Suspension control method and related equipment

Abstract

The invention relates to a suspension control method and related equipment. The method is applied to a vehicle. The vehicle obtains front road information of the vehicle, identifies the front road information, determines a gradient road surface, the gradient of the gradient road surface and the distance from the vehicle to the gradient road surface, and adjusts the height of a suspension in the vehicle according to the gradient, the distance and the speed of the vehicle. By adjusting the suspension in the vehicle, the approach angle and the departure angle of the vehicle are increased, so that the vehicle is prevented from touching the road surface when passing through the slope road surface, and the technical problems that the approach angle and the departure angle of an existing vehicle are small due to the appearance structure design of the vehicle and the like, and the whole vehicle trafficability of the vehicle is poor are solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a suspension control method and related equipment. Background Art

[0002] The vehicle's passability is an important performance indicator of a Sport Utility Vehicle (SUV), and the most basic performance indicator of passability is the vehicle's gradeability. The vehicle's gradeability depends on indicators such as the vehicle's powertrain (powertrain) and passability dimensions. For example, having strong power is the basis for having excellent gradeability, but the passability dimension indicator is also a very important aspect of whether the vehicle can pass smoothly. The passability dimension indicators include the vehicle's approach angle and departure angle.

[0003] At present, the size of the approach angle and departure angle of a vehicle mainly depends on the vehicle layout and the design of the front and rear bumper shapes of the vehicle. However, due to the limited vehicle layout and the design of the front and rear bumper shapes, the approach angle and departure angle are often small, which does not match the climbing ability that the vehicle's dynamic total can provide, resulting in limited dynamic total ability and poor vehicle trafficability. However, if the approach angle and departure angle are increased by changing the vehicle layout and the design of the front and rear bumper shapes, it will often result in a very high cost increase. Summary of the invention

[0004] In view of the above, it is necessary to provide a suspension control method, a vehicle and a storage medium to adjust the suspension of the vehicle to solve the technical problems that the approach angle and departure angle of existing vehicles are small and the adjustment cost is high.

[0005] In a first aspect, the present application provides a suspension control method, which is applied to a vehicle, and the method includes: obtaining road information ahead of the vehicle; identifying the road information ahead to determine a slope road surface, the slope of the slope road surface, and the distance from the vehicle to the slope road surface; and adjusting the height of the suspension in the vehicle according to the slope, the distance, and the speed of the vehicle.

[0006] In some embodiments of the present application, the suspension includes a left front electronically controlled suspension, a right front electronically controlled suspension, a left rear electronically controlled suspension and a right rear electronically controlled suspension, and adjusting the height of the suspension in the vehicle according to the slope, the distance and the speed of the vehicle includes: if the slope is greater than a first approach angle threshold and less than a second approach angle threshold, raising the height of the left front electronically controlled suspension and the right front electronically controlled suspension, and lowering the height of the left rear electronically controlled suspension and the right rear electronically controlled suspension according to the distance and the speed of the vehicle; if the slope is less than or equal to the first approach angle threshold, keeping the height of the suspension unchanged.

[0007] In some embodiments of the present application, the method further includes: if the slope is greater than or equal to the second approach angle threshold, outputting a prompt message, wherein the prompt message is used to warn that there is a risk of passing the road ahead.

[0008] In some embodiments of the present application, raising the left front electronic suspension and the right front electronic suspension, and lowering the heights of the left rear electronic suspension and the right rear electronic suspension according to the distance and the speed of the vehicle, includes: determining a first adjustment rate of the left front electronic suspension, a second adjustment rate of the right front electronic suspension, a third adjustment rate of the left rear electronic suspension, and a fourth adjustment rate of the right rear electronic suspension according to the distance and the speed of the vehicle; adjusting the left front electronic suspension from a first initial height to a first height according to the first adjustment rate, adjusting the height of the right front electronic suspension from a second initial height to the first height according to the second adjustment rate, adjusting the height of the left rear electronic suspension from a third initial height to a second height according to the third adjustment rate, and adjusting the height of the right rear electronic suspension from a fourth initial height to the second height according to the fourth adjustment rate.

[0009] In some embodiments of the present application, the method also includes: if it is detected that the front wheels of the vehicle pass the bottom of the slope road surface and the slope is greater than or equal to a departure angle threshold, lowering the height of the left front electronically controlled suspension and the right front electronically controlled suspension, and raising the height of the left rear electronically controlled suspension and the right rear electronically controlled suspension.

[0010] In some embodiments of the present application, the method further includes: if it is detected that the front wheels of the vehicle pass the bottom of the slope road surface and the slope is less than a departure angle threshold, restoring the heights of the left front electronically controlled suspension, the right front electronically controlled suspension, the left rear electronically controlled suspension and the right rear electronically controlled suspension.

[0011] In some embodiments of the present application, the method further includes: if it is detected that the rear wheels of the vehicle pass the bottom of the slope, restoring the heights of the left front electronically controlled suspension, the right front electronically controlled suspension, the left rear electronically controlled suspension and the right rear electronically controlled suspension.

[0012] In some embodiments of the present application, the acquiring of the road information ahead of the vehicle includes: acquiring a road image ahead of the vehicle and three-dimensional point cloud data of the road surface through a sensor.

[0013] In a second aspect, the present application provides a vehicle, comprising a memory and a processor: the memory is used to store program instructions; the processor is used to read and execute the program instructions stored in the memory, and when the program instructions are executed by the processor, the vehicle executes the above-mentioned suspension control method.

[0014] In a third aspect, the present application provides a computer storage medium, wherein program instructions are stored in the computer storage medium, and when the program instructions are executed by a processor, the above-mentioned suspension control method is implemented.

[0015] The present application can adjust the height of the suspension according to the identified slope of the slope road surface, the distance from the vehicle to the slope road surface and the speed of the vehicle, thereby increasing the vehicle's approach angle, so that the vehicle's front wheels can avoid head-on contact when passing the bottom of the slope road surface. When the front wheels of the vehicle pass the bottom of the slope road surface, the height of the suspension can also be adjusted, thereby increasing the vehicle's departure angle, so that the vehicle's rear wheels can avoid tail-end drag when passing the bottom of the slope road surface. This solves the technical problem that the existing vehicles have small approach angles and departure angles due to reasons such as the vehicle's external structural design, resulting in poor vehicle passability, and solves the technical problem that the existing technical solutions increase the approach angle and departure angle by changing the vehicle's external structural design, resulting in high costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A system architecture diagram of the suspension control method provided in an embodiment of the present application.

[0017] Figure 2 This is an application scenario diagram of the suspension control method provided in an embodiment of the present application.

[0018] Figure 3 A flowchart of a suspension control method provided in some embodiments of the present application.

[0019] Figure 4 A flowchart of a suspension control method provided in some embodiments of the present application.

[0020] Figure 5 A schematic diagram of a vehicle contact provided in an embodiment of the present application.

[0021] Figure 6 A schematic diagram of adjusting the suspension of a vehicle provided in an embodiment of the present application.

[0022] Figure 7 A schematic diagram of a vehicle tailgate provided in an embodiment of the present application.

[0023] Figure 8 A schematic diagram of adjusting the suspension of a vehicle provided in an embodiment of the present application.

[0024] Fig. 9 A schematic diagram of a vehicle passing the bottom of a slope provided in an embodiment of the present application.

[0025] Fig.10 A structural diagram of a vehicle device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to more clearly understand the above-mentioned objects, features and advantages of the present application, the present application is described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing the embodiments in one embodiment and are not intended to limit this application.

[0028] It should be noted that the terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of the present application are used to distinguish similar objects, rather than to describe a specific order or sequence. In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" 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" or "for example" is intended to present related concepts in a concrete way.

[0029] It should also be noted that the method disclosed in the embodiments of the present application or the method shown in the flowchart includes one or more steps for implementing the method. Without departing from the scope of the claims, the execution order of multiple steps can be interchanged with each other, and some steps can also be deleted. Some embodiments will be described below in conjunction with the accompanying drawings. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0030] The vehicle's passability is an important performance indicator of a Sport Utility Vehicle (SUV), and the most basic performance indicator of passability is the vehicle's gradeability. The vehicle's gradeability depends on indicators such as the vehicle's total power and passability dimensions. For example, having strong power is the basis for having excellent gradeability, but the passability dimension indicator is also a very important aspect of whether the vehicle can pass smoothly. The passability dimension indicators include the vehicle's approach angle and departure angle.

[0031] At present, the size of the approach angle and departure angle of a vehicle mainly depends on the vehicle layout and the design of the front and rear bumper shapes of the vehicle. However, due to the limited vehicle layout and the design of the front and rear bumper shapes and structures, the approach angle and departure angle are often small, which does not match the climbing ability that the vehicle's dynamic total can provide, resulting in limited dynamic total ability and poor vehicle trafficability. At the same time, increasing the approach angle and departure angle by changing the vehicle layout and the design of the front and rear bumper shapes often results in very high costs.

[0032] In order to solve the above technical problems, an embodiment of the present application provides a suspension control method to solve the technical problems that the approach angle and departure angle of existing vehicles are small and the adjustment cost is high.

[0033] refer to Figure 1 As shown, it is a system architecture diagram of the suspension control method provided in an embodiment of the present application. The suspension control method is applied in a vehicle 100. The vehicle 100 includes a sensor 10, an intelligent driving control system 20, a suspension control system 30 and a suspension 40. Among them, the sensor 10 is used to obtain road information ahead of the vehicle 100. In some embodiments of the present application, the sensor 10 includes at least one of a camera and a laser radar. The camera is used to obtain an image of the road in front of the vehicle 100. The laser radar is used to obtain three-dimensional point cloud data of the road surface in front of the vehicle 100. In some examples of the present application, the vehicle 100 uses at least one of the obtained road image and the three-dimensional point cloud data of the road surface as the road ahead information.

[0034] The sensor 10 sends the acquired road information to the intelligent driving control system 20. The intelligent driving control system 20 is used to analyze the road information, identify whether the road in front of the vehicle 100 is a slope road, and when the slope road is determined, determine the slope of the slope road and the distance from the vehicle 100 to the slope road, and send the slope and the distance from the vehicle to the slope road to the suspension control system 30. Figure 2 As shown, it is an application scenario diagram of the suspension control method provided in an embodiment of the present application. The vehicle 100 is traveling on a horizontal road surface H, and the road surface in front of the vehicle 100 is a slope road surface S. The angle between the slope road surface S and the horizontal road surface H is the slope θ of the slope road surface S. The distance L between the vehicle 100 and the bottom of the slope road surface S is the distance between the vehicle 100 and the slope road surface S. In a specific embodiment, the distance between the sensor 10 of the vehicle 100 and the bottom of the slope road surface S can be used as the distance between the vehicle 100 and the slope road surface S.

[0035] The suspension control system 30 is used to determine the suspension adjustment command according to the vehicle speed of the vehicle 100, the slope θ of the slope road S, and the distance from the vehicle 100 to the slope road S, and adjust the height of the suspension 40 according to the adjustment command to adjust the height of the vehicle 100, thereby adjusting the approach angle or departure angle of the vehicle 100. Figure 2 As shown, the approach angle θ h The departure angle θ is the maximum angle formed by the lowest point of the front end of the vehicle 100 and the tangent line of the outer edge of the front tire of the vehicle. t is the maximum angle between the lowest point of the rear end of the vehicle 100 and the tangent line of the outer edge of the rear tire. h and departure angle θ tThe larger the angle is, the better the passability of the vehicle 100 is. In the embodiment of the present application, the position of the lowest point of the vehicle 100 may be the position where the bumper or chassis component of the vehicle 100 is located.

[0036] refer to Figure 1 As shown, the suspension 40 is divided into a left front electric control suspension 41, a right front electric control suspension 42, a left rear electric control suspension 43 and a right rear electric control suspension 44 according to the distribution position in the vehicle 100, wherein the left front electric control suspension 41 and the right front electric control suspension 42 are located at Figure 2 The positions in the right front electric control suspension 42 and the left rear electric control suspension 43 coincide with each other. Figure 2 The suspension control system 30 can adjust the approach angle θ of the vehicle 100 by adjusting the left front electronically controlled suspension 41 and the right front electronically controlled suspension 42. h By adjusting the left rear electric control suspension 43 and the right rear electric control suspension 44, the departure angle θ of the vehicle 100 can be adjusted. h .

[0037] The following combination Figure 1 The suspension control method provided in the embodiment of the present application is described.

[0038] refer to Figure 3 Shown is a flow chart of a suspension control method provided in some embodiments of the present application. Figure 3 The method of the example includes one or more steps, but does not constitute a limitation of the present application. In addition, the order of the steps of the method is only an example, and the order of the steps can be changed. Additional steps can be added or steps can be reduced without departing from the content disclosed in the present application. The method includes the following steps.

[0039] Step S301, obtaining the road information ahead of the vehicle.

[0040] In some embodiments of the present application, the vehicle obtains the road information ahead of the vehicle through at least one of a camera and a laser radar. For example, the vehicle obtains the road image ahead of the vehicle through a camera, obtains the three-dimensional point cloud data of the road ahead of the vehicle through a laser radar, and uses at least one of the road image and the three-dimensional point cloud data of the road as the road information ahead.

[0041] Step S302, identifying the road ahead information, determining the slope road surface, the slope of the slope road surface, and the distance from the vehicle to the slope road surface.

[0042] In some embodiments of the present application, the vehicle's intelligent driving control system inputs road images and three-dimensional point cloud data of the road surface into a pre-trained deep learning model (such as U-Net, Mask R-CNN) to identify the slope of the road surface.

[0043] In some embodiments of the present application, after identifying a sloping road surface, the intelligent driving control system fits the point cloud data of the sloping road surface into a plane, calculates the normal vector of the plane, and calculates the angle between the normal vector and the direction of gravity to obtain the slope of the sloping road surface.

[0044] In some embodiments of the present application, calculating the distance from the vehicle to the sloped road surface based on the road image and the three-dimensional point cloud data of the road surface is a common technology in the field. For example, the intelligent driving control system performs image depth estimation on the road image to calculate the distance of the vehicle to the sloped road surface. For another example, the intelligent driving control system calculates the distance from the vehicle to the sloped road surface through a point cloud geometry algorithm on the three-dimensional point cloud data of the road surface. This will not be described in detail here.

[0045] Step S303, adjusting the height of the suspension according to the slope, distance and vehicle speed.

[0046] In some embodiments of the present application, the suspension control system of the vehicle increases the height of the left front electronic suspension and the right front electronic suspension of the vehicle, and decreases the height of the left rear electronic suspension and the right rear electronic suspension according to the slope, distance and speed of the vehicle, thereby increasing the approach angle of the vehicle and preventing the front wheels of the vehicle (such as the left front wheel and the right front wheel) from contacting the road surface when passing the bottom of the slope.

[0047] In some embodiments of the present application, when it is detected that the front wheels of the vehicle pass the bottom of a slope, the suspension control system also lowers the height of the left front electronic suspension and the right front electronic suspension of the vehicle, and raises the height of the left rear electronic suspension and the right rear electronic suspension, thereby increasing the departure angle of the vehicle and preventing the vehicle from tailing out when the rear wheels of the vehicle (such as the left rear wheel and the right rear wheel) pass the bottom of the slope.

[0048] The above-mentioned technical scheme of the present application can adjust the height of the suspension according to the slope, distance and speed of the vehicle, thereby increasing the approach angle of the vehicle, so that the front wheels of the vehicle avoid touching the front of the vehicle when passing the bottom of the slope road surface. When the front wheels of the vehicle pass the bottom of the slope road surface, the height of the suspension can also be adjusted to increase the departure angle of the vehicle, so that the rear wheels of the vehicle avoid tail-end when passing the bottom of the slope road surface, thereby solving the technical problems of existing vehicles having small approach angle and departure angle due to reasons such as vehicle appearance structure design, resulting in poor vehicle passability, and the problem of high cost caused by increasing the approach angle and departure angle by changing the vehicle appearance structure design.

[0049] Please refer to Figure 4 Shown is a flow chart of a suspension control method provided in some embodiments of the present application. Figure 4The method of the example includes one or more steps, but does not constitute a limitation of the present application. In addition, the order of the steps of the method is only an example, and the order of the steps can be changed. Additional steps can be added or steps can be reduced without departing from the content disclosed in the present application. The method includes the following steps.

[0050] Step S401, obtaining the road information ahead of the vehicle.

[0051] Step S402, identifying the road ahead information, determining the slope road surface, the slope of the slope road surface, and the distance from the vehicle to the slope road surface.

[0052] Step S403, determine whether the slope is greater than a first approach angle threshold. If the slope is less than or equal to the first approach angle threshold θ h1 , execute step S404, if the slope is greater than the first approach angle threshold, execute step S405.

[0053] In some embodiments of the present application, the first approach angle threshold (marked as θ h1 ) is the approach angle of the vehicle when the suspension in the vehicle is not height-adjusted. If the slope is less than or equal to θ h1 , it means that the slope of the sloped road is small and the vehicle does not need to adjust the suspension to avoid head-on contact when driving on the sloped road.

[0054] Step S404, keeping the height of the suspension unchanged.

[0055] Step S405, determine whether the slope is less than the second approach angle threshold. If the slope is greater than or equal to the second approach angle threshold, execute step S406. If the slope is less than the second approach angle threshold θ h0 , execute step S407.

[0056] In some embodiments of the present application, the second approach angle threshold (marked as θ h0 ) is the maximum approach angle of the vehicle after suspension adjustment. If the slope is greater than or equal to θ h0 , it means that the vehicle is prone to collision when passing through a sloped road, and the road ahead is risky. Figure 5 , which is a schematic diagram of a vehicle contact provided in an embodiment of the present application. If the slope of the slope road is greater than or equal to θ h0 , the front wheels of the vehicle touch the ground when passing the bottom of the slope.

[0057] Step S406: output prompt information.

[0058] In some embodiments of the present application, the prompt information is used to remind the driver that the road ahead has a risk of passing. In one embodiment of the present application, the suspension control system of the vehicle reminds the driver that the road ahead has a risk of passing through by displaying the prompt information on the instrument panel. In other embodiments of the present application, the suspension control system presents the information by voice playback.

[0059] Step S407: adjusting the height of the suspension by a first adjustment method to increase the approach angle of the vehicle.

[0060] In some embodiments of the present application, when determining that the slope is greater than θ h1 But less than θ h0 , the suspension control system enters the anti-contact state from the normal state, wherein the anti-contact state indicates the state of increasing the approach angle of the vehicle by adjusting the suspension. The normal state indicates the state of the suspension height being the initial height, wherein when the suspension control system is in the normal state, the height of the left front electric control suspension is set at the first initial height, the height of the right front electric control suspension is set at the second initial height, the height of the left rear electric control suspension is set at the third initial height, and the height of the right rear electric control suspension is set at the fourth initial height.

[0061] refer to Figure 6 FIG. 2 is a schematic diagram of adjusting the suspension of a vehicle provided in an embodiment of the present application. In some embodiments of the present application, adjusting the suspension by the first adjustment method includes: raising the left front electric control suspension and the right front electric control suspension of the vehicle to a first height H according to the slope, distance and vehicle speed. max , and lower the left rear electronically controlled suspension and the right rear electronically controlled suspension to the second height H min , where the first height H max Greater than the second height H min In some embodiments of the present application, the first height H max The maximum adjustable height of the suspension, the second height H min is the minimum adjustable height of the suspension. In other embodiments of the present application, the first height H max and the second height H min Can be set according to the slope.

[0062] In some embodiments of the present application, the suspension control system searches the rate relationship table according to the distance and the vehicle speed, determines the adjustment rate of the suspension, raises the left front electronic suspension and the right front electronic suspension of the vehicle according to the adjustment rate, and lowers the height of the left rear electronic suspension and the right rear electronic suspension of the vehicle. Specifically, the suspension control system searches the rate relationship table according to the distance and the vehicle speed to determine the first adjustment rate of the left front electronic suspension, the second adjustment rate of the right front electronic suspension, the third adjustment rate of the left rear electronic suspension, and the fourth adjustment rate of the right rear electronic suspension; according to the first adjustment rate, the left front electronic suspension is adjusted from the first initial height to the first height, according to the second adjustment rate, the height of the right front electronic suspension is adjusted from the second initial height to the first height, according to the third adjustment rate, the height of the left rear electronic suspension is adjusted from the third initial height to the second height, and according to the fourth adjustment rate, the height of the right rear electronic suspension is adjusted from the fourth initial height to the second height. The rate relationship table includes the correspondence between the distance, the vehicle speed and the adjustment rates of each suspension of the vehicle. Different distances and vehicle speeds correspond to different adjustment rates of the suspension.

[0063] refer to Figure 6 As shown, the embodiment of the present application can increase the approach angle of the vehicle by raising the left front electronically controlled suspension and the right front electronically controlled suspension of the vehicle and lowering the height of the left rear electronically controlled suspension and the right rear electronically controlled suspension, so that the front wheels of the vehicle can pass the bottom of the slope.

[0064] Step S408, detect whether the front wheels of the vehicle pass the bottom of the slope road. If the front wheels of the vehicle pass the bottom of the slope road, execute step S409, if the front wheels of the vehicle do not pass the bottom of the slope road, return to execute step S408.

[0065] In some embodiments of the present application, the vehicle can detect the pitch angle change of the vehicle through an inertial measurement unit (IMU), and determine whether the front wheels of the vehicle pass the bottom of the slope road according to the pitch angle change of the vehicle. If it is detected that the pitch angle of the vehicle changes from positive to negative or from negative to positive, it is determined that the front wheels of the vehicle pass the bottom of the slope road.

[0066] Step S409, determining whether the slope is less than a departure angle threshold. If the slope is less than the departure angle threshold, executing step S410, if the slope is greater than or equal to the departure angle threshold, executing step S411.

[0067] In some embodiments of the present application, the departure angle threshold (denoted as θ t1 ) is the departure angle of the vehicle when the suspension in the vehicle is not height-adjusted. If the slope is less than θ t1 , it means that the slope of the slope road is small, and the vehicle does not need to adjust the suspension to avoid tail-end when driving on the slope road.t1 , it means that the departure angle of the vehicle needs to be adjusted to avoid the vehicle tailing off when driving on a slope. Figure 7 As shown, it is a schematic diagram of a vehicle tail-end provided in an embodiment of the present application. If the slope of the slope road is greater than or equal to θ t1 When the rear wheels of a vehicle pass the bottom of a slope, tailgating occurs.

[0068] Step S410, restoring the height of the suspension.

[0069] In some embodiments of the present application, when the slope is less than or equal to θ t1 When the suspension control system restores the height of the suspension, the suspension control system changes from the anti-contact state to the normal state. The restoration of the height of the suspension includes: the suspension control system adjusts the left front electric control suspension from the first height to the first initial height, adjusts the height of the right front electric control suspension from the first height to the second initial height, adjusts the height of the left rear electric control suspension from the second height to the third initial height, and adjusts the height of the right rear electric control suspension from the second height to the fourth initial height.

[0070] Step S411: adjusting the height of the suspension by a second adjustment method to increase the departure angle of the vehicle.

[0071] In some embodiments of the present application, the slope is greater than or equal to θ t1 , the suspension control system changes from the anti-touch state to the anti-tail-off state. The anti-tail-off state indicates a state in which the departure angle of the vehicle is increased by adjusting the suspension.

[0072] In some embodiments of the present application, adjusting the height of the suspension by the second adjustment method includes: lowering the left front electronic suspension and the right front electronic suspension of the vehicle from a first height to a second height, and raising the left rear electronic suspension and the right rear electronic suspension from the second height to the first height.

[0073] refer to Figure 8 FIG. 2 is a schematic diagram of adjusting the suspension of a vehicle provided by an embodiment of the present application. The present application embodiment can increase the departure angle of the vehicle by lowering the left front electric suspension and the right front electric suspension of the vehicle and raising the height of the left rear electric suspension and the right rear electric suspension, so that the rear wheels of the vehicle can pass the bottom of the slope road.

[0074] Step S412, detect whether the rear wheels of the vehicle pass the bottom of the slope road. If the rear wheels of the vehicle pass the bottom of the slope road, execute step S413, if the rear wheels of the vehicle do not pass the bottom of the slope road, return to execute step S412. The specific implementation method of detecting whether the rear wheels of the vehicle pass the bottom of the slope road is the same as the implementation method of detecting whether the front wheels of the vehicle pass the bottom of the slope road. The specific implementation content can refer to the description of step S408, which will not be described in detail here.

[0075] Step S413, restoring the height of the suspension.

[0076] refer to Fig. 9 In some embodiments of the present application, when the rear wheels of the vehicle pass the bottom of the slope, the suspension control system restores the height of the suspension, and the suspension control system changes from the anti-tail-lifting state to the normal state. Specifically, the left front electric suspension of the vehicle is adjusted from the second height to the first initial height, the left rear electric suspension is adjusted from the first height to the third initial height, and the right rear electric suspension is adjusted from the first height to the fourth initial height.

[0077] The present application can adjust the height of the suspension according to the identified slope of the slope road surface, the distance from the vehicle to the slope road surface and the speed of the vehicle, thereby increasing the vehicle's approach angle, so that the vehicle's front wheels can avoid head-on contact when passing the bottom of the slope road surface. When the front wheels of the vehicle pass the bottom of the slope road surface, the height of the suspension can also be adjusted, thereby increasing the vehicle's departure angle, so that the vehicle's rear wheels can avoid tail-end drag when passing the bottom of the slope road surface. This solves the technical problem that the existing vehicles have small approach angles and departure angles due to reasons such as the vehicle's external structural design, resulting in poor vehicle passability, and solves the technical problem that the existing technical solutions increase the approach angle and departure angle by changing the vehicle's external structural design, resulting in high costs.

[0078] refer to Fig.10 , which is a structural diagram of a vehicle device provided in an embodiment of the present application. The vehicle device 60 may include at least one memory 61, a processor 62, and a sensor 63. The memory 61 includes a computer-readable storage medium, which is used to store a plurality of logic instructions, and the processor 62 may run the logic instructions to execute the above suspension control method. Specifically, Fig.10 The vehicle device 60 shown may be Figure 1 The vehicle 100 is shown, but the present application is not limited thereto.

[0079] It can be understood that in some embodiments, the sensor 63 includes, but is not limited to, a camera, a lidar, and an IMU.

[0080] The logic instructions in the above-mentioned computer-readable storage medium can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product.

[0081] The computer-readable storage medium may be configured to store software programs and computer-executable programs, such as program instructions corresponding to the suspension control method in the embodiment of the present application. The processor 62 executes the functional application and image processing by running the software program, instructions or modules stored in the computer-readable storage medium, that is, implementing the suspension control method in the above embodiment.

[0082] In the implementation mode of the present application, the computer-readable storage medium includes a non-volatile computer-readable memory, such as a disk, a memory, etc. It is understood that the computer-readable storage medium may also include other non-volatile computer-readable memories, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one flash memory device and / or other non-volatile solid-state storage devices.

[0083] In the embodiment of the present application, the processor 62 may be a central processing unit (CPU), 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. The processor 62 is the control center of the vehicle device 60, and may be connected to other external devices and / or systems / modules / units using various interfaces and lines to provide suspension control functions to applications of other external devices and / or systems / modules / units.

[0084] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement the suspension control method in the above-mentioned embodiment.

[0085] Among them, the device, computer storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0086] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0087] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0088] The unit described as a separate component may or may not be physically separated, and the component shown as a unit may be one physical unit or multiple physical units, that is, it may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.

[0089] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0090] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program code.

[0091] The above implementation modes are only used to illustrate the technical solutions of the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to the above preferred implementation modes, a person skilled in the art should understand that the technical solutions of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A suspension control method, applied to a vehicle, characterized in that: The method comprises: Acquiring road information ahead of the vehicle; Identifying the road ahead information, determining a sloped road surface, a slope of the sloped road surface, and a distance from the vehicle to the sloped road surface; The height of a suspension in the vehicle is adjusted according to the slope, the distance and the speed of the vehicle.

2. The suspension control method according to claim 1, characterized in that: The suspension includes a left front electronically controlled suspension, a right front electronically controlled suspension, a left rear electronically controlled suspension, and a right rear electronically controlled suspension, and adjusting the height of the suspension in the vehicle according to the slope, the distance, and the speed of the vehicle includes: If the slope is greater than a first approach angle threshold and less than a second approach angle threshold, raising the left front electronically controlled suspension and the right front electronically controlled suspension, and lowering the left rear electronically controlled suspension and the right rear electronically controlled suspension according to the distance and the speed of the vehicle; If the slope is less than or equal to the first approach angle threshold, the height of the suspension is kept unchanged.

3. The suspension control method according to claim 2, characterized in that: The method further comprises: If the slope is greater than or equal to the second approach angle threshold, a prompt message is output, where the prompt message is used to remind the driver that there is a risk of passing the road ahead.

4. The suspension control method according to claim 2, characterized in that: The step of raising the left front electronically controlled suspension and the right front electronically controlled suspension, and lowering the heights of the left rear electronically controlled suspension and the right rear electronically controlled suspension according to the distance and the speed of the vehicle comprises: Determining, according to the distance and the speed of the vehicle, a first adjustment rate of the left front electronically controlled suspension, a second adjustment rate of the right front electronically controlled suspension, a third adjustment rate of the left rear electronically controlled suspension, and a fourth adjustment rate of the right rear electronically controlled suspension; The left front electronically controlled suspension is adjusted from the first initial height to the first height according to the first adjustment rate, the height of the right front electronically controlled suspension is adjusted from the second initial height to the first height according to the second adjustment rate, the height of the left rear electronically controlled suspension is adjusted from the third initial height to the second height according to the third adjustment rate, and the height of the right rear electronically controlled suspension is adjusted from the fourth initial height to the second height according to the fourth adjustment rate.

5. The suspension control method according to claim 2, characterized in that: The method further comprises: If it is detected that the front wheels of the vehicle pass the bottom of the slope road and the slope is greater than or equal to a departure angle threshold, the heights of the left front electronically controlled suspension and the right front electronically controlled suspension are lowered, and the heights of the left rear electronically controlled suspension and the right rear electronically controlled suspension are increased.

6. The suspension control method according to claim 2, characterized in that: The method further comprises: If it is detected that the front wheels of the vehicle pass the bottom of the slope road surface and the slope is less than a departure angle threshold, the heights of the left front electronically controlled suspension, the right front electronically controlled suspension, the left rear electronically controlled suspension and the right rear electronically controlled suspension are restored.

7. The suspension control method according to claim 5, characterized in that: The method further comprises: If it is detected that the rear wheels of the vehicle pass the bottom of the slope, the heights of the left front electronically controlled suspension, the right front electronically controlled suspension, the left rear electronically controlled suspension and the right rear electronically controlled suspension are restored.

8. The suspension control method according to claim 1, characterized in that: The obtaining of the front road information of the vehicle comprises: The road image in front of the vehicle and the three-dimensional point cloud data of the road surface are acquired through sensors.

9. A vehicle, characterized in that: The vehicle comprises a memory and a processor: The memory is used to store program instructions; The processor is used to read and execute the program instructions stored in the memory. When the program instructions are executed by the processor, the vehicle executes the suspension control method according to any one of claims 1 to 8.

10. A computer storage medium, characterized in that: The computer storage medium stores program instructions, and when the program instructions are executed by a processor, the suspension control method according to any one of claims 1 to 8 is implemented.

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