Suspension system for a vehicle, method for controlling the same and vehicle

Abstract

The present application relates to the field of vehicles, and discloses a suspension system for a vehicle, a control method of the suspension system and a vehicle. The suspension system comprises a left suspension oil cylinder, a right suspension oil cylinder, a first locking valve, a second locking valve, a first proportional reversing valve group and a second proportional reversing valve group. The first locking valve is connected with the right suspension oil cylinder and the left suspension oil cylinder through a first oil path and a second oil path respectively. The second locking valve is connected with the left suspension oil cylinder and the right suspension oil cylinder through a third oil path and a fourth oil path respectively. The first proportional reversing valve group has a first oil inlet connected with a hydraulic oil source, a first oil return port, a first working oil port connected with the first oil path and a second working oil port connected with the second oil path. The second proportional reversing valve group has a second oil inlet connected with the hydraulic oil source, a second oil return port, a third working oil port connected with the third oil path and a fourth working oil port connected with the fourth oil path. The suspension system has good anti-roll performance.

Description

Technical Field

[0001] The present invention belongs to the field of vehicles, and in particular, relates to a suspension system for a vehicle, a control method thereof, and a vehicle. Background Art

[0002] Heavy-duty trucks, construction vehicles, and other vehicles commonly utilize passive hydro-pneumatic suspension systems. This involves cross-connecting the rod and rodless chambers of the left and right suspension cylinders via pipes and connecting them to an accumulator. This hydro-pneumatic suspension system exhibits poor roll resistance. Heavy vehicles with a high center of gravity and high weight, such as heavy-duty all-terrain cranes, are prone to significant rollover during driving or operation, posing a significant risk of rollover. Consequently, significant speed restrictions are required, resulting in poor heavy-load driving capabilities. Summary of the Invention

[0003] In view of the above-mentioned deficiencies or defects in the prior art, the present invention provides a suspension system for a vehicle, a control method thereof, and a vehicle, which can effectively improve the heavy-load driving capability of the vehicle.

[0004] To achieve the above object, the present invention provides a suspension system for a vehicle, comprising:

[0005] Left suspension cylinder;

[0006] Right suspension cylinder;

[0007] a first locking valve connected to the rod chamber of the right suspension cylinder and the rodless chamber of the left suspension cylinder through a first oil passage and a second oil passage respectively;

[0008] a second locking valve connected to the rod chamber of the left suspension cylinder and the rodless chamber of the right suspension cylinder through a third oil passage and a fourth oil passage respectively;

[0009] a first proportional reversing valve group, comprising a first oil inlet, a first oil return port, a first working oil port, and a second working oil port, wherein the first oil inlet is connected to the hydraulic oil source, the first working oil port is connected to the first oil circuit, and the second working oil port is connected to the second oil circuit;

[0010] The second proportional reversing valve group has a second oil inlet, a second oil return port, a third working oil port and a fourth working oil port. The second oil inlet is connected to the hydraulic oil source, the third working oil port is connected to the third oil circuit, and the fourth working oil port is connected to the fourth oil circuit.

[0011] Optionally, the suspension system further includes a controller and a vehicle body inclination sensor, wherein the vehicle body inclination sensor is used to detect the horizontal inclination of the vehicle body. The controller is respectively connected to the first locking valve, the second locking valve, the first proportional reversing valve group, the second proportional reversing valve group, and the vehicle body inclination sensor signal, and is configured as follows:

[0012] Determining a safety threshold value of a horizontal inclination angle of a vehicle body;

[0013] Obtaining a vehicle body horizontal inclination angle detection value from the vehicle body inclination angle sensor;

[0014] When it is determined that the vehicle body horizontal inclination angle detection value is greater than or equal to the vehicle body horizontal inclination angle safety threshold value, the first locking valve and the second locking valve are cut off, and the first proportional reversing valve group and the second proportional reversing valve group are controlled to adjust and control the piston height difference of the left suspension cylinder and the right suspension cylinder until the vehicle body horizontal inclination angle detection value is less than the vehicle body horizontal inclination angle safety threshold value or the piston height difference reaches the limit value.

[0015] Optionally, the controller is further configured to:

[0016] When it is determined that the vehicle body horizontal inclination angle detection value is less than the vehicle body horizontal inclination angle safety threshold value, the first locking valve and the second locking valve are opened, and the first proportional reversing valve group and the second proportional reversing valve group are closed.

[0017] Optionally, the suspension system further includes a first pressure sensor for detecting the oil pressure of the left suspension cylinder, a second pressure sensor for detecting the oil pressure of the right suspension cylinder, an acceleration sensor for detecting the vehicle body acceleration, and a speed sensor for detecting the vehicle's traveling speed. The controller is signal-connected to the first pressure sensor, the second pressure sensor, the acceleration sensor, and the speed sensor, respectively, and is further configured to:

[0018] Obtaining a first oil pressure detection value of the first pressure sensor and a second oil pressure detection value of the second pressure sensor, and determining a vehicle load value of the vehicle based on the first oil pressure detection value and the second oil pressure detection value;

[0019] Acquiring a vehicle body acceleration detection value from the acceleration sensor and a driving speed detection value from the speed sensor;

[0020] The vehicle body horizontal inclination angle safety threshold value is determined according to the vehicle load value, the vehicle body acceleration detection value, and the driving speed detection value.

[0021] Optionally, the suspension system further includes a first displacement sensor for detecting the piston position of the left suspension cylinder and a second displacement sensor for detecting the piston position of the right suspension cylinder. The controller is signal-connected to the first displacement sensor and the second displacement sensor, and is further configured to:

[0022] When it is determined that the vehicle body horizontal inclination angle detection value is greater than or equal to the vehicle body horizontal inclination angle safety threshold value, the first piston position detection value of the first displacement sensor and the second piston position detection value of the second displacement sensor are obtained, and the current piston height difference between the left suspension cylinder and the right suspension cylinder is determined based on the first piston position detection value and the second piston position detection value. The first proportional reversing valve group and the second proportional reversing valve group are controlled based on the current piston height difference to adjust and control the piston height difference between the left suspension cylinder and the right suspension cylinder.

[0023] Optionally, the suspension system further includes a first displacement sensor for detecting the piston position of the left suspension cylinder and a second displacement sensor for detecting the piston position of the right suspension cylinder. The controller is connected to the first displacement sensor and the second displacement sensor signals and is further configured to:

[0024] Obtaining a first piston position detection value of the first displacement sensor and a second piston position detection value of the second displacement sensor, and determining a current piston height difference between the left suspension cylinder and the right suspension cylinder based on the first piston position detection value and the second piston position detection value,

[0025] determining a transverse slope value of a road surface on which the vehicle is currently located according to the current piston height difference value and the vehicle body horizontal inclination angle detection value;

[0026] When it is determined that the transverse slope value is greater than the set slope value, an alarm signal is generated and issued, and at the same time, a speed limit signal is generated and issued.

[0027] Optionally, both the first displacement sensor and the second displacement sensor are hysteresis sensors.

[0028] The present invention also provides a control method for the suspension system of a vehicle according to the above-mentioned method, comprising:

[0029] Determine the vehicle's body horizontal inclination angle safety threshold;

[0030] Obtaining the current horizontal inclination angle of the vehicle;

[0031] When it is determined that the horizontal inclination angle of the vehicle body is greater than or equal to the horizontal inclination angle safety threshold value, the first locking valve and the second locking valve are cut off, and the first proportional reversing valve group and the second proportional reversing valve group are controlled to adjust and control the piston height difference of the left suspension cylinder and the right suspension cylinder until the horizontal inclination angle of the vehicle body is less than the horizontal inclination angle safety threshold value or the piston height difference reaches the limit value.

[0032] Optionally, the control method further includes:

[0033] When it is determined that the vehicle body horizontal inclination angle is less than the vehicle body horizontal inclination angle safety threshold value, the first locking valve and the second locking valve are opened, and the first proportional reversing valve group and the second proportional reversing valve group are cut off.

[0034] The present invention also provides a vehicle, comprising:

[0035] axles;

[0036] Frame body;

[0037] In the suspension system for the vehicle, the left suspension cylinder and the right suspension cylinder are supported and arranged between the axle and the vehicle frame.

[0038] In the suspension system for a vehicle of the present invention, under normal circumstances, the first proportional reversing valve group and the second proportional reversing valve group can be cut off, and the first locking valve and the second locking valve can be opened. At this time, the rod chamber and the rodless chamber of the left suspension cylinder and the right suspension cylinder are cross-connected and are in a passive anti-roll state. When the vehicle is traveling on a road with a large lateral slope, etc., which leads to a large rollover risk, the first locking valve and the second locking valve can be cut off, and the first proportional reversing valve group and the second proportional reversing valve group can be opened to introduce hydraulic oil from the hydraulic oil source into the left suspension cylinder and / or the right suspension cylinder, and at the same time, the hydraulic oil in the left suspension cylinder and / or the right suspension cylinder is led out, thereby adjusting the piston height of the left suspension cylinder and / or the right suspension cylinder, actively adjusting the horizontal inclination angle of the vehicle body, and realizing active anti-roll. In this way, the anti-roll performance of the suspension system can be significantly improved, thereby improving the heavy-load driving capability of the vehicle.

[0039] Other features and advantages of the present invention will be described in detail in the following detailed description of the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention but do not constitute a limitation of the present invention.

[0041] In the attached figure:

[0042] Figure 1A structural diagram of a suspension system for a vehicle in an embodiment of the present application;

[0043] Figure 2 A flow chart of a control method for a suspension system for a vehicle in an embodiment of the present application.

[0044] BRIEF DESCRIPTION OF DRAWINGS

[0045] 1 left suspension oil cylinder 10 acceleration sensor

[0046] 2 right suspension oil cylinder 11 speed sensor

[0047] 3 first lock valve 12 first displacement sensor

[0048] 4 second lock valve 13 second displacement sensor

[0049] 5 first proportional directional valve group 14 controller

[0050] 6 second proportional directional valve group 15 axle

[0051] 7 vehicle body inclination sensor 16 vehicle frame body

[0052] 8 first pressure sensor 17 hydraulic oil source

[0053] 9 second pressure sensor

[0054] L1 first oil path L3 third oil path

[0055] L2 second oil path L4 fourth oil path DETAILED DESCRIPTION

[0056] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended for explanation and illustration of the present application and are not intended to limit the present application.

[0057] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0058] In the present invention, unless otherwise specified, the directions or positional relationships indicated by directional words such as "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the embodiments of the present invention; the directional words "inside" and "outside" refer to the inside and outside relative to the outline of each component itself.

[0059] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0060] Refer to the attached Figure 1 As shown, a first exemplary embodiment of the present invention provides a suspension system for a vehicle, comprising:

[0061] Left suspension cylinder 1;

[0062] Right suspension cylinder 2;

[0063] The first locking valve 3 is connected to the rod chamber of the right suspension cylinder 2 and the rodless chamber of the left suspension cylinder 1 through the first oil circuit L1 and the second oil circuit L2 respectively;

[0064] The second locking valve 4 is connected to the rod chamber of the left suspension cylinder 1 and the rodless chamber of the right suspension cylinder 2 through the third oil passage L3 and the fourth oil passage L4 respectively;

[0065] The first proportional reversing valve group 5 has a first oil inlet, a first oil return port, a first working oil port, and a second working oil port. The first oil inlet is connected to the hydraulic oil source 17, the first working oil port is connected to the first oil circuit L1, and the second working oil port is connected to the second oil circuit L2;

[0066] The second proportional reversing valve group 6 has a second oil inlet, a second oil return port, a third working oil port and a fourth working oil port. The second oil inlet is connected to the hydraulic oil source 17, the third working oil port is connected to the third oil circuit L3, and the fourth working oil port is connected to the fourth oil circuit L4.

[0067] Specifically, the first oil return port of the first proportional reversing valve group 5 and the second oil return port of the second proportional reversing valve group 6 can be connected to the oil tank through oil return pipelines respectively to achieve oil drainage.

[0068] In the suspension system of this embodiment, under normal circumstances, the first proportional reversing valve group 5 and the second proportional reversing valve group 6 can be cut off, and the first locking valve 3 and the second locking valve 4 can be opened. At this time, the rod chamber and the rodless chamber of the left suspension cylinder 1 and the right suspension cylinder 2 are cross-connected through the first oil circuit L1, the second oil circuit L2, the third oil circuit L3 and the fourth oil circuit L4, and are in a passive anti-roll state. When the vehicle is traveling on a road with a large lateral slope, which may result in a greater risk of rollover, the first locking valve 3 and the second locking valve 4 can be cut off, and the first proportional reversing valve group 5 and the second proportional reversing valve group 6 can be opened to introduce the hydraulic oil from the hydraulic oil source 17 into the left suspension cylinder 1 and / or the right suspension cylinder 2. At the same time, the hydraulic oil in the left suspension cylinder 1 and / or the right suspension cylinder 2 is drawn out, thereby adjusting the piston height of the left suspension cylinder 1 and / or the right suspension cylinder 2, actively adjusting the horizontal inclination angle of the vehicle body, and realizing active anti-roll. In this way, the anti-roll performance of the suspension system can be significantly improved, thereby improving the heavy-load driving capability of the vehicle.

[0069] In addition, it can be understood that the proportional reversing valve group can control the flow of hydraulic oil more accurately. Therefore, the first proportional reversing valve group 5 and the second proportional reversing valve group 6 can more accurately control the lifting and lowering of the pistons of the left suspension cylinder 1 and the right suspension cylinder 2, thereby accurately adjusting the horizontal inclination angle of the vehicle body, which can further effectively improve the vehicle's anti-roll performance.

[0070] In actual application, one of the left suspension cylinder 1 and the right suspension cylinder 2 can be controlled separately according to actual conditions, the other of the left suspension cylinder 1 and the right suspension cylinder 2 can be locked, or the left suspension cylinder 1 and the right suspension cylinder 2 can be controlled at the same time.

[0071] For example, the vehicle body tilts toward the right, and the height difference between the pistons of the left suspension cylinder 1 and the right suspension cylinder 2 is large. At this time, when it is necessary to quickly reduce the height difference between the pistons of the left suspension cylinder 1 and the right suspension cylinder 2 to reduce the horizontal inclination angle of the vehicle body, the first locking valve 3 and the second locking valve 4 can be cut off, and the first proportional reversing valve group 5 and the second proportional reversing valve group 6 can be controlled to drain oil from the rodless chamber of the left suspension cylinder 1 and the rod chamber of the right suspension cylinder 2, and allow oil to enter the rod chamber of the left suspension cylinder 1 and the rodless chamber of the right suspension cylinder 2. In this way, the piston height of the right suspension cylinder 2 can be increased, and the piston height of the left suspension cylinder 1 can be reduced, thereby achieving the purpose of quickly reducing the piston height difference to reduce the horizontal inclination angle of the vehicle body.

[0072] For another example, the vehicle body tilts to the right, and the height difference between the pistons of the left suspension cylinder 1 and the right suspension cylinder 2 is small. At this time, the horizontal inclination angle of the vehicle body can be adjusted by separately adjusting the piston height of the left suspension cylinder 1 or the right suspension cylinder 2. The first locking valve 3 and the second locking valve 4 can be cut off, and the first proportional reversing valve group 5 and the second proportional reversing valve group 6 can be controlled to discharge oil from the rod cavity of the right suspension cylinder 2 and allow oil to enter the rodless cavity of the right suspension cylinder 2, and lock the left suspension cylinder 1. In this way, the piston height of the right suspension cylinder 2 can be increased, and the piston height of the left suspension cylinder 1 remains unchanged, thereby achieving the purpose of reducing the piston height difference to reduce the horizontal inclination angle of the vehicle body.

[0073] Specifically, the locking valve may be a hydraulically controlled locking valve, an electro-hydraulic locking valve, or a pneumatically controlled locking valve.

[0074] In an optional embodiment, the suspension system further includes a controller 14 and a vehicle body inclination sensor 7. The vehicle body inclination sensor 7 is used to detect the horizontal inclination of the vehicle body. The controller 14 is signal-connected to the first locking valve 3, the second locking valve 4, the first proportional reversing valve group 5, the second proportional reversing valve group 6, and the vehicle body inclination sensor 7, respectively, and is configured as follows:

[0075] Determine the vehicle's body horizontal inclination angle safety threshold;

[0076] Obtaining a vehicle body horizontal inclination angle detection value from a vehicle body inclination angle sensor 7;

[0077] When it is determined that the vehicle body horizontal inclination angle detection value is greater than or equal to the vehicle body horizontal inclination angle safety threshold value, the first locking valve 3 and the second locking valve 4 are cut off, and the first proportional reversing valve group 5 and the second proportional reversing valve group 6 are controlled to adjust the piston height difference of the left suspension cylinder 1 and the right suspension cylinder 2 until the vehicle body horizontal inclination angle detection value is less than the vehicle body horizontal inclination angle safety threshold value or the piston height difference reaches the limit value.

[0078] It can be understood that when it is determined that the vehicle body horizontal inclination angle detection value is greater than or equal to the vehicle body horizontal inclination angle safety threshold value, it indicates that there is a risk of vehicle rollover. At this time, the first proportional reversing valve group 5 and the second proportional reversing valve group 6 are controlled by the controller 14 to adjust the piston height difference between the left suspension cylinder 1 and the right suspension cylinder 2, thereby adjusting the vehicle body horizontal inclination angle. Such a setting can avoid vehicle rollover to a large extent, improve anti-roll performance, and realize adaptive adjustment of the vehicle body horizontal inclination angle.

[0079] Specifically, the vehicle body inclination sensor 7 may be provided on the vehicle frame to accurately detect the horizontal inclination of the vehicle body and provide accurate data for the control of the controller.

[0080] In an optional embodiment, the controller 14 is further configured to:

[0081] When it is determined that the vehicle body horizontal inclination angle detection value is less than the vehicle body horizontal inclination angle safety threshold value, the first locking valve 3 and the second locking valve 4 are opened, and the first proportional reversing valve group 5 and the second proportional reversing valve group 6 are closed.

[0082] It can be understood that when it is determined that the vehicle body horizontal inclination angle detection value is less than the vehicle body horizontal inclination angle safety threshold value, it indicates that the vehicle body horizontal inclination angle is within a relatively safe range. At this time, by opening the first locking valve 3 and the second locking valve 4, and cutting off the first proportional reversing valve group 5 and the second proportional reversing valve group 6, the rod chamber and the rodless chamber of the left suspension cylinder 1 and the right suspension cylinder 2 can be cross-connected through the first oil circuit L1, the second oil circuit L2, the third oil circuit L3 and the fourth oil circuit L4, and are in a conventional passive anti-roll state, with basic anti-roll performance, avoiding ineffective consumption of energy.

[0083] In an optional embodiment, the suspension system further includes a first pressure sensor 8 for detecting the oil pressure of the left suspension cylinder 1, a second pressure sensor 9 for detecting the oil pressure of the right suspension cylinder 2, an acceleration sensor 10 for detecting the vehicle body acceleration, and a speed sensor 11 for detecting the vehicle's driving speed. The controller 14 is signal-connected to the first pressure sensor 8, the second pressure sensor 9, the acceleration sensor 10, and the speed sensor 11, respectively, and is further configured as follows:

[0084] Obtaining a first oil pressure detection value of the first pressure sensor 8 and a second oil pressure detection value of the second pressure sensor 9, and determining a vehicle load value of the vehicle based on the first oil pressure detection value and the second oil pressure detection value;

[0085] Acquire the vehicle body acceleration detection value of the acceleration sensor 10 and the driving speed detection value of the speed sensor 11;

[0086] The vehicle body horizontal inclination angle safety threshold is determined based on the vehicle load value, vehicle body acceleration detection value and driving speed detection value.

[0087] Specifically, the controller 14 pre-stores a correspondence between the vehicle body horizontal inclination angle safety threshold value and the vehicle load value, the vehicle body acceleration detection value and the driving speed detection value. During the vehicle driving process, after determining the vehicle load value, the vehicle body acceleration detection value and the driving speed detection value, the vehicle body horizontal inclination angle safety threshold value can be determined according to the pre-stored correspondence relationship; wherein, the correspondence relationship can be obtained through a large number of experiments.

[0088] In addition, it should be noted that determining the vehicle load value by obtaining the oil pressure of the left suspension cylinder 1 and the right suspension cylinder 2 is well known to those skilled in the art. In this embodiment, the controller 14 can calculate the unsprung weight of the vehicle through the first oil pressure detection value and the second oil pressure detection value in combination with the parameters of the corresponding suspension cylinders, and the vehicle load value can be calculated by combining the pre-stored sprung weight (the sprung weight is a fixed value and is pre-stored by the staff).

[0089] Specifically, the first pressure sensor 8 and the second pressure sensor 9 may be respectively provided on the first oil circuit L1 and the third oil circuit L3 , the acceleration sensor 10 may be provided on the vehicle frame, and the speed sensor 11 may be provided on the vehicle axle.

[0090] In an optional embodiment, the suspension system further includes a first displacement sensor 12 for detecting the piston position of the left suspension cylinder 1 and a second displacement sensor 13 for detecting the piston position of the right suspension cylinder 2. The controller 14 is signal-connected to the first displacement sensor 12 and the second displacement sensor 13 and is further configured as follows:

[0091] When it is determined that the vehicle body horizontal inclination angle detection value is greater than or equal to the vehicle body horizontal inclination angle safety threshold value, the first piston position detection value of the first displacement sensor 12 and the second piston position detection value of the second displacement sensor 13 are obtained, and the current piston height difference between the left suspension cylinder 1 and the right suspension cylinder 2 is determined based on the first piston position detection value and the second piston position detection value. The first proportional reversing valve group 5 and the second proportional reversing valve group 6 are controlled based on the current piston height difference to adjust and control the piston height difference between the left suspension cylinder 1 and the right suspension cylinder 2.

[0092] It is understood that the piston height difference between the left and right suspension cylinders 1 and 2 corresponds to the left-right height difference of the vehicle body. There is a corresponding relationship between the lateral slope of the road on which the vehicle is located, the horizontal inclination angle of the vehicle body, and the left-right height difference of the vehicle body. Specifically, when the lateral slope is fixed, the controller 14 can determine a target value for the piston height difference between the left and right suspension cylinders 1 and 2 based on the target value to which the vehicle body horizontal inclination angle needs to be adjusted. Then, closed-loop control of the left and right suspension cylinders 1 and 2 is performed based on the current piston height difference, so that the piston height difference between the left and right suspension cylinders 1 and 2 can accurately reach the target value. In this way, accurate control of the vehicle body horizontal inclination angle is achieved, so that the vehicle body horizontal inclination angle can be accurately adjusted to a safe range, thereby improving the reliability of anti-roll.

[0093] Specifically, the first displacement sensor 12 may be disposed in the left suspension cylinder 1 , and the second displacement sensor 13 may be disposed in the right suspension cylinder 2 .

[0094] In an optional embodiment, the suspension system further includes a first displacement sensor 12 for detecting the piston position of the left suspension cylinder 1 and a second displacement sensor 13 for detecting the piston position of the right suspension cylinder 2. The controller 14 is signal-connected to the first displacement sensor 12 and the second displacement sensor 13 and is further configured as follows:

[0095] Obtaining a first piston position detection value of the first displacement sensor 12 and a second piston position detection value of the second displacement sensor 13, and determining a current piston height difference between the left suspension cylinder 1 and the right suspension cylinder 2 based on the first piston position detection value and the second piston position detection value;

[0096] Determine the lateral slope of the road the vehicle is currently on based on the current piston height difference and the vehicle body horizontal inclination angle detection value;

[0097] When it is determined that the lateral slope value is greater than the set slope value, an alarm signal is generated and issued, and at the same time, a speed limit signal is generated and issued.

[0098] As will be understood, as previously described, the piston height difference between the left and right suspension cylinders 1 and 2 corresponds to the left-right height difference of the vehicle body. There is a corresponding relationship between the lateral slope of the road surface on which the vehicle is traveling, the vehicle's horizontal tilt angle, and the left-right height difference of the vehicle body. Therefore, the controller 14 can determine the current lateral slope of the road surface on which the vehicle is traveling based on the current piston height difference and the detected horizontal tilt angle. Because the piston height difference between the left and right suspension cylinders 1 and 2 has a limit, i.e., the suspension system has a limit on its ability to adjust the vehicle's horizontal tilt angle, when the road surface's lateral slope is large and exceeds the adjustable safe range, adjusting the vehicle's horizontal tilt angle solely through the suspension system still poses a rollover risk. In this embodiment, the controller 14 determines the road surface's lateral slope. When the road surface's lateral slope exceeds a set slope value, it issues an alarm signal and a speed limit signal. This serves to alert the operator and simultaneously limits the vehicle's speed to improve anti-roll performance. This effectively reduces the risk of rollover when the vehicle is traveling on roads with large lateral slopes.

[0099] Specifically, the controller 14 can be connected to the vehicle's control system signal. When it is determined that the lateral slope value is greater than the set slope value, an alarm signal and a speed limit signal are sent to the control system to enable the control system to limit the vehicle speed and reduce the vehicle speed to a safe range. At the same time, the alarm device of the control system sends a prompt signal to warn the operator that the road slope is large and there is a risk of rollover if only the suspension system is used to achieve anti-roll.

[0100] In an optional embodiment, the first displacement sensor 12 and the second displacement sensor 13 are both hysteresis sensors. This arrangement can further improve the accuracy of the controller 14 in controlling the left suspension cylinder 1 and the right suspension cylinder 2.

[0101] Of course, in some other embodiments, the first displacement sensor 12 and the second displacement sensor 13 may also be other high-precision displacement sensors.

[0102] In an optional embodiment, the controller 14 may also be configured to issue a speed limit signal when the data from the above-mentioned sensors is abnormal, so as to improve the driving safety of the vehicle.

[0103] Refer to the attached Figure 2 As shown, the second exemplary embodiment of the present invention provides a control method for the suspension system of a vehicle, comprising the following steps:

[0104] Step S1. Determine the vehicle's horizontal inclination angle safety threshold;

[0105] Step S2. Obtain the current horizontal inclination angle of the vehicle body;

[0106] Step S3. When it is determined that the horizontal inclination angle of the vehicle body is greater than or equal to the horizontal inclination angle safety threshold value, the first locking valve 3 and the second locking valve 4 are cut off, and the first proportional reversing valve group 5 and the second proportional reversing valve group 6 are controlled to adjust the piston height difference of the left suspension cylinder 1 and the right suspension cylinder 2 until the horizontal inclination angle of the vehicle body is less than the horizontal inclination angle safety threshold value or the piston height difference reaches the limit value.

[0107] In an optional embodiment, the control method further includes:

[0108] Step S4. When it is determined that the vehicle body horizontal inclination angle is less than the vehicle body horizontal inclination angle safety threshold, the first locking valve 3 and the second locking valve 4 are opened, and the first proportional reversing valve group 5 and the second proportional reversing valve group 6 are closed.

[0109] In an optional embodiment, step S1 specifically includes:

[0110] Step S11. Obtain the oil pressure of the left suspension cylinder 1 and the oil pressure of the right suspension cylinder 2, and determine the vehicle load according to the oil pressure of the left suspension cylinder 1 and the oil pressure of the right suspension cylinder 2;

[0111] Step S12: Obtaining the vehicle's body acceleration and driving speed;

[0112] Step S13: Determine the vehicle body horizontal inclination angle safety threshold value according to the vehicle load, vehicle body acceleration and driving speed.

[0113] In an optional embodiment, step S3 specifically includes:

[0114] When it is determined that the vehicle body roll angle is greater than or equal to the vehicle body roll angle safety threshold, the piston position of the left suspension oil cylinder 1 and the piston position of the right suspension oil cylinder 2 are obtained, the current piston height difference of the left suspension oil cylinder 1 and the right suspension oil cylinder 2 is determined according to the piston position of the left suspension oil cylinder 1 and the piston position of the right suspension oil cylinder 2, and the first proportional directional valve group 5 and the second proportional directional valve group 6 are controlled according to the current piston height difference to adjust the piston height difference of the left suspension oil cylinder 1 and the right suspension oil cylinder 2.

[0115] In an alternative embodiment, the control method further comprises:

[0116] The piston position of the left suspension oil cylinder 1 and the piston position of the right suspension oil cylinder 2 are obtained, the current piston height difference of the left suspension oil cylinder 1 and the right suspension oil cylinder 2 is determined according to the piston position of the left suspension oil cylinder 1 and the piston position of the right suspension oil cylinder 2, and the first proportional directional valve group 5 and the second proportional directional valve group 6 are controlled according to the current piston height difference to adjust the piston height difference of the left suspension oil cylinder 1 and the right suspension oil cylinder 2;

[0117] The lateral slope of the road on which the vehicle is currently located is determined according to the current piston height difference and the vehicle body roll angle;

[0118] When it is determined that the lateral slope is greater than the set slope, an alarm signal is generated and sent, and a vehicle speed limiting signal is also generated and sent.

[0119] The third exemplary embodiment of the present application provides a vehicle comprising:

[0120] An axle 15;

[0121] A frame body 16;

[0122] The above-mentioned suspension system for a vehicle, the left suspension oil cylinder 1 and the right suspension oil cylinder 2 support the axle and the frame body.

[0123] Obviously, the vehicle of the present embodiment also has the technical effects of the above-mentioned suspension system.

[0124] In the description of the present application, it should be understood that the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0125] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0126] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0127] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A suspension system for a vehicle, characterized in that: include: Left suspension cylinder (1); Right suspension cylinder (2); A first locking valve (3) is connected to the rod chamber of the right suspension oil cylinder (2) and the rodless chamber of the left suspension oil cylinder (1) through a first oil circuit (L1) and a second oil circuit (L2), respectively; A second locking valve (4) is connected to the rod chamber of the left suspension oil cylinder (1) and the rodless chamber of the right suspension oil cylinder (2) via a third oil circuit (L3) and a fourth oil circuit (L4), respectively; a first proportional reversing valve group (5) having a first oil inlet, a first oil return port, a first working oil port, and a second working oil port, wherein the first oil inlet is connected to a hydraulic oil source (17), the first working oil port is connected to the first oil circuit (L1), and the second working oil port is connected to the second oil circuit (L2); a second proportional reversing valve group (6) having a second oil inlet, a second oil return port, a third working oil port, and a fourth working oil port, wherein the second oil inlet is connected to the hydraulic oil source (17), the third working oil port is connected to the third oil circuit (L3), and the fourth working oil port is connected to the fourth oil circuit (L4); The suspension system further comprises a controller (14) and a vehicle body tilt sensor (7), wherein the vehicle body tilt sensor (7) is used to detect the horizontal tilt angle of the vehicle body. The controller (14) is respectively connected to the first locking valve (3), the second locking valve (4), the first proportional reversing valve group (5), the second proportional reversing valve group (6) and the vehicle body tilt sensor (7) via signals, and is configured as follows: Determining a safety threshold value of a horizontal inclination angle of a vehicle body; Obtaining a vehicle body horizontal inclination angle detection value from the vehicle body inclination angle sensor (7); When it is determined that the vehicle body horizontal inclination angle detection value is greater than or equal to the vehicle body horizontal inclination angle safety threshold value, the first locking valve (3) and the second locking valve (4) are cut off, and the first proportional reversing valve group (5) and the second proportional reversing valve group (6) are controlled to adjust and control the piston height difference of the left suspension oil cylinder (1) and the right suspension oil cylinder (2) until the vehicle body horizontal inclination angle detection value is less than the vehicle body horizontal inclination angle safety threshold value or the piston height difference reaches a limit value; The suspension system further comprises a first pressure sensor (8) for detecting the oil pressure of the left suspension cylinder (1), a second pressure sensor (9) for detecting the oil pressure of the right suspension cylinder (2), an acceleration sensor (10) for detecting the body acceleration of the vehicle, and a speed sensor (11) for detecting the driving speed of the vehicle. The controller (14) is respectively connected to the first pressure sensor (8), the second pressure sensor (9), the acceleration sensor (10), and the speed sensor (11) for signals, and is further configured as follows: Obtaining a first oil pressure detection value of the first pressure sensor (8) and a second oil pressure detection value of the second pressure sensor (9), and determining a vehicle load value of the vehicle based on the first oil pressure detection value and the second oil pressure detection value; Acquiring a vehicle body acceleration detection value from the acceleration sensor (10) and a driving speed detection value from the speed sensor (11); The vehicle body horizontal inclination angle safety threshold value is determined according to the vehicle load value, the vehicle body acceleration detection value, and the driving speed detection value.

2. The suspension system for a vehicle according to claim 1, characterized in that: The controller (14) is further configured to: When it is determined that the vehicle body horizontal inclination angle detection value is less than the vehicle body horizontal inclination angle safety threshold value, the first locking valve (3) and the second locking valve (4) are opened, and the first proportional reversing valve group (5) and the second proportional reversing valve group (6) are cut off.

3. The suspension system for a vehicle according to claim 1, characterized in that: The suspension system further comprises a first displacement sensor (12) for detecting the piston position of the left suspension cylinder (1) and a second displacement sensor (13) for detecting the piston position of the right suspension cylinder (2). The controller (14) is connected to the first displacement sensor (12) and the second displacement sensor (13) via signals and is further configured to: When it is determined that the vehicle body horizontal inclination angle detection value is greater than or equal to the vehicle body horizontal inclination angle safety threshold value, the first piston position detection value of the first displacement sensor (12) and the second piston position detection value of the second displacement sensor (13) are obtained, and the current piston height difference between the left suspension oil cylinder (1) and the right suspension oil cylinder (2) is determined based on the first piston position detection value and the second piston position detection value. The first proportional reversing valve group (5) and the second proportional reversing valve group (6) are controlled based on the current piston height difference to adjust and control the piston height difference between the left suspension oil cylinder (1) and the right suspension oil cylinder (2).

4. The suspension system for a vehicle according to claim 1, characterized in that: The suspension system further comprises a first displacement sensor (12) for detecting the piston position of the left suspension cylinder (1) and a second displacement sensor (13) for detecting the piston position of the right suspension cylinder (2). The controller (14) is connected to the first displacement sensor (12) and the second displacement sensor (13) via signals and is further configured to: Obtaining a first piston position detection value of the first displacement sensor (12) and a second piston position detection value of the second displacement sensor (13), and determining a current piston height difference between the left suspension cylinder (1) and the right suspension cylinder (2) based on the first piston position detection value and the second piston position detection value; determining a lateral slope value of a road surface on which the vehicle is currently located according to the current piston height difference value and the vehicle body horizontal inclination angle detection value; When it is determined that the transverse slope value is greater than the set slope value, an alarm signal is generated and issued, and at the same time, a speed limit signal is generated and issued.

5. The suspension system for a vehicle according to claim 3 or 4, characterized in that: The first displacement sensor (12) and the second displacement sensor (13) are both hysteresis sensors.

6. A method for controlling a suspension system of a vehicle according to any one of claims 1 to 5, characterized in that: include: Determine the vehicle's body horizontal inclination angle safety threshold; Obtaining the current horizontal inclination angle of the vehicle; When it is determined that the vehicle body horizontal inclination angle is greater than or equal to the vehicle body horizontal inclination angle safety threshold value, the first locking valve (3) and the second locking valve (4) are cut off, and the first proportional reversing valve group (5) and the second proportional reversing valve group (6) are controlled to adjust and control the piston height difference of the left suspension cylinder (1) and the right suspension cylinder (2) until the vehicle body horizontal inclination angle is less than the vehicle body horizontal inclination angle safety threshold value or the piston height difference reaches a limit value.

7. The control method for a vehicle suspension system according to claim 6, characterized in that: The control method further includes: When it is determined that the vehicle body horizontal inclination angle is less than the vehicle body horizontal inclination angle safety threshold value, the first locking valve (3) and the second locking valve (4) are opened, and the first proportional reversing valve group (5) and the second proportional reversing valve group (6) are cut off.

8. A vehicle, characterized in that: include: Axle (15); Frame body (16); According to the suspension system for a vehicle according to any one of claims 1 to 5, the left suspension cylinder (1) and the right suspension cylinder (2) are supported and arranged between the axle and the frame body.

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