Vehicle body height control method, device and equipment, suspension system and vehicle

Abstract

The invention discloses a vehicle body height control method, device and equipment, a suspension system and a vehicle. The method comprises the steps that when it is determined that a vehicle body lifting condition is met, a motor pump is controlled to convey hydraulic oil to a lower hydraulic cavity of a hydraulic shock absorber at a preset rotating speed till the vehicle body is lifted to a preset height; when the height of the vehicle body is the preset height, the air spring is inflated; in the inflation process of the air spring, first main power needing to be provided by the hydraulic shock absorber is determined according to a preset time interval, and the first main power and second main power provided by the air spring are used for making the absolute value of the difference value between the vehicle body height and the preset height smaller than a first threshold value; and the rotating speed of a motor pump is adjusted based on the first main power until the first main power is smaller than a second threshold value, the rotating speed of the motor pump is adjusted to be zero, and inflation of the air spring is stopped. According to the suspension system, the advantages of the two suspension systems are considered, and interference between the two suspension systems in the lifting process of the vehicle body is avoided.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle body height control method, device, equipment, suspension system, vehicle and computer-readable storage medium. Background Art

[0002] With the development of the automobile industry, it is becoming more and more popular to equip vehicles with suspension systems. Some vehicles are equipped with air suspension systems and hydraulic suspension systems respectively, while some vehicles are equipped with both air suspension systems and hydraulic suspension systems. Among them, the hydraulic suspension system controls the speed of the motor pump to deliver hydraulic oil to the upper / lower hydraulic chamber of the hydraulic shock absorber to achieve vehicle height adjustment. Compared with the air suspension system, its adjustment efficiency is higher, but because the driving motor pump consumes a lot of electricity, its energy consumption is also higher; the air suspension is to adjust the vehicle height by filling / deflating the air spring. Compared with the hydraulic suspension system, its energy consumption is lower but the adjustment efficiency is lower.

[0003] It can be seen that the two suspension systems have their own advantages. For vehicles equipped with both air suspension systems and hydraulic suspension systems, when adjusting the vehicle height, the vehicle height is generally adjusted by the air suspension system or the hydraulic suspension system alone based on the respective advantages of the two suspension systems and the scene requirements. This method cannot combine the advantages of the two suspension systems. Summary of the invention

[0004] In order to solve the above technical problems, the present application provides a vehicle body height control method, device, equipment, suspension system, vehicle and computer-readable storage medium.

[0005] In a first aspect, an embodiment of the present application provides a vehicle height control method, the vehicle height control method comprising:

[0006] When it is determined that the vehicle body raising condition is met, the motor pump is controlled to deliver hydraulic oil to the lower hydraulic chamber of the hydraulic shock absorber at a preset speed until the vehicle body height is raised to a preset height;

[0007] When the vehicle body height is at a preset height, the air spring is inflated;

[0008] During the process of inflating the air spring, determining a first active force that the hydraulic shock absorber needs to provide at a preset time interval, wherein the first active force and the second active force provided by the air spring are used to make the absolute value of the difference between the vehicle body height and the preset height less than a first threshold value;

[0009] The motor pump speed is adjusted based on the first active force until the first active force is less than a second threshold, at which time the motor pump speed is adjusted to zero and the inflation of the air spring is stopped.

[0010] In combination with the first aspect, in one implementation, determining the first active force that the hydraulic shock absorber needs to provide at a preset time interval includes:

[0011] determining a second active force provided by the air spring at a preset time interval;

[0012] The difference between the vehicle gravity and the second active force is used as the first active force that the hydraulic shock absorber needs to provide.

[0013] In combination with the first aspect, in one implementation, determining the first active force that the hydraulic shock absorber needs to provide at a preset time interval includes:

[0014] At preset time intervals and with a preset height as an expected value, a first active force that the hydraulic shock absorber needs to provide is determined based on a first PID control algorithm.

[0015] In combination with the first aspect, in one implementation, adjusting the motor pump speed based on the first active force includes:

[0016] Determining a target speed based on a second PID control algorithm with the first active force as an expected value;

[0017] The motor pump speed is adjusted to the target speed.

[0018] In combination with the first aspect, in one embodiment, when it is determined that the vehicle body raising condition is met, the motor pump is controlled to deliver hydraulic oil to the lower hydraulic chamber of the hydraulic shock absorber at a preset speed until the vehicle body height is raised to a preset height, further comprising:

[0019] Determine whether the road surface type of the road on which the vehicle is located is a target type based on the perception data of the sensor;

[0020] If it is a target type, it is determined that the vehicle body lifting condition is met.

[0021] In a second aspect, an embodiment of the present application provides a vehicle height control device, the vehicle height control device comprising:

[0022] The control module is used for controlling the motor pump to deliver hydraulic oil to the lower hydraulic chamber of the hydraulic shock absorber at a preset speed until the height of the vehicle body is raised to a preset height when it is determined that the vehicle body raising condition is met;

[0023] An inflation module, used for inflating the air spring when the vehicle body height is a preset height;

[0024] a determination module, configured to determine, during the process of inflating the air spring, a first active force that the hydraulic shock absorber needs to provide at a preset time interval, wherein the first active force and the second active force provided by the air spring are used to make the absolute value of the difference between the vehicle body height and the preset height less than a first threshold;

[0025] The control module is further used to adjust the motor pump speed based on the first active force until the first active force is less than a second threshold, in which the motor pump speed is adjusted to zero and the air spring is stopped from being inflated.

[0026] In a third aspect, an embodiment of the present application provides a suspension system, the suspension system comprising a hydraulic suspension and an air suspension, the hydraulic suspension comprising a hydraulic suspension controller, a motor pump and a hydraulic shock absorber, and the air suspension comprising an air suspension controller and an air spring, wherein:

[0027] A hydraulic suspension controller is used to control the motor pump to deliver hydraulic oil to the lower hydraulic chamber of the hydraulic shock absorber at a preset speed until the vehicle height is raised to a preset height when the vehicle height is met, and to send an inflation command to the air suspension controller when the vehicle height is at the preset height;

[0028] an air suspension controller for inflating the air spring upon receiving an inflation command;

[0029] The hydraulic suspension controller is further used to determine the first main force that the hydraulic shock absorber needs to provide at a preset time interval during the process of inflating the air spring, and adjust the motor pump speed based on the first main force until the motor pump speed is adjusted to zero when the first main force is less than a second threshold value, and send a stop inflation instruction to the air suspension controller, wherein the first main force and the second main force provided by the air spring are used to make the absolute value of the difference between the vehicle body height and the preset height less than the first threshold value;

[0030] The air suspension controller is also used to stop inflating the air spring when a stop inflation command is received.

[0031] In a fourth aspect, an embodiment of the present application provides a vehicle, wherein the vehicle includes the suspension system as described in the third aspect.

[0032] In the fifth aspect, an embodiment of the present application provides a vehicle height control device, which includes a processor, a memory, and a vehicle height control program stored in the memory and executable by the processor, wherein when the vehicle height control program is executed by the processor, the steps of the vehicle height control method described in the first aspect are implemented.

[0033] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a vehicle height control program is stored. When the vehicle height control program is executed by a processor, the steps of the vehicle height control method described in the first aspect are implemented.

[0034] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0035] In the embodiment of the present application, when it is determined that the vehicle body raising condition is met, the motor pump is controlled to deliver hydraulic oil to the lower hydraulic chamber of the hydraulic shock absorber at a preset speed until the vehicle body height is raised to the preset height; when the vehicle body height is the preset height, the air spring is inflated; in the process of inflating the air spring, the first main force that the hydraulic shock absorber needs to provide is determined at a preset time interval, wherein the first main force and the second main force provided by the air spring are used to make the absolute value of the difference between the vehicle body height and the preset height less than the first threshold value; based on the first main force, the motor pump speed is adjusted until the motor pump speed is adjusted to zero and the air spring is stopped from being inflated. Through the embodiment of the present application, the vehicle body height is first raised to the preset height by driving the motor pump, ensuring that the vehicle body raising demand can be quickly responded to; on this basis, the air spring is inflated, and the motor pump speed is adjusted during the inflation process to maintain the constant vehicle body height, and finally the air suspension replaces the hydraulic suspension to maintain the vehicle body at the preset height, reducing energy consumption, thereby taking into account the advantages of the two suspension systems and avoiding interference between the two suspension systems during the vehicle body raising process. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a flow chart of an embodiment of a vehicle height control method of the present application;

[0037] Figure 2 This is a schematic diagram of the functional modules of an embodiment of the vehicle height control device of the present application;

[0038] Figure 3 This is a schematic diagram of the structure of an embodiment of the suspension system of the present application;

[0039] Figure 4 This is a schematic diagram of the hardware structure of the vehicle height control device involved in the embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0042] In a first aspect, an embodiment of the present application provides a vehicle height control method.

[0043] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of an embodiment of the vehicle height control method of the present application. Figure 1 As shown, the vehicle height control method includes:

[0044] Step S10, when it is determined that the vehicle body raising condition is met, controlling the motor pump to deliver hydraulic oil to the lower hydraulic chamber of the hydraulic shock absorber at a preset speed until the vehicle body height is raised to a preset height;

[0045] In this embodiment, the vehicle body raising condition is set according to actual needs, for example, based on a preset situation where the vehicle body needs to be raised quickly, when the actual situation matches the preset situation, it is determined that the vehicle body raising condition is met.

[0046] Furthermore, in one embodiment, before step S10, the method further includes:

[0047] Based on the perception data of the sensor, it is determined whether the road type on which the vehicle is located is the target type; if it is the target type, it is determined that the vehicle body lifting condition is met.

[0048] In this embodiment, the sensor includes at least one of a camera and a radar. The road type of the road on which the vehicle is located can be determined based on the sensor's perception data. If the determined road type is the target type, it is determined that the vehicle body raising condition is met. The target type includes rocky roads, wading roads, grass, gravel and other road types. That is, when it is determined that the road type of the road on which the vehicle is located is the target type, the vehicle body needs to be raised to improve passability.

[0049] When it is determined that the vehicle body raising conditions are met, the hydraulic suspension is controlled to raise the vehicle body height to a preset height H, and the value of the preset height H is set according to the actual situation. Specifically, the hydraulic shock absorber is divided into two upper and lower hydraulic chambers. When the vehicle body height is raised, the hydraulic oil is delivered to the lower hydraulic chamber of the hydraulic shock absorber by controlling the positive speed of the motor pump to raise the vehicle body; when the vehicle body height is lowered, the hydraulic oil is delivered to the upper hydraulic chamber of the hydraulic shock absorber by controlling the negative speed of the motor pump to lower the vehicle body. It is easy to understand that the greater the preset speed, the more hydraulic oil is delivered to the lower hydraulic chamber of the hydraulic shock absorber per unit time, and the faster the vehicle body height rises. The preset speed here is set based on actual needs and is not limited here.

[0050] Step S20, when the vehicle body height is a preset height, inflating the air spring;

[0051] Step S30, during the process of inflating the air spring, determining a first active force that the hydraulic shock absorber needs to provide at a preset time interval, wherein the first active force and the second active force provided by the air spring are used to make the absolute value of the difference between the vehicle body height and the preset height less than a first threshold value;

[0052] In this embodiment, when the vehicle height is raised to a preset height, the vehicle height requirement has been met, and the air spring begins to be inflated. As the inflation proceeds, the second main force provided by the air spring becomes larger and larger. In this process, in order to keep the vehicle height basically at the preset height (i.e., the absolute value of the difference between the vehicle height and the preset height is less than the first threshold), the first main force provided by the hydraulic shock absorber needs to be continuously adjusted. Specifically, the first main force that the hydraulic shock absorber needs to provide can be determined according to a preset time interval. The preset time interval is set based on actual needs.

[0053] Further, in one embodiment, determining the first active force that the hydraulic shock absorber needs to provide according to a preset time interval includes:

[0054] The second active force provided by the air spring is determined at a preset time interval; and the difference between the vehicle gravity and the second active force is used as the first active force that the hydraulic shock absorber needs to provide.

[0055] In this embodiment, in order to keep the vehicle height basically maintained at a preset height, it is necessary to ensure that the first main force provided by the hydraulic shock absorber + the second main force provided by the air spring = the vehicle gravity, and the second main force provided by the air spring can be determined at a preset time interval, and the difference between the vehicle gravity and the second main force provided by the air spring is used as the first main force that the hydraulic shock absorber needs to provide. Among them, the second main force provided by the air spring is calculated based on the gas pressure in the air chamber of the air spring and the force area of ​​the air spring. The prior art can be referred to here and will not be elaborated here.

[0056] Further, in one embodiment, determining the first active force that the hydraulic shock absorber needs to provide according to a preset time interval includes:

[0057] At preset time intervals and with a preset height as an expected value, a first active force that the hydraulic shock absorber needs to provide is determined based on a first PID control algorithm.

[0058] In this embodiment, the first formula corresponding to the first PID control algorithm is expressed as follows:

[0059]

[0060] H e (t) = HH actual (t)

[0061] Where F(t) is the first active force that the hydraulic shock absorber needs to provide at time t; K p ' is the first proportional gain, K i ' is the first integral gain, K d ′ is the first differential gain; H is the preset height, and Hactual(t) is the actual height of the vehicle body at time t.

[0062] Referring to the first formula above, as the inflation proceeds, the actual height of the vehicle body may change compared to the preset height. In order to maintain the height of the vehicle body, F(t) is determined by the first PID control algorithm.

[0063] Step S40, adjusting the motor pump speed based on the first active force until the first active force is less than a second threshold, adjusting the motor pump speed to zero and stopping inflating the air spring.

[0064] In this embodiment, the functional relationship between the main force provided by the hydraulic shock absorber and the motor pump speed can be determined in advance by actual vehicle calibration, and the target speed can be determined by substituting the first main force into the functional relationship, thereby adjusting the motor pump speed to the target speed. It is easy to understand that the first main force is determined according to a preset time interval, and a first main force is determined every preset time interval, thereby determining the corresponding target speed, and adjusting the motor pump speed to the target speed.

[0065] As the air spring is inflated, the second main force provided by the air spring will become larger and larger, and the first main force will gradually decrease until the second main force provided by the air spring is sufficient to maintain the height of the vehicle body at a preset height. At this time, the hydraulic shock absorber is basically no longer needed to provide the first main force, that is, the first main force is less than the second threshold. At this time, the motor pump speed can be adjusted to zero and the air spring can be stopped from being inflated.

[0066] Further, in one embodiment, the adjusting the motor pump speed based on the first active power includes:

[0067] Determining a target speed based on a second PID control algorithm with the first active force as an expected value;

[0068] The motor pump speed is adjusted to the target speed.

[0069] In this embodiment, the second formula corresponding to the second PID control algorithm is expressed as follows:

[0070]

[0071] F e (t) = F(t) - Factual(t)

[0072] Where, N(t) is the target speed; K p is the second proportional gain, K i is the second integral gain, K d is the second differential gain; F(t) is the first active force that the hydraulic shock absorber needs to provide at time t, and Factual(t) is the active force actually provided by the hydraulic shock absorber at time t.

[0073] In the embodiment of the present application, when it is determined that the vehicle body raising condition is met, the motor pump is controlled to deliver hydraulic oil to the lower hydraulic chamber of the hydraulic shock absorber at a preset speed until the vehicle body height is raised to the preset height; when the vehicle body height is the preset height, the air spring is inflated; in the process of inflating the air spring, the first main force that the hydraulic shock absorber needs to provide is determined at a preset time interval, wherein the first main force and the second main force provided by the air spring are used to make the absolute value of the difference between the vehicle body height and the preset height less than the first threshold value; based on the first main force, the motor pump speed is adjusted until the motor pump speed is adjusted to zero and the air spring is stopped from being inflated. Through the embodiment of the present application, the vehicle body height is first raised to the preset height by driving the motor pump, ensuring that the vehicle body raising demand can be quickly responded to; on this basis, the air spring is inflated, and the motor pump speed is adjusted during the inflation process to maintain the vehicle body height constant, and finally the air suspension replaces the hydraulic suspension to maintain the vehicle body at the preset height, reducing energy consumption, thereby taking into account the advantages of the two suspension systems and avoiding interference between the two suspension systems during the vehicle body raising process.

[0074] In a second aspect, an embodiment of the present application also provides a vehicle height control device.

[0075] In one embodiment, referring to Figure 2 , Figure 2 This is a functional module diagram of an embodiment of the vehicle height control device of the present application. Figure 2 As shown, the vehicle height control device includes:

[0076] The control module 10 is used to control the motor pump to deliver hydraulic oil to the lower hydraulic chamber of the hydraulic shock absorber at a preset speed until the height of the vehicle body is raised to a preset height when it is determined that the vehicle body raising condition is met;

[0077] The charging module 20 is used to inflate the air spring when the vehicle body height is a preset height;

[0078] a determination module 30, configured to determine, during the process of inflating the air spring, a first active force that the hydraulic shock absorber needs to provide at a preset time interval, wherein the first active force and the second active force provided by the air spring are used to make the absolute value of the difference between the vehicle body height and the preset height less than a first threshold;

[0079] The control module 10 is further configured to adjust the motor pump speed based on the first active force until the first active force is less than a second threshold, in which case the motor pump speed is adjusted to zero and the air spring is stopped from being inflated.

[0080] Furthermore, in one embodiment, the determination module 30 is used to:

[0081] determining a second active force provided by the air spring at a preset time interval;

[0082] The difference between the vehicle gravity and the second active force is used as the first active force that the hydraulic shock absorber needs to provide.

[0083] Furthermore, in one embodiment, the determination module 30 is used to:

[0084] At preset time intervals and with a preset height as an expected value, the first active force that the hydraulic shock absorber needs to provide is determined based on a PID control algorithm.

[0085] Furthermore, in one embodiment, the control module 10 is specifically configured to:

[0086] Determine the target speed based on the PID control algorithm with the first active force as the expected value;

[0087] The motor pump speed is adjusted to the target speed.

[0088] Furthermore, in one embodiment, the vehicle height control device further includes a judgment module, which is used to:

[0089] Determine whether the road surface type of the road on which the vehicle is located is a target type based on the perception data of the sensor;

[0090] If it is a target type, it is determined that the vehicle body lifting condition is met.

[0091] Among them, the functional implementation of each module in the above-mentioned vehicle height control device corresponds to the various steps in the above-mentioned vehicle height control method embodiment, and its functions and implementation processes will not be repeated here one by one.

[0092] In a third aspect, an embodiment of the present application also provides a suspension system.

[0093] In one embodiment, referring to Figure 3 , Figure 3 FIG. 1 is a schematic diagram of the structure of an embodiment of the suspension system of the present application. Figure 3 As shown, the suspension system includes a hydraulic suspension and an air suspension, the hydraulic suspension includes a hydraulic suspension controller, a motor pump and a hydraulic shock absorber, and the air suspension includes an air suspension controller and an air spring, wherein:

[0094] A hydraulic suspension controller is used to control the motor pump to deliver hydraulic oil to the lower hydraulic chamber of the hydraulic shock absorber at a preset speed until the vehicle height is raised to a preset height when the vehicle height is met, and to send an inflation command to the air suspension controller when the vehicle height is at the preset height;

[0095] an air suspension controller for inflating the air spring upon receiving an inflation command;

[0096] The hydraulic suspension controller is further used to determine the first main force that the hydraulic shock absorber needs to provide at a preset time interval during the process of inflating the air spring, and adjust the motor pump speed based on the first main force until the motor pump speed is adjusted to zero when the first main force is less than a second threshold value, and send a stop inflation instruction to the air suspension controller, wherein the first main force and the second main force provided by the air spring are used to make the absolute value of the difference between the vehicle body height and the preset height less than the first threshold value;

[0097] The air suspension controller is also used to stop inflating the air spring when a stop inflation command is received.

[0098] Furthermore, in one embodiment, the hydraulic suspension controller is specifically used for:

[0099] determining a second active force provided by the air spring at a preset time interval;

[0100] The difference between the vehicle gravity and the second active force is used as the first active force that the hydraulic shock absorber needs to provide.

[0101] Furthermore, in one embodiment, the hydraulic suspension controller is specifically used for:

[0102] At preset time intervals and with a preset height as an expected value, the first active force that the hydraulic shock absorber needs to provide is determined based on a PID control algorithm.

[0103] Furthermore, in one embodiment, the hydraulic suspension controller is specifically used for:

[0104] Determine the target speed based on the PID control algorithm with the first active force as the expected value;

[0105] The motor pump speed is adjusted to the target speed.

[0106] Furthermore, in one embodiment, the hydraulic suspension controller is also used for:

[0107] Determine whether the road surface type of the road on which the vehicle is located is a target type based on the perception data of the sensor;

[0108] If it is a target type, it is determined that the vehicle body lifting condition is met.

[0109] Among them, the specific embodiments of the suspension system can refer to the various embodiments of the vehicle body height control method, which will not be repeated here.

[0110] In a fourth aspect, an embodiment of the present application also provides a vehicle.

[0111] In this embodiment, the vehicle includes the suspension system described in any embodiment of the third aspect.

[0112] In a fifth aspect, an embodiment of the present application provides a vehicle height control device, which may be a personal electronic control unit.

[0113] Reference Figure 4 , Figure 4 Schematic diagram of the hardware structure of the vehicle height control device involved in the embodiment of the present application. In the embodiment of the present application, the vehicle height control device may include a processor, a memory, a communication interface and a communication bus.

[0114] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0115] The communication interface includes input / output (I / O) interface, physical interface and logical interface, etc., which are used to realize the interconnection of devices inside the vehicle height control device, and the interface used to realize the interconnection of the vehicle height control device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display (Display), a keyboard (Keyboard), etc.

[0116] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0117] The processor may be a general-purpose processor, which may call the vehicle height control program stored in the memory and execute the vehicle height control method provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the vehicle height control program is called may refer to the various embodiments of the vehicle height control method of the present application, which will not be described in detail here.

[0118] Those skilled in the art will understand that Figure 4 The hardware structure shown in the figure does not constitute a limitation on the present application, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0119] In a sixth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0120] A vehicle height control program is stored on the computer-readable storage medium of the present application, wherein when the vehicle height control program is executed by a processor, the steps of the vehicle height control method as described above are implemented.

[0121] Among them, the method implemented when the vehicle height control program is executed can refer to the various embodiments of the vehicle height control method of the present application, and will not be repeated here.

[0122] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0123] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0124] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0125] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0126] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0127] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0128] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A vehicle height control method, characterized in that: The vehicle height control method comprises: When it is determined that the vehicle body raising condition is met, the motor pump is controlled to deliver hydraulic oil to the lower hydraulic chamber of the hydraulic shock absorber at a preset speed until the vehicle body height is raised to a preset height; When the vehicle body height is at a preset height, the air spring is inflated; During the process of inflating the air spring, determining a first active force that the hydraulic shock absorber needs to provide at a preset time interval, wherein the first active force and the second active force provided by the air spring are used to make the absolute value of the difference between the vehicle body height and the preset height less than a first threshold value; The motor pump speed is adjusted based on the first active force until the first active force is less than a second threshold, at which time the motor pump speed is adjusted to zero and the inflation of the air spring is stopped.

2. The vehicle height control method according to claim 1, characterized in that: The step of determining the first active force that the hydraulic shock absorber needs to provide at a preset time interval includes: determining a second active force provided by the air spring at a preset time interval; The difference between the vehicle gravity and the second active force is used as the first active force that the hydraulic shock absorber needs to provide.

3. The vehicle height control method according to claim 1, characterized in that: The step of determining the first active force that the hydraulic shock absorber needs to provide at a preset time interval includes: At preset time intervals and with a preset height as an expected value, a first active force that the hydraulic shock absorber needs to provide is determined based on a first PID control algorithm.

4. The vehicle height control method according to claim 1, characterized in that: The step of adjusting the motor pump speed based on the first active force comprises: Determining a target speed based on a second PID control algorithm with the first active force as an expected value; The motor pump speed is adjusted to the target speed.

5. The vehicle height control method according to any one of claims 1 to 4, characterized in that: When it is determined that the vehicle body raising condition is met, the motor pump is controlled to deliver hydraulic oil to the lower hydraulic chamber of the hydraulic shock absorber at a preset speed until the vehicle body height is raised to a preset height, and further includes: Determine whether the road surface type of the road on which the vehicle is located is a target type based on the perception data of the sensor; If it is a target type, it is determined that the vehicle body lifting condition is met.

6. A vehicle height control device, characterized in that: The vehicle height control device comprises: The control module is used for controlling the motor pump to deliver hydraulic oil to the lower hydraulic chamber of the hydraulic shock absorber at a preset speed until the height of the vehicle body is raised to a preset height when it is determined that the vehicle body raising condition is met; An inflation module, used for inflating the air spring when the vehicle body height is a preset height; a determination module, configured to determine, during the process of inflating the air spring, a first active force that the hydraulic shock absorber needs to provide at a preset time interval, wherein the first active force and the second active force provided by the air spring are used to make the absolute value of the difference between the vehicle body height and the preset height less than a first threshold; The control module is further used to adjust the motor pump speed based on the first active force until the first active force is less than a second threshold, in which the motor pump speed is adjusted to zero and the air spring is stopped from being inflated.

7. A suspension system, characterized in that: The suspension system includes a hydraulic suspension and an air suspension. The hydraulic suspension includes a hydraulic suspension controller, a motor pump and a hydraulic shock absorber, and the air suspension includes an air suspension controller and an air spring, wherein: A hydraulic suspension controller is used to control the motor pump to deliver hydraulic oil to the lower hydraulic chamber of the hydraulic shock absorber at a preset speed until the vehicle height is raised to a preset height when the vehicle height is met, and to send an inflation command to the air suspension controller when the vehicle height is at the preset height; an air suspension controller for inflating the air spring upon receiving an inflation command; The hydraulic suspension controller is further used to determine the first main force that the hydraulic shock absorber needs to provide at a preset time interval during the process of inflating the air spring, and adjust the motor pump speed based on the first main force until the motor pump speed is adjusted to zero when the first main force is less than a second threshold value, and send a stop inflation instruction to the air suspension controller, wherein the first main force and the second main force provided by the air spring are used to make the absolute value of the difference between the vehicle body height and the preset height less than the first threshold value; The air suspension controller is also used to stop inflating the air spring when a stop inflation command is received.

8. A vehicle, characterized in that: The vehicle comprises the suspension system as claimed in claim 7.

9. A vehicle height control device, characterized in that: The vehicle height control device includes a processor, a memory, and a vehicle height control program stored in the memory and executable by the processor, wherein when the vehicle height control program is executed by the processor, the steps of the vehicle height control method as described in any one of claims 1 to 5 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a vehicle height control program, wherein when the vehicle height control program is executed by the processor, the steps of the vehicle height control method according to any one of claims 1 to 5 are implemented.

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