information of the road to be passed, and then perform vibration reduction adjustment in combination with the vehicle body posture information, so that the vehicle can adapt to the bumps in advance when passing the road to be passed, thereby maintaining the stability of the vehicle body and improving the stabilization effect of the vehicle body posture.

[0039] A computer-readable storage medium of the present invention stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the suspension control method described in any one of the above technical solutions.

[0040] The above-mentioned computer-readable storage medium can determine in advance the road condition of the road that the vehicle is about to pass by acquiring the road condition information of the road to be passed, and then perform vibration reduction adjustment in combination with the vehicle body posture information, so that the vehicle can adapt to the bumps in advance when passing the road to be passed, thereby maintaining the stability of the vehicle body and improving the stabilization effect of the vehicle body posture.

[0041] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0043] Figure 1is a schematic diagram of a scene in which a vehicle is about to pass through a road to be passed according to an embodiment of the present invention;

[0044] Figure 2 is a schematic flow chart of a suspension control method according to an embodiment of the present invention;

[0045] Figure 3 is a schematic diagram of a module of a suspension control system according to an embodiment of the present invention;

[0046] Figure 4 is a partial structural schematic diagram of a vehicle according to an embodiment of the present invention;

[0047] Figure 5 Schematic diagram of the principle of vibration reduction adjustment according to an embodiment of the present invention;

[0048] Figure 6 Schematic diagram of a module of a suspension control device according to an embodiment of the present invention.

[0049] Main markings:

[0050] Vehicle 100, suspension control system 200;

[0051] Suspension 102, first vibration damper 11, second vibration damper 12, third vibration damper 13;

[0052] A first sensor 20, an acceleration sensor 21, a wheel speed sensor 22, a space sensor 23, a steering wheel angle sensor 24; a second sensor 30;

[0053] A third sensor 40, a height position sensor 41, a wheel edge bounce acceleration sensor 42, a stabilizer bar torsion angle sensor 43; a controller 50;

[0054] Wheel 101 , suspension 102 , vehicle body 103 ; suspension control device 210 , memory 201 , processor 202 . DETAILED DESCRIPTION

[0055] In the description of the present invention, some of the disclosed contents have been shown in the accompanying drawings accordingly, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The contents described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0056] In the description of the present invention, many different contents or examples are disclosed to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention.

[0057] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0058] In the description of the present invention, it should be understood that the terms used to indicate orientation or positional relationships (such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc.) are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and facilitating the understanding of the corresponding embodiments, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms used to indicate orientation or positional relationships cannot be understood as limiting the present invention.

[0059] In the description of the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0060] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] Please refer to Figure 1 and Figure 2 , a suspension control method of a vehicle 100 of the present invention may include:

[0062] 01: Acquire driving information and vehicle posture information of the vehicle 100, wherein the driving information includes road condition information, and the road condition information includes a road surface condition that can characterize the road to be passed by the vehicle 100;

[0063] 02: Control the suspension 102 of the vehicle 100 to perform vibration reduction adjustment on the vehicle 100 according to the driving information and the vehicle body posture information.

[0064] The suspension control method of the present invention can be implemented by the suspension control system 200 of the present invention. Figure 3 A suspension control system 200 of the present invention is used for a vehicle 100. The suspension control system 200 may include a first sensor 20, a second sensor 30, and a controller 50. The first sensor 20 and the second sensor 30 may be connected to the controller 50. The first sensor 20 is configured to detect driving information of the vehicle 100. The second sensor 30 is configured to detect body posture information of the vehicle 100. The controller 50 is configured to obtain driving information and body posture information, and control the suspension 102 of the vehicle 100 to adjust the vibration of the vehicle 100 according to the driving information and the body posture information.

[0065] The controller 50 may obtain driving information through the first sensor 20 , and may obtain vehicle body posture information through the second sensor 30 .

[0066] The above-mentioned suspension control method and suspension control system 200 can determine in advance the road condition of the road that the vehicle 100 is about to pass by acquiring the road condition information of the road to be passed, and then perform vibration reduction adjustment in combination with the vehicle body posture information, so that the vehicle 100 can adapt to the bumps in advance when passing the road to be passed, thereby maintaining the stability of the vehicle body 103 and improving the stabilization effect of the vehicle body posture.

[0067] Specifically, in Figure 1 In the example, the vehicle 100 is traveling in the corresponding driving direction and is about to pass the road to be passed. The road to be passed may be located in the driving direction. In this case, the vehicle 100 may obtain the road surface condition of the road to be passed and form road condition information. The road condition information may be used to determine the road surface type of the road to be passed. The inclination and unevenness of the road to be passed may be determined according to the road surface type. In some cases, the road surface type may include a highway, a twisted road, a washboard road, and an off-road non-paved road.

[0068] It can be understood that after obtaining the road condition information, the body posture of the vehicle 100 can be adjusted in advance according to the road condition of the road to be passed, so that when the vehicle 100 passes through the road to be passed, the body 103 can still maintain stability. Compared with related technologies, the problem of adjustment lag can be avoided, and the stability effect of the vehicle 100 can be improved, and users in the vehicle 100 can have better riding comfort.

[0069] The driving information may include relevant information of the vehicle 100 during driving. Part of the driving information can be used to determine the driving state of the vehicle 100, and part of the driving information can also be used to determine the characteristics of the surrounding environment of the vehicle 100.

[0070] exist Figure 3 In the embodiment, the first sensor 20 may include a spatial sensor 23. The visual perception and scanning device may obtain an image of the road to be passed through reflection of the image acquisition, and may obtain a three-dimensional point map of the road to be passed through by radar scanning. By combining the image and the three-dimensional point map, the inclination and concave-convex condition of the road to be passed may be determined. The spatial sensor 23 may include at least one of an image sensor and a laser radar.

[0071] Please combine Figure 4 ,exist Figure 4 In the embodiment, the vehicle 100 may include a wheel 101, a suspension 102 and a vehicle body 103. The wheel 101 may be rotatably connected to the suspension 102. The suspension 102 may be fixedly connected or movably connected to the vehicle body 103. When the wheel 101 is vibrated, the suspension 102 may absorb and / or reduce the vibration of the wheel 101 between the wheel 101 and the vehicle body 103, thereby ultimately reducing the vibration transmitted from the wheel 101 to the vehicle body 103, reducing the vibration effect on the vehicle body 103, and making the vehicle body 103 more stable.

[0072] In some cases, the vehicle 100 may include a gyroscope (not shown). The gyroscope may detect the body posture of the vehicle 100 and may output body posture information. The body posture information may include the spatial orientation of the body 103. The spatial orientation of the body 103 may include one or more directions relative to the direction of gravity.

[0073] Based on the above, please combine Figure 5 ,exist Figure 5 In the above example, X1 can be represented as the current posture of the vehicle body 103 determined according to the vehicle body posture information. After the driving information is obtained, it can be determined according to the driving information that when the vehicle 100 passes through the road to be passed, the posture of the vehicle body 103 will change to X2, that is, the vehicle body 103 will vibrate and tilt to a large extent due to vibration. In this case, the driving information and the vehicle body posture information can be combined to adjust the vibration of the vehicle body 103. Figure 5 In the embodiment, the posture of the vehicle body 103 can be changed to X3. In this way, when the vehicle 100 passes through the road to be passed, the vehicle body 103 is subjected to corresponding vibrations, and its posture will be changed to X1, that is, the posture of the vehicle body 103 when the vehicle 100 is about to pass through the road to be passed, so that the vehicle body 103 can maintain stability.

[0074] It should be pointed out that Figure 5 The situation shown mainly shows part of the theoretical process of the present invention. In practical application, considering the information deviation and adjustment error, the vibration reduction adjustment of the vehicle body 103 can be made so that the vibration and deviation of the vehicle body 103 are within the expected range, or in other words, Figure 5 A certain offset range is set on the basis of the middle X1 posture, and it is permissible for the vehicle body 103 to shake and / or tilt within this offset range, because at this time the vehicle body 103 has a relatively high stability.

[0075] in addition, Figure 5 The situation shown may correspond to a situation when the vehicle 100 rolls over, or may correspond to a situation when the vehicle 100 goes uphill or downhill.

[0076] In the present invention, step 02 (controlling the suspension 102 of the vehicle 100 to perform vibration reduction adjustment on the vehicle 100 according to the driving information and the vehicle body posture information) may include:

[0077] Generate a vibration reduction signal based on driving information and vehicle body posture information;

[0078] The vibration damping parameters of the suspension 102 are adjusted according to the vibration damping signal so that the body posture parameters of the vehicle 100 are within the set posture range.

[0079] The suspension control method of the present invention can be implemented by the suspension control system 200 of the present invention. Figure 3 The controller 50 can be used to: generate a vibration reduction signal according to the driving information and the vehicle body posture information; and adjust the vibration reduction parameters of the suspension 102 according to the vibration reduction signal so that the vehicle body posture parameters of the vehicle 100 are within the set posture range.

[0080] In this way, the specific effect of ensuring the stability of the vehicle body 103 can be achieved.

[0081] Specifically, please combine Figure 1 , Figure 3 and Figure 5 ,exist Figure 3 In the case where the driving information and the vehicle body posture information are obtained, the desired posture of the vehicle body 103 ( Figure 5The desired posture in the vehicle 100 may be X1), and the suspension 102 is adjusted so that the damping parameters of the suspension 102 change accordingly, thereby changing the body posture parameters of the vehicle 100.

[0082] The vehicle body posture parameter can characterize the orientation of the vehicle body 103. The posture of the vehicle body 103 can be determined according to the vehicle body posture parameter. By adjusting the vehicle body posture parameter to be within the set posture range, the vehicle body 103 can be in a desired posture or in a desired posture. The vehicle body posture and the set posture range can be predetermined when the vehicle body 103 is in the desired posture.

[0083] In the present invention, adjusting the vibration damping parameters of the suspension 102 of the vehicle 100 according to the vibration damping signal may include:

[0084] Adjusting the elastic stiffness of the first damping member 11 of the suspension 102 to a first target value corresponding to the damping signal, the damping parameter including the elastic stiffness, the first damping member 11 being connected to the wheel 101 of the vehicle 100; and / or

[0085] Adjusting the damping coefficient of the second vibration damping member 12 of the suspension 102 to a second target value corresponding to the vibration damping signal, the vibration damping parameter including the damping coefficient, the second vibration damping member 12 being connected to the wheel 101 of the vehicle 100; and / or

[0086] The roll angle stiffness of the third shock absorber 13 of the suspension 102 is adjusted to a third target value corresponding to the shock absorption signal, the shock absorption parameter includes the roll angle stiffness, and the third shock absorber 13 is connected to the wheel 101 of the vehicle 100 .

[0087] The suspension control method of the present invention can be implemented by the suspension control system 200 of the present invention. Figure 3 The controller 50 can be used to: adjust the elastic stiffness of the first shock absorber 11 of the suspension 102 to a first target value corresponding to the shock absorption signal, the shock absorption parameters include the elastic stiffness, and the first shock absorber 11 is connected to the wheel 101 of the vehicle 100; and / or adjust the damping coefficient of the second shock absorber 12 of the suspension 102 to a second target value corresponding to the shock absorption signal, the shock absorption parameters include the damping coefficient, the second shock absorber 12 is connected to the wheel 101 of the vehicle 100; and / or adjust the roll angle stiffness of the third shock absorber 13 of the suspension 102 to a third target value corresponding to the shock absorption signal, the shock absorption parameters include the roll angle stiffness, and the third shock absorber 13 is connected to the wheel 101 of the vehicle 100.

[0088] In this way, the vibration reduction can be adjusted according to the specific bumpy conditions.

[0089] Specifically, please combine Figure 3, maintaining the stability of the vehicle body posture can be achieved by adjusting the elastic stiffness of the first shock absorber 11. For the first shock absorber 11, the elastic stiffness can affect the maximum energy that can be absorbed, and can affect the process of absorbing and releasing vibrations. The greater the elastic stiffness, the greater the maximum energy that the first shock absorber 11 can absorb, and the process of absorbing and releasing vibrations may also be shortened accordingly; the smaller the elastic stiffness, the smaller the maximum energy that the first shock absorber 11 can absorb, and the process of absorbing and releasing vibrations may also be prolonged accordingly. For the vehicle 100, the outputted damping signal can be used to instruct the first shock absorber 11 to adjust to a specific elastic stiffness (i.e., a first target value), and the first target value can correspond to making the vehicle body posture parameters of the vehicle 100 within a set posture range.

[0090] Maintaining the stability of the vehicle body posture can be achieved by adjusting the damping coefficient of the second shock absorber 12. For the second shock absorber 12, the damping coefficient can affect the maximum value of converting kinetic energy into mechanical energy. The larger the damping coefficient, the larger the maximum value of the second shock absorber 12 that can convert the kinetic energy of the wheel 101 vibration into mechanical energy; the smaller the damping coefficient, the smaller the maximum value of the second shock absorber 12 that can convert the kinetic energy of the wheel 101 vibration into mechanical energy. For the vehicle 100, the outputted damping signal can be used to instruct the second shock absorber 12 to adjust to a specific damping coefficient (i.e., the second target value), and the second target value can correspond to making the vehicle body posture parameters of the vehicle 100 within the set posture range.

[0091] Maintaining the stability of the vehicle body posture can also be achieved by adjusting the roll angle stiffness of the third shock absorber 13. For the third shock absorber 13, the roll angle stiffness can be the torque required for a unit angle of roll when the vehicle 100 rolls at a small angle. The greater the roll angle stiffness, the more roll moment the third shock absorber 13 can absorb and reduce the roll angle of the vehicle 100; the smaller the roll angle stiffness, the less roll moment the third shock absorber 13 can absorb and increase the roll angle of the vehicle 100. For the vehicle 100, the outputted damping signal can be used to instruct the third shock absorber 13 to adjust to a specific roll angle stiffness (i.e., the third target value), and the third target value can correspond to making the vehicle body posture parameters of the vehicle 100 within the set posture range.

[0092] In addition, in some cases, the suspension 102 may include a first vibration damper 11 and a second vibration damper 12. For the suspension 102, the first vibration damper 11 may be used to adjust the degree of vibration absorption, thereby adjusting the length of the process of vibration transmission to the vehicle body 103, and the second vibration damper 12 may be used to adjust the degree of vibration reduction, thereby changing the vibration amplitude ultimately received by the vehicle body 103. The first vibration damper 11 and the second vibration damper 12 may be adjusted synchronously through the vibration reduction signal, so that the vibration can be reduced by the second vibration damper 12 with a larger amplitude during the process of being absorbed and released by the first vibration damper 11, thereby ensuring the stability of the vehicle body 103. The first vibration damper 11 and the second vibration damper 12 may be connected in series or in parallel.

[0093] Also, for other sensors, the installation positions may be adjusted according to the specific structural type of the suspension 102 .

[0094] On the basis of the above, according to the bumpy conditions of the specific road surface, at least one of the first target value, the second target value and the third target value can be output accordingly, so that at least one of the first shock absorber 11, the second shock absorber 12 and the third shock absorber 13 is adjusted accordingly, so that the vibration reduction effect on the vehicle body posture can match the specific bumpy conditions of the road to be traveled.

[0095] In the present invention, the first vibration damping member 11 may include an air spring, the second vibration damping member 12 may include a shock absorber, and the third vibration damping member 13 may include a stabilizer bar.

[0096] Specifically, in some cases, the suspension 102 or the first damping member 11 may include an air source (not shown). The air source may be connected to an air spring. The air source may supply or exhaust air to the air spring, thereby changing the amount of air in the air spring. Since the total amount of air in the air spring changes the elastic stiffness of the air spring, the elastic stiffness of the first damping member 11 may be adjusted.

[0097] In addition, in some cases, the total amount of air in the air spring will also change the overall length of the air spring. In some application scenarios, such as when there are potholes on the road to be traveled, the overall length of the air spring can be increased by sending air into the air spring, so that the wheel 101 can be further away from the vehicle body 103. When the wheel 101 first enters the pothole, the vehicle 100 can fit the road surface in the pothole as closely as possible, reducing the air time of the wheel 101, and thus reducing the impact on the wheel 101 when it lands. After the wheel 101 enters the pothole, the overall length of the air spring can be reduced by pumping air from the air spring, so that the wheel 101 can be closer to the vehicle body 103. When the wheel 101 is about to leave the pothole, the wheel 101 can be prevented from rising and causing the vehicle body 103 to tilt forward.

[0098] In some cases, the vibration absorber may be an electromagnetic vibration absorber. The electromagnetic vibration absorber may have a magnetic fluid medium. For the electromagnetic vibration absorber, the damping characteristics of the magnetic fluid medium can be changed by adjusting the magnitude of the working current, and then the damping coefficient of the second vibration damping member 12 can be adjusted accordingly.

[0099] In some cases, the stabilizer bar may be disposed near the left and / or right side of the vehicle 100. When the vehicle 100 needs to make a turn, the roll angle stiffness of the stabilizer bar may be adjusted to make the vehicle 100 more or less prone to roll of the vehicle body 103.

[0100] In the present invention, step 02 (controlling the suspension 102 of the vehicle 100 to perform vibration reduction adjustment on the vehicle 100 according to the driving information and the vehicle body posture information) may further include:

[0101] Acquiring vehicle motion information of the vehicle 100;

[0102] After the vibration damping parameters of the suspension 102 are adjusted according to the vibration damping signal, the vibration damping parameters of the suspension 102 are adjusted according to the vehicle motion information feedback.

[0103] The suspension control method of the present invention can be implemented by the suspension control system 200 of the present invention. Figure 3 The suspension control system 200 may include a third sensor 40. The third sensor 40 may be used to detect vehicle motion information. The controller 50 may be used to: obtain vehicle motion information of the vehicle 100; after adjusting the vibration damping parameters of the suspension 102 according to the vibration damping signal, adjust the vibration damping parameters of the suspension 102 according to the vehicle motion information feedback.

[0104] In this way, the vibration reduction effect on the vehicle body 103 can be improved.

[0105] It is understandable that after the vibration reduction adjustment of the vehicle body 103 is performed according to the driving information and the vehicle body posture information, it may be limited or affected by the actual situation, so that the actual result of the vibration reduction adjustment is inconsistent with the expected result. In this case, by detecting the real-time movement of the vehicle 100 and forming the vehicle movement information, the effect of the vibration reduction adjustment can be determined according to the movement of the vehicle 100, and then the vibration reduction parameters can be corrected by feedback adjustment to improve the vibration reduction effect of the vehicle body 103.

[0106] In the present invention, the vehicle motion information includes at least one of the following: wheel bounce height of the vehicle 100 ; wheel bounce acceleration of the vehicle 100 ; and a torsion angle of a stabilizer bar of the vehicle 100 .

[0107] Specifically, please combine Figure 3 ,exist Figure 3In the embodiment, the third sensor 40 may include at least one of a height position sensor 41, a wheel edge bounce acceleration sensor 42, and a stabilizer bar torsion angle sensor 43. The height position sensor 41 may be used to detect the wheel bounce height; the wheel edge bounce acceleration sensor 42 may be used to detect the wheel bounce acceleration; and the stabilizer bar torsion angle sensor 43 may be used to detect the torsion angle of the stabilizer bar. The wheel bounce height and / or the wheel bounce acceleration may be used to determine the vibration bounce of the wheel 101. The stabilizer bar torsion angle may be used to determine the roll of the vehicle 100.

[0108] In the present invention, step 02 (controlling the suspension 102 of the vehicle 100 to perform vibration reduction adjustment on the vehicle 100 according to the driving information and the vehicle body posture information) may include:

[0109] When the vehicle 100 passes through the road to be traveled in a turning state, the vehicle 100 is subjected to vibration damping adjustment to increase the roll stiffness of the vehicle 100 on the turning outer side.

[0110] The suspension control method of the present invention can be implemented by the suspension control system 200 of the present invention. Figure 3 The controller 50 may be used to adjust the vibration of the vehicle 100 to increase the roll stiffness of the vehicle 100 on the turning outer side when the vehicle 100 passes through the road to be traveled in a turning state.

[0111] In this way, the vibration reduction effect on the vehicle body 103 can be improved when the vehicle 100 turns.

[0112] It is understandable that when the vehicle 100 turns, it will tilt toward the outside of the turning direction accordingly. This tilting will cause the vehicle body 103 to vibrate and / or tilt accordingly.

[0113] Specifically, in some cases, the vehicle 100 may include a plurality of suspensions 102. Each wheel 101 may correspond to at least one suspension 102. When the vehicle 100 is turning, the suspension 102 corresponding to the wheel 101 located on the outer side of the turning direction may be controlled to perform vibration reduction adjustment, so that the roll stiffness of the outer side of the turning direction of the vehicle 100 is increased, thereby resisting the roll force generated by the vehicle 100 when turning, so as to improve the vibration reduction effect on the vehicle body 103 when turning.

[0114] The driving information may include the wheel speed or driving acceleration of the vehicle 100. The wheel speed and / or driving acceleration may determine the adjustment speed when the suspension 102 is subjected to vibration damping adjustment.

[0115] The driving information may include steering wheel angle information, which can be used in conjunction with road condition information to determine the road to be traveled.

[0116] In this way, the accuracy of vibration reduction adjustment can be improved.

[0117] Specifically, in some cases, the greater the wheel speed and / or driving acceleration of the vehicle 100, the shorter the time required for the vehicle 100 to reach the road to be passed, and the effect of the vibration reduction adjustment on the body posture needs to take effect faster; the smaller the wheel speed and / or driving acceleration of the vehicle 100, the longer the time required for the vehicle 100 to reach the road to be passed, and the effect of the vibration reduction adjustment on the body posture needs to take effect slower. According to the time required for the vehicle 100 to reach the road to be passed, the adjustment speed of the vibration reduction adjustment on the body 103 can be changed accordingly, which can reduce the occurrence of vibration reduction adjustment lag and avoid vibration before reaching the road to be passed due to excessively fast vibration reduction adjustment.

[0118] In some cases, the steering wheel angle information can be used to determine whether the vehicle 100 is currently going straight or turning. When the road condition information is obtained, if the vehicle 100 is currently going straight according to the steering wheel angle information, the road to be passed can be determined according to the area corresponding to the straight path in the road condition information; if the vehicle 100 is currently turning according to the steering wheel angle information, the road to be passed can be determined according to the area corresponding to the turning path in the road condition information. This can avoid processing data on roads that the vehicle 100 will not pass, which is conducive to improving the response speed and accuracy of vibration reduction adjustment.

[0119] exist Figure 3 In the embodiment, the suspension control system 200 may include an acceleration sensor 21, a wheel speed sensor 22, and a steering wheel angle sensor 24. The suspension control system 200 may detect the driving acceleration of the vehicle 100 through the acceleration sensor 21, and may detect the wheel speed of the vehicle 100 through the wheel speed sensor 22.

[0120] In addition, the area of ​​the road condition information acquired by the vehicle 100 may be adjusted accordingly according to the driving speed of the vehicle 100. Specifically, when the vehicle 100 is moving forward, the road condition information is acquired in a certain area of ​​the road in front of the vehicle 100.

[0121] When the vehicle 100 is traveling at a low speed, the road ahead can be detected in a sector-shaped area, and the driving speed and the sector angle of the sector-shaped area can be negatively correlated, so that when the vehicle speed is low, the detection area can be increased accordingly, and if the vehicle 100 needs to turn, the road condition information of the road to be passed can be obtained in time. The maximum sector angle of the sector-shaped area can be 160°.

[0122] When the vehicle 100 is traveling at a high speed, the road ahead can be detected according to the long strip area, the length direction of the long strip corresponds to the traveling direction of the vehicle 100, the long strip area can be set along the central axis corresponding to the front-rear direction of the vehicle 100, and the driving speed and the width of the long strip area can be negatively correlated, so that when the vehicle speed is high, the road ahead at a long distance can be detected, so as to adapt to the high vehicle speed and perform rapid vibration reduction adjustment. Relative to the fan-shaped area, the angle corresponding to the wide side of the long strip area can be 10°.

[0123] In the present invention, the suspension control method may include:

[0124] When the vehicle 100 is in the automatic driving mode, the vehicle 100 is subjected to vibration reduction adjustment according to the road condition information.

[0125] The suspension control method of the present invention can be implemented by the suspension control system 200 of the present invention. Figure 3 The controller 50 may be used to perform vibration reduction adjustment on the vehicle 100 according to road condition information when the vehicle 100 is in an automatic driving mode.

[0126] In this way, the autonomous driving of the vehicle 100 may be adapted to improve ride comfort.

[0127] It can be understood that when the vehicle 100 is in the automatic driving mode, since the automatic driving mode relies on the corresponding map to be implemented, the driving path of the vehicle 100 can be predetermined and planned according to the map, and thus the road surface that the vehicle 100 is about to pass can be predetermined.

[0128] Specifically, the road type of the road to be traveled can be determined according to the road condition information. When the vehicle 100 travels on a bumpy road, the height of the suspension 102 can be increased to ensure the bounce travel of the suspension 102 to maintain the stability of the vehicle body posture. When the vehicle 100 travels on a good road, the height of the suspension 102 can be lowered to reduce the additional shaking of the vehicle body 103 during driving.

[0129] In addition, when the vehicle 100 is in the automatic driving mode, the vibration reduction adjustment can also be performed accordingly. Specifically, when the vehicle 100 is driving on a bumpy road, the vibration reduction adjustment can be used to increase the maximum up and down bounce travel of the wheel 101 to cooperate with the suspension 102 to maintain the stability of the vehicle body posture. When the vehicle 100 is driving on a good road, the vibration reduction adjustment can be used to increase the roll stiffness of the wheel 101, and then the suspension 102 can be cooperated to reduce the additional shaking of the vehicle body 103.

[0130] In the present invention, the suspension 102 may be an active suspension, so that the suspension 102 can actively reduce vibrations to the vehicle 100, which is beneficial to improving the response speed of the vibration reduction, and further improving the vibration reduction effect.

[0131] In addition, the present invention can embody the corresponding technical concept through the following situations:

[0132] When the vehicle 100 is traveling on a bumpy road, the first sensor 20 located in the driving sensing domain of the vehicle 100 can actively identify road condition information and record the driving speed, acceleration, and steering wheel angle state of the vehicle 100, so as to output a road undulation signal that the vehicle 100 is about to pass through to the controller 50. The controller 50 can obtain the vehicle body posture information through the second sensor 30 located in the vehicle body posture domain, and can obtain the tire bounce height position, bounce acceleration, and stabilizer bar torsion angle through the third sensor 40 located in the suspension 102 bounce sensing domain.

[0133] Combining all the information obtained, the controller 50 can calculate the tire bounce required to maintain the stability of the vehicle body 103 under the current road conditions, and thus output a vibration reduction signal to the air source and electromagnetic shock absorber of the suspension 102 located in the suspension control domain, and adjust them to the appropriate elastic stiffness and damping coefficient respectively, so that the wheel 101 can rebound quickly or slowly according to changes in the road surface after jumping up and down.

[0134] The controller 50 can also determine whether the vehicle body posture is stable based on the vehicle body posture information and the movement state of the wheel 101, so as to continuously adjust the elastic stiffness and damping coefficient of the suspension 102 until the vehicle body posture is stable.

[0135] Please refer to Figure 6 A suspension control device 210 of the present invention may include a processor 202. The processor 202 may be connected to a memory 201. The memory 201 may store a computer program. When the processor 202 executes the computer program, the steps of the suspension control method of the present invention may be implemented.

[0136] For example, when the computer program is executed by the processor 202, the suspension control method that can be implemented includes:

[0137] 01: Acquire driving information and vehicle posture information of the vehicle 100, wherein the driving information includes road condition information, and the road condition information includes a road surface condition that can characterize the road to be passed by the vehicle 100;

[0138] 02: Control the suspension 102 of the vehicle 100 to perform vibration reduction adjustment on the vehicle 100 according to the driving information and the vehicle body posture information.

[0139] The above-mentioned suspension control device 210 can determine in advance the road condition of the road that the vehicle 100 is about to pass by obtaining the road condition information of the road to be passed, and then perform vibration reduction adjustment in combination with the vehicle body posture information, so that the vehicle 100 can adapt to the bumps in advance when passing the road to be passed, thereby maintaining the stability of the vehicle body 103 and improving the stabilization effect of the vehicle body posture.

[0140] In addition, please combine Figure 3 and Figure 6 In the present invention, the controller 50 may be a suspension control device 210, that is, the suspension control system 200 may include a first sensor 20, a second sensor 30, and a suspension control device 210. In some cases, the memory 201 may be a part of the suspension control device 210, or in other words, the suspension control device 210 may include a memory 201 and a processor 202.

[0141] A suspension system of the present invention may include a suspension 102 , and the suspension control system 200 or the suspension control device 210 described above.

[0142] The above-mentioned suspension system can determine in advance the road condition of the road that the vehicle 100 is about to pass by obtaining the road condition information of the road to be passed, and then perform vibration reduction adjustment in combination with the vehicle body posture information, so that the vehicle 100 can adapt to the bumps in advance when passing the road to be passed, thereby maintaining the stability of the vehicle body 103 and improving the stabilization effect of the vehicle body posture.

[0143] Specifically, please combine Figure 2 and Figure 3 The suspension system of the present invention can control the suspension 102 through the suspension control system 200, thereby achieving the effect of vibration reduction and adjustment of the vehicle 100.

[0144] Additionally, in some cases, the suspension control system 200 and the suspension 102 may be assembled into an integral structure, or may be separate independent structures.

[0145] Please refer to Figure 1 and Figure 3 , a vehicle 100 of the present invention may include a suspension control system 200 or a suspension control device 210 or a suspension system.

[0146] The above-mentioned vehicle 100 can determine in advance the road condition of the road that the vehicle 100 is about to pass by obtaining the road condition information of the road to be passed, and then perform vibration reduction adjustment in combination with the vehicle body posture information, so that the vehicle 100 can adapt to the bumps in advance when passing the road to be passed, thereby maintaining the stability of the vehicle body 103 and improving the stabilization effect of the vehicle body posture.

[0147] A computer-readable storage medium of the present invention may store a computer program, which, when executed by the processor 202, may implement the steps of the suspension control method of the present invention.

[0148] For example, when the computer program is executed by a processor, the suspension control method that can be implemented includes:

[0149] 01: Acquire driving information and vehicle posture information of the vehicle 100, wherein the driving information includes road condition information, and the road condition information includes a road surface condition that can characterize the road to be passed by the vehicle 100;

[0150] 02: Control the suspension 102 of the vehicle 100 to perform vibration reduction adjustment on the vehicle 100 according to the driving information and the vehicle body posture information.

[0151] The above-mentioned computer-readable storage medium can determine in advance the road condition of the road that the vehicle 100 is about to pass by obtaining the road condition information of the road to be passed, and then perform vibration reduction adjustment in combination with the vehicle body posture information, so that the vehicle 100 can adapt to the bumps in advance when passing the road to be passed, thereby maintaining the stability of the vehicle body 103 and improving the stabilization effect of the vehicle body posture.

[0152] The computer-readable storage medium may be provided in the controller 50 or in other terminals. The controller 50 may communicate with other terminals to obtain corresponding programs.

[0153] It is understood that computer-readable storage media may include: any entity or device capable of carrying a computer program, recording media, USB flash drives, mobile hard disks, magnetic disks, optical disks, computer memories, read-only memories (ROMs), random access memories (RAMs), and software distribution media, etc. A computer program may include computer program code. The computer program code may be in source code form, object code form, executable files, or some intermediate form, etc.

[0154] In certain embodiments of the present invention, the controller 50 may be a single-chip microcomputer chip that integrates a processor, a memory, a communication module, etc. The processor may be a central processing unit (CPU), a graphics processing unit (GPU), or 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.

[0155] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0156] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, apparatus or device (such as a computer-based system, a system including a processing module, or other system that can fetch instructions from an instruction execution system, apparatus or device and execute instructions), or used in combination with these instruction execution systems, apparatuses or devices.

[0157] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments of the present invention without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A suspension control method for a vehicle, characterized in that: include: Acquiring driving information and vehicle posture information of the vehicle, wherein the driving information includes road condition information, and the road condition information includes a road surface condition that can characterize the road to be passed by the vehicle; The suspension of the vehicle is controlled according to the driving information and the vehicle body posture information to perform vibration reduction adjustment on the vehicle.

2. The suspension control method according to claim 1, characterized in that: The step of controlling the suspension of the vehicle to perform vibration reduction adjustment on the vehicle according to the driving information and the vehicle body posture information comprises: generating a vibration reduction signal according to the driving information and the vehicle body posture information; The vibration reduction parameter of the suspension is adjusted according to the vibration reduction signal so that the body posture parameter of the vehicle is within a set posture range.

3. The suspension control method according to claim 2, characterized in that: Adjusting the vibration reduction parameters of the suspension according to the vibration reduction signal includes: adjusting the elastic stiffness of a first damping member of the suspension to a first target value corresponding to the damping signal, the damping parameter including the elastic stiffness, the first damping member being connected to a wheel of the vehicle; and / or adjusting a damping coefficient of a second vibration damping member of the suspension to a second target value corresponding to the vibration damping signal, the vibration damping parameter including the damping coefficient, the second vibration damping member being connected to a wheel of the vehicle; and / or The roll angle stiffness of a third shock absorber of the suspension is adjusted to a third target value corresponding to the shock absorption signal, the shock absorption parameter includes the roll angle stiffness, and the third shock absorber is connected to a wheel of the vehicle.

4. The suspension control method according to claim 3, characterized in that: The first vibration damping member includes an air spring, and / or the second vibration damping member includes a shock absorber, and / or the third vibration damping member includes a stabilizer bar.

5. The suspension control method according to claim 2, characterized in that: The controlling the suspension of the vehicle to perform vibration reduction adjustment on the vehicle according to the driving information and the vehicle body posture information further includes: obtaining vehicle motion information of the vehicle; After adjusting the vibration damping parameters of the suspension according to the vibration damping signal, the vibration damping parameters of the suspension are adjusted according to the vehicle motion information feedback.

6. The suspension control method according to claim 5, characterized in that: The vehicle motion information includes at least one of the following: The wheel bounce height of the vehicle; the wheel bounce acceleration of the vehicle; the torsion angle of the lateral stabilizer bar of the vehicle.

7. The suspension control method according to claim 1, characterized in that: The step of controlling the suspension of the vehicle to perform vibration reduction adjustment on the vehicle according to the driving information and the vehicle body posture information comprises: When the vehicle passes the to-be-traveled road in a turning state, vibration damping adjustment is performed on the vehicle to increase the roll stiffness of the vehicle on the turning outer side.

8. The suspension control method according to claim 1, characterized in that: The driving information includes at least one of a wheel speed and a driving acceleration of the vehicle, and an adjustment speed when performing vibration reduction adjustment on the suspension can be determined by at least one of the wheel speed and the driving acceleration; and / or The driving information includes steering wheel angle information, and the road to be traveled can be determined by the steering wheel angle information and the road condition information.

9. The suspension control method according to claim 1, characterized in that: The suspension control method comprises: When the vehicle is in the automatic driving mode, the suspension is adjusted for vibration reduction according to the road condition information.

10. The suspension control method according to any one of claims 1 to 9, characterized in that: The suspension is an active suspension.

11. A suspension control device, characterized in that: The invention comprises a processor, wherein the processor is connected to a memory, wherein the memory stores a computer program, and when the processor executes the computer program, the suspension control method according to any one of claims 1 to 10 is implemented.

12. A suspension control system for a vehicle, characterized in that: The suspension control system comprises a first sensor, a second sensor and the suspension control device according to claim 11, wherein the first sensor and the second sensor are connected to the suspension control device; The first sensor is configured to detect driving information of the vehicle, wherein the driving information includes road condition information, and the road condition information includes a road surface condition that can characterize a road to be passed by the vehicle; The second sensor is configured to detect body posture information of the vehicle; The suspension control device acquires the driving information from the first sensor and acquires the vehicle body posture information from the second sensor.

13. A suspension system, characterized in that: include: Suspension; and; The suspension control device according to claim 11 or the suspension control system according to claim 12.

14. A vehicle, characterized in that: It comprises the suspension control device according to claim 11 or the suspension control system according to claim 12, or the suspension system according to claim 13.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the computer program implements the steps of the suspension control method according to any one of claims 1 to 10.

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