Vehicle damping cooperation control method and system

Abstract

The invention discloses a vehicle damping cooperation control method and system. The method comprises the steps that running parameters of a current vehicle are obtained; obtaining a target damping coefficient of the four-wheel upper support device; the damping difference of the four-wheel upper supporting device is calculated; calculating a damping adjustment reference and a damping total difference amplitude; calculating a current instantaneous target execution damping coefficient of the four-wheel upper support device; according to the current instantaneous target execution damping coefficient of the four-wheel upper supporting device and the target damping coefficient of the four-wheel upper supporting device, the execution state of the control method is judged; if the four-wheel upper supporting device enters the damping cooperation state, the current instantaneous target of the four-wheel upper supporting device is applied to execute a damping coefficient to control the vehicle; otherwise, updating the last instantaneous target execution damping coefficient of the four-wheel upper supporting device to the current instantaneous target execution damping coefficient of the four-wheel upper supporting device, and executing the method again. The method can cooperate with the suspension damping coefficient of the wheels of the vehicle, and the comfort of the vehicle is optimized.

Description

Technical Field

[0001] The present invention relates to the technical field of wheel support device control, and in particular to a vehicle damping coordination control method and system. Background Art

[0002] The function of the suspension is to support the vehicle, and the performance of the suspension has an important impact on the comfort of the vehicle. The suspension changes the comfort of the vehicle by adjusting its damping coefficient. The control of the suspension damping coefficient is relatively complex, and the damping coefficients of each suspension need to be coordinated with each other. Otherwise, the damping coefficients of each suspension will not change in a coordinated and synchronized manner, which will lead to large differences in the suspension damping coefficients during vehicle driving, causing vehicle vibration and poor comfort. Summary of the invention

[0003] The main purpose of the present invention is to provide a vehicle damping coordination control method and system to coordinate and synchronize the damping coefficients of each wheel of the vehicle.

[0004] The technical solution adopted by the present invention is: a vehicle damping coordination control method, comprising:

[0005] Acquire the current vehicle operation parameters, including the last instantaneous target execution damping coefficient of the four-wheel upper support device, wherein the initial value of the last instantaneous target execution damping coefficient of the four-wheel upper support device is 0;

[0006] Based on the current operating parameters of the vehicle, obtaining a target damping coefficient of the four-wheel upper support device;

[0007] Calculating the damping difference of the four-wheel upper support device according to the target damping coefficient of the four-wheel upper support device and the last instantaneous target execution damping coefficient of the four-wheel upper support device;

[0008] Calculating a damping adjustment reference and a total damping difference amplitude according to the damping difference of the four-wheel upper support device;

[0009] Calculating a current instantaneous target execution damping coefficient of the four-wheel upper support device according to the total damping difference amplitude, the damping difference of the four-wheel upper support device, the damping adjustment reference and the last instantaneous target execution damping coefficient of the four-wheel upper support device;

[0010] The execution state of the present control method is determined according to the current instantaneous target execution damping coefficient of the four-wheel upper support device and the target damping coefficient of the four-wheel upper support device; if it is a damping coordination state, the current instantaneous target execution damping coefficient of the four-wheel upper support device is applied to control the vehicle; otherwise, the previous instantaneous target execution damping coefficient of the four-wheel upper support device is updated to the current instantaneous target execution damping coefficient of the four-wheel upper support device, and the present method is executed again.

[0011] According to the above technical solution, the operating parameters of the vehicle include the vehicle speed V.

[0012] According to the above technical solution, based on the target damping coefficient of the four-wheel upper support device and the last instantaneous target execution damping coefficient of the four-wheel upper support device, the method for calculating the damping difference of the four-wheel upper support device includes: for each wheel, the damping difference of the upper support device is equal to the target damping coefficient of the upper support device minus the last instantaneous target execution damping coefficient of the upper support device. Further, the calculation formula of the above process is:

[0013]

[0014] Among them, Δε fl is the target damping difference of the left front wheel upper support device; Δε fr is the target damping difference of the upper support device on the right front wheel; Δε rl is the target damping difference of the left rear wheel upper support device; Δε rr is the target damping difference of the upper support device of the right rear wheel; ε fl is the target damping coefficient of the left front wheel upper support device; ε fr is the target damping coefficient of the upper support device of the right front wheel; ε rl is the target damping coefficient of the left rear wheel upper support device; ε rr is the target damping coefficient of the upper support device of the right rear wheel; ε(k-1) fl The last instantaneous target damping coefficient of the support device on the left front wheel; ε(k-1) fr The last instantaneous target damping coefficient of the upper support device of the right front wheel; ε(k-1) rl The last instantaneous target damping coefficient of the support device on the left rear wheel; ε(k-1) rr Implement the damping coefficient for the last instantaneous target of the right rear wheel upper support.

[0015] According to the above technical solution, the method for calculating the damping adjustment reference according to the damping difference of the four-wheel upper support device includes:

[0016] Calculating a maximum damping difference amplitude and a minimum damping difference amplitude according to the damping difference of the four-wheel upper support device;

[0017] A damping adjustment reference is calculated according to the maximum damping difference amplitude, the minimum damping difference amplitude and the vehicle speed.

[0018] According to the above technical solution, the method for calculating the maximum damping difference amplitude and the minimum damping difference amplitude according to the damping difference of the four-wheel upper support device includes: the maximum damping difference amplitude is equal to the maximum value of the absolute value of the damping difference of the four-wheel upper support device; the minimum damping difference amplitude is equal to the minimum value of the absolute value of the damping difference of the four-wheel upper support device. Further, the calculation formula of the above process is

[0019]

[0020] Where: Δε1 is the maximum damping difference amplitude; Δε2 is the minimum damping difference amplitude.

[0021] According to the above technical solution, the method for calculating the damping adjustment reference according to the maximum damping difference amplitude Δε1, the minimum damping difference amplitude and the vehicle speed includes: the damping adjustment reference is equal to the ratio of the maximum damping difference amplitude Δε1 to the minimum damping difference amplitude multiplied by the inverse of the vehicle speed, and then multiplied by a reference coefficient, and the reference coefficient is obtained based on experience or calibration. Further, the calculation formula of the above process is:

[0022]

[0023] Where: Δε C is the reference for damping adjustment; γ is the reference coefficient, which is determined based on experience or calibration; V is the vehicle speed.

[0024] According to the above technical solution, the method for calculating the total damping difference amplitude according to the damping difference of the four-wheel upper support device includes: the total damping difference amplitude is equal to the sum of the absolute values ​​of the damping difference of the four-wheel upper support device. Further, the calculation formula of the above process is

[0025] Δε all =|Δε fl |+|Δε fr |+|Δε rl |+|Δε rr |

[0026] Among them, Δε all is the total damping difference amplitude.

[0027] According to the above technical solution, according to the total damping difference amplitude, the damping difference of the four-wheel upper support device, the damping adjustment reference Δε C and the last instantaneous target execution damping coefficient of the four-wheel upper support device, the method for calculating the current instantaneous target execution damping coefficient of the four-wheel upper support device includes:

[0028] Calculating the damping difference ratio of the four-wheel upper support device according to the total damping difference amplitude and the damping difference of the four-wheel upper support device;

[0029] According to the damping difference ratio of the four-wheel upper support device and the damping adjustment reference Δε C Calculate the damping change execution amount of the four-wheel upper support device;

[0030] The current instantaneous target execution damping coefficient of the four-wheel upper support device is calculated according to the damping change execution amount of the four-wheel upper support device and the previous instantaneous target execution damping coefficient of the four-wheel upper support device.

[0031] According to the above technical solution, according to the total damping difference amplitude Δε all The method for calculating the damping difference ratio of the four-wheel support device includes: for each wheel, the damping difference ratio of the wheel support device is equal to the damping difference of the wheel support device divided by the total damping difference amplitude Δε all . Further, the calculation formula of the above process is,

[0032]

[0033] Where: γ fl is the damping difference ratio of the left front wheel upper support device; γ fr is the damping difference ratio of the upper support device on the right front wheel; γ rl is the damping difference ratio of the support device on the left rear wheel; γ rr is the damping difference ratio of the support device on the right rear wheel.

[0034] According to the above technical solution, according to the damping difference ratio of the four-wheel upper support device and the damping adjustment reference Δε C The method for calculating the damping change execution amount of the support device on the four wheels includes: for each wheel, the damping change execution amount of the support device on the wheel is equal to the damping difference ratio of the support device on the wheel multiplied by the damping adjustment reference Δε C . Furthermore, the calculation formula of the above process is:

[0035]

[0036] Where: Δε1 fl is the damping change execution amount of the left front wheel upper support device; Δε1 fr is the damping change execution amount of the support device on the right front wheel; Δε1 rl Δε1 is the damping change execution amount of the support device on the left rear wheel; rr It is the damping change execution amount of the support device on the right rear wheel.

[0037] According to the above technical solution, according to the damping change execution amount of the four-wheel support device and the previous instantaneous target execution damping coefficient of the four-wheel support device, the method for calculating the current instantaneous target execution damping coefficient of the four-wheel support device includes: for each wheel, the current instantaneous target execution damping coefficient of its wheel support device is equal to the damping change execution amount of its wheel support device plus the previous instantaneous target execution damping coefficient of its wheel support device. Further, the calculation formula of the above process is:

[0038]

[0039] Where: ε(k) fl The current instantaneous target damping coefficient for the support device on the left front wheel; ε(k) fr The current instantaneous target damping coefficient for the support device on the right front wheel; ε(k) rl The current instantaneous target damping coefficient for the support device on the left rear wheel; ε(k) rr The damping coefficient is implemented for the current instantaneous target of the support device on the right rear wheel.

[0040] According to the above technical solution, the method for judging whether the current vehicle enters the damping coordination state according to the current instantaneous target execution damping coefficient of the four-wheel upper support device and the target damping coefficient of the four-wheel upper support device includes:

[0041] For each wheel, determine whether the current instantaneous target execution damping coefficient of the support device on it is equal to the target damping coefficient of the support device on its wheel. If they are equal, it is determined that the damping coordination state has been entered; otherwise, it is determined that the damping coordination state has not been entered.

[0042] According to the above technical solution, if the damping coordination state is not entered, for each wheel, the time required for the current instantaneous target execution damping coefficient of its wheel support device to change to the target damping coefficient of its wheel support device is equal. Further, the method for judging the time equality includes: for each wheel, the time required for the current instantaneous target execution damping coefficient of its support device to change to the target damping coefficient of its wheel support device is equal to the target damping difference of the support device of the wheel divided by the damping change execution amount of its support device, that is,

[0043]

[0044] Where: time fl The time required for the current instantaneous target damping coefficient of the support device on the left front wheel to change to the target damping coefficient of the support device on the wheel; time fr The time required for the current instantaneous target damping coefficient of the support device on the right front wheel to change to the target damping coefficient of the support device on the wheel; time rlThe time required for the current instantaneous target damping coefficient of the support device on the left rear wheel to change to the target damping coefficient of the support device on the wheel; time rr The time required to execute the damping coefficient change to the target damping coefficient of the right rear wheel support device for the current instantaneous target of the right rear wheel support device.

[0045] The damping change execution amount of the support device is the ratio of the damping difference of the support device to the damping adjustment reference Δε C The product of is further transformed into:

[0046]

[0047] The damping difference ratio of the supporting device is equal to the damping difference of the supporting device divided by the total damping difference amplitude Δε all , so it is further transformed into:

[0048]

[0049] Simplifying the obtained calculation formula, we can get:

[0050]

[0051] That is, the time required for the current instantaneous target execution damping coefficient of the support device of each wheel to change to the target damping coefficient of the support device on the wheel is equal, and is equal to the total damping difference amplitude Δε all With damping adjustment reference Δε C ratio.

[0052] Another aspect of the present invention provides a damping cooperative control system, comprising a parameter acquisition and storage module, a damping parameter calculation module and a damping cooperative judgment module;

[0053] The parameter acquisition and storage module is used to acquire and store the current vehicle operating parameters, including the last instantaneous target execution damping coefficient of the four-wheel upper support device, and the initial value of the last instantaneous target execution damping coefficient of the four-wheel upper support device stored is 0;

[0054] The damping parameter calculation module is used to retrieve the operating parameters of the vehicle from the parameter acquisition and storage module, obtain the target damping coefficient of the four-wheel upper support device according to the operating parameters of the vehicle, calculate the damping difference of the four-wheel upper support device according to the target damping coefficient of the four-wheel upper support device and the last instantaneous target execution damping coefficient of the four-wheel upper support device, and calculate the damping adjustment reference Δε according to the damping difference of the four-wheel upper support device. C and the total difference in damping amplitude Δε all , according to the total damping difference amplitude Δε all, the damping difference of the four-wheel upper support device, the damping adjustment reference Δε C and the previous instantaneous target execution damping coefficient of the four-wheel upper support device, calculating the current instantaneous target execution damping coefficient of the four-wheel upper support device;

[0055] The damping coordination judgment module is used to judge the execution state of the damping coordination control method according to the current instantaneous target execution damping coefficient of the four-wheel support device and the target damping coefficient of the four-wheel support device. If it is a damping coordination state, the current instantaneous target execution damping coefficient of the four-wheel support device is applied to control the vehicle; otherwise, the previous instantaneous target execution damping coefficient of the four-wheel support device is updated to the current instantaneous target execution damping coefficient of the four-wheel support device, which is sent to the parameter acquisition and storage module, and a restart signal is sent to the damping parameter calculation module.

[0056] Another aspect of the present invention provides a computer storage medium, which stores a computer program executable by a processor, and the computer program executes the above-mentioned vehicle damping coordination control method.

[0057] The beneficial effects of the present invention are as follows: the vehicle damping coordination control method and system provided by the present invention obtain the operating parameters of the vehicle, calculate the current instantaneous target execution damping coefficient of the four-wheel support device and the target damping coefficient of the four-wheel support device based on these operating parameters, and compare the two. According to the comparison result, the damping coordination of the four wheels of the vehicle is controlled or continuously iterated and updated, and finally the damping coordination of the four wheels of the vehicle is controlled.

[0058] Furthermore, in the present invention, the time required for the current instantaneous target execution damping coefficient of the support devices on the four wheels to change to the target damping coefficient of the support devices on their wheels is the same, which can ensure that the current instantaneous target execution damping coefficient of each wheel support device is synchronously coordinated to reach the target damping coefficient of its wheel support device, avoiding the uncoordinated change of wheel posture damping to induce vibration during vehicle driving, and effectively improving the comfort of the vehicle.

[0059] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0061] Figure 1is a flow chart of a control method for vehicle damping coordination according to an embodiment of the present invention;

[0062] Figure 2 is a structural diagram of a control system for vehicle damping coordination according to an embodiment of the present invention;

[0063] Figure 3 It is a flow chart of a vehicle damping coordination control method according to another embodiment of the present invention. DETAILED DESCRIPTION

[0064] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0065] It should be noted that the illustrations provided in the embodiments of the present invention are only used to illustrate the basic concept of the present invention in a schematic manner. Therefore, the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout type may also be more complicated.

[0066] In the present invention, it is also necessary to explain that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, if the terms "first" and "second" appear, they are only used for description and distinction purposes, and cannot be understood as indicating or implying relative importance.

[0067] Example 1

[0068] This embodiment provides a vehicle damping coordination control method, the process is as follows Figure 1 As shown, including:

[0069] S1. Obtaining the current operating parameters of the vehicle, including the last instantaneous target execution damping coefficient of the four-wheel upper support device, wherein the initial value of the last instantaneous target execution damping coefficient of the four-wheel upper support device is 0.

[0070] The last instantaneous target execution damping coefficient of the four-wheel upper support device includes the last instantaneous target execution damping coefficient ε(k-1) of the left front wheel upper support device fl , the previous instantaneous target execution damping coefficient of the support device on the right front wheel ε(k-1) fr, the last instantaneous target execution damping coefficient of the support device on the left rear wheel ε(k-1) rl , the previous instantaneous target execution damping coefficient of the support device on the right rear wheel ε(k-1) rr The initial values ​​of the above parameters are all 0 when they are first executed in this method.

[0071] The current vehicle operating parameters include the vehicle speed V, which is used for subsequent damping parameter calculation.

[0072] S2. Based on the current operating parameters of the vehicle, obtain a target damping coefficient of the four-wheel upper support device.

[0073] The target damping coefficients of the four-wheel upper support devices include the target damping coefficient ε of the left front wheel upper support device fl , the target damping coefficient of the right front wheel upper support device ε fr , the target damping coefficient of the left rear wheel upper support device ε rl and the target damping coefficient ε of the right rear wheel upper support rr .

[0074] S3. Calculate the damping difference of the four-wheel upper support device according to the target damping coefficient of the four-wheel upper support device and the last instantaneous target execution damping coefficient of the four-wheel upper support device.

[0075] The calculation method includes: for each wheel, the damping difference of the upper support device is equal to the target damping coefficient of the upper support device minus the last instantaneous target execution damping coefficient of the upper support device, and the calculation formula is:

[0076]

[0077] Among them, Δε fl is the target damping difference of the left front wheel upper support device, Δε fr is the target damping difference of the upper support device on the right front wheel; Δε rl is the target damping difference of the left rear wheel upper support device, Δε rr is the target damping difference of the right rear wheel upper support.

[0078] S4, calculating the damping adjustment reference Δε according to the damping difference of the support device on the four wheels C and the total difference in damping amplitude Δε all .

[0079] Where, the damping adjustment reference Δε is calculated C The process includes the steps:

[0080] The maximum damping difference amplitude Δε1 and the minimum damping difference amplitude Δε2 are calculated according to the damping difference of the four-wheel upper support device. The calculation method includes that the maximum damping difference amplitude Δε1 is equal to the maximum value of the absolute value of the damping difference of the four-wheel upper support device, and the minimum damping difference amplitude Δε2 is equal to the minimum value of the absolute value of the damping difference of the four-wheel upper support device, and the calculation formula is:

[0081]

[0082] The damping adjustment reference Δε is calculated according to the maximum damping difference amplitude Δε1, the minimum damping difference amplitude Δε2 and the vehicle speed V. C The calculation method includes the damping adjustment reference Δε C It is equal to the ratio of the maximum damping difference amplitude Δε1 to the minimum damping difference amplitude Δε2 multiplied by the inverse of the vehicle speed V, and then multiplied by the reference coefficient γ. The reference coefficient is obtained based on experience or calibration, and the calculation formula is:

[0083]

[0084] Calculate the total damping difference amplitude Δε according to the damping difference of the support device on the four wheels all The method includes: damping the total difference amplitude Δε all It is equal to the sum of the absolute values ​​of the damping differences of the supporting devices on the four wheels, and the calculation formula is:

[0085] Δε all =|Δε fl |+|Δε fr |+|Δε rl |+|Δε rr |

[0086] S5, according to the damping total difference amplitude Δε all , the damping difference of the four-wheel upper support device, the damping adjustment reference Δε C and the previous instantaneous target execution damping coefficient of the four-wheel upper support device, and calculate the current instantaneous target execution damping coefficient of the four-wheel upper support device. The steps include:

[0087] S501, according to the damping total difference amplitude Δε all The damping difference ratio of the four-wheel support device is calculated by the damping difference of the four-wheel support device. The calculation method includes that for each wheel, the damping difference ratio of its wheel support device is equal to the damping difference of its wheel support device divided by the total damping difference amplitude Δε all , the calculation formula is

[0088]

[0089] Among them, γ fl is the damping difference ratio of the left front wheel upper support device; γfr is the damping difference ratio of the upper support device on the right front wheel; γ rl is the damping difference ratio of the support device on the left rear wheel; γ rr is the damping difference ratio of the support device on the right rear wheel.

[0090] S502: adjusting the damping difference ratio of the four-wheel upper support device and the damping reference Δε C Calculate the damping change execution amount of the support device on the four wheels. The calculation method is that for each wheel, the damping change execution amount of its wheel support device is equal to the damping difference ratio of its wheel support device multiplied by the damping adjustment reference Δε C , the calculation formula is

[0091]

[0092] Where: Δε1 fl is the damping change execution amount of the left front wheel upper support device; Δε1 fr is the damping change execution amount of the support device on the right front wheel; Δε1 rl Δε1 is the damping change execution amount of the support device on the left rear wheel; rr It is the damping change execution amount of the support device on the right rear wheel.

[0093] S503, according to the damping change execution amount of the four-wheel support device and the previous instantaneous target execution damping coefficient of the four-wheel support device, calculate the current instantaneous target execution damping coefficient of the four-wheel support device. The calculation method is that for each wheel, the current instantaneous target execution damping coefficient of its wheel support device is equal to the damping change execution amount of its wheel support device plus the previous instantaneous target execution damping coefficient of its wheel support device, and the calculation formula is

[0094]

[0095] Among them, ε(k) fl The current instantaneous target damping coefficient for the support device on the left front wheel; ε(k) fr The current instantaneous target damping coefficient for the support device on the right front wheel; ε(k) rl The current instantaneous target damping coefficient for the support device on the left rear wheel; ε(k) rr The damping coefficient is implemented for the current instantaneous target of the support device on the right rear wheel.

[0096] S6. Determine the execution state of the control method according to the current instantaneous target execution damping coefficient of the four-wheel upper support device and the target damping coefficient of the four-wheel upper support device.

[0097] The judgment method is, for each wheel, to judge whether the current instantaneous target execution damping coefficient of the support device on it is equal to the target damping coefficient of the support device on its wheel. If they are equal, it is judged that the damping coordination state is entered; otherwise, it is judged that the damping coordination state is not entered.

[0098] If it is in the damping coordination state, the current instantaneous target of the four-wheel upper support device is applied to execute the damping coefficient to control the vehicle.

[0099] If the damping coordination state is not entered, the last instantaneous target execution damping coefficient of the four-wheel support device is updated to the current instantaneous target execution damping coefficient of the four-wheel support device, and the method is executed again. Further, if the damping coordination state is not entered, for each wheel, the time required for the current instantaneous target execution damping coefficient of its wheel support device to change to the target damping coefficient of its wheel support device is equal.

[0100] The reasoning process for this conclusion is as follows:

[0101] For each wheel, the time required for the current instantaneous target execution damping coefficient of its support device to change to the target damping coefficient of its support device is equal to the target damping difference of the support device of the wheel divided by the damping change execution amount of its support device, that is:

[0102]

[0103] Where: time fl The time required for the current instantaneous target damping coefficient of the support device on the left front wheel to change to the target damping coefficient of the support device on the wheel; time fr The time required for the current instantaneous target damping coefficient of the support device on the right front wheel to change to the target damping coefficient of the support device on the wheel; time rl The time required for the current instantaneous target damping coefficient of the support device on the left rear wheel to change to the target damping coefficient of the support device on the wheel; time rr The time required to execute the damping coefficient change to the target damping coefficient of the right rear wheel support device for the current instantaneous target of the right rear wheel support device.

[0104] Furthermore, the damping change execution amount of the support device is the ratio of the damping difference of the support device to the damping adjustment reference Δε C The product of is further transformed into:

[0105]

[0106] Furthermore, the damping difference ratio of the supporting device is equal to the damping difference of the supporting device divided by the total damping difference amplitude Δε all , so it is further transformed into:

[0107]

[0108] Simplifying the obtained calculation formula, we can get:

[0109]

[0110] That is, the time required for the current instantaneous target execution damping coefficient of the support device of each wheel to change to the target damping coefficient of the support device on the wheel is equal, and is equal to the total damping difference amplitude Δε all With damping adjustment reference Δε C Based on this, the present invention can ensure that the current instantaneous target execution damping coefficient of each wheel support device is synchronously coordinated to reach the target damping coefficient of its wheel support device, avoiding the uncoordinated change of wheel posture damping to induce vibration during vehicle driving, thereby improving the comfort of the vehicle.

[0111] Based on the above damping cooperative control method, this embodiment also provides a damping cooperative control system, including a parameter acquisition and storage module, a damping parameter calculation module and a damping cooperative judgment module;

[0112] The parameter acquisition and storage module is used to acquire and store the current vehicle operating parameters, including a parameter acquisition and storage module, a damping parameter calculation module and a damping coordination judgment module;

[0113] The parameter acquisition and storage module is used to acquire and store the current vehicle operating parameters, including the last instantaneous target execution damping coefficient of the four-wheel upper support device, and the initial value of the last instantaneous target execution damping coefficient of the four-wheel upper support device stored is 0;

[0114] The damping parameter calculation module is used to retrieve the operating parameters of the vehicle from the parameter acquisition and storage module, obtain the target damping coefficient of the four-wheel upper support device according to the operating parameters of the vehicle, calculate the damping difference of the four-wheel upper support device according to the target damping coefficient of the four-wheel upper support device and the last instantaneous target execution damping coefficient of the four-wheel upper support device, and calculate the damping adjustment reference Δε according to the damping difference of the four-wheel upper support device. C and the total difference in damping amplitude Δε all , according to the total damping difference amplitude Δε all , the damping difference of the four-wheel upper support device, the damping adjustment reference Δε C and the previous instantaneous target execution damping coefficient of the four-wheel upper support device, calculating the current instantaneous target execution damping coefficient of the four-wheel upper support device;

[0115] The damping coordination judgment module is used to judge the execution state of the damping coordination control method according to the current instantaneous target execution damping coefficient of the four-wheel support device and the target damping coefficient of the four-wheel support device. If it is a damping coordination state, the current instantaneous target execution damping coefficient of the four-wheel support device is applied to control the vehicle; otherwise, the previous instantaneous target execution damping coefficient of the four-wheel support device is updated to the current instantaneous target execution damping coefficient of the four-wheel support device, which is sent to the parameter acquisition and storage module, and a restart signal is sent to the damping parameter calculation module.

[0116] Example 2

[0117] This embodiment provides another vehicle damping coordination control method, the process of which is as follows: Figure 3 As shown, including:

[0118] T1. Obtaining the operating parameters of the current vehicle, and obtaining the target damping coefficient of the four-wheel upper support device based on the operating parameters of the vehicle. The operating parameters of the current vehicle include the last instantaneous target execution damping coefficient of the four-wheel upper support device, and the initial value of the last instantaneous target execution damping coefficient of the four-wheel upper support device is 0.

[0119] The last instantaneous target execution damping coefficient of the four-wheel upper support device includes the last instantaneous target execution damping coefficient ε(k-1) of the left front wheel upper support device fl , the previous instantaneous target execution damping coefficient of the support device on the right front wheel ε(k-1) fr , the last instantaneous target execution damping coefficient of the support device on the left rear wheel ε(k-1) rl , the previous instantaneous target execution damping coefficient of the support device on the right rear wheel ε(k-1) rr The initial values ​​of the above parameters are all 0 when they are first executed in this method.

[0120] The target damping coefficients of the four-wheel upper support devices include the target damping coefficient ε of the left front wheel upper support device fl , the target damping coefficient of the right front wheel upper support device ε fr , the target damping coefficient of the left rear wheel upper support device ε rl and the target damping coefficient ε of the right rear wheel upper support rr .

[0121] T2. Calculate the damping difference of the support devices on the four wheels.

[0122] The damping difference of the four-wheel upper support device is calculated based on the target damping coefficient of the four-wheel upper support device and the last instantaneous target execution damping coefficient of the four-wheel upper support device. For each wheel, the damping difference of its upper support device is equal to the target damping coefficient of its upper support device minus the last instantaneous target execution damping coefficient of its upper support device. The calculation formula of the damping difference of the four-wheel upper support device is:

[0123]

[0124] Where: Δε fl is the target damping difference of the left front wheel upper support device; Δε fr is the target damping difference of the upper support device on the right front wheel; Δε rl is the target damping difference of the left rear wheel upper support device; Δε rr is the target damping difference of the upper support device of the right rear wheel; ε fl is the target damping coefficient of the left front wheel upper support device; ε fr is the target damping coefficient of the upper support device of the right front wheel; ε rl is the target damping coefficient of the left rear wheel upper support device; ε rr is the target damping coefficient of the upper support device of the right rear wheel; ε(k-1) fl The last instantaneous target damping coefficient of the support device on the left front wheel; ε(k-1) fr The last instantaneous target damping coefficient of the upper support device of the right front wheel; ε(k-1) rl The last instantaneous target damping coefficient of the support device on the left rear wheel; ε(k-1) rr Implement the damping coefficient for the last instantaneous target of the right rear wheel upper support.

[0125] T3. Calculate the maximum damping difference amplitude Δε1 and the minimum damping difference amplitude Δε2.

[0126] The maximum damping difference amplitude Δε1 and the minimum damping difference amplitude Δε2 are calculated based on the damping difference of the four-wheel support device. The maximum damping difference amplitude Δε1 is the maximum value of the absolute value of the damping difference of the four-wheel support device; the minimum damping difference amplitude Δε2 is equal to the minimum value of the absolute value of the damping difference of the four-wheel support device; the calculation formula of the maximum damping difference amplitude Δε1 and the minimum damping difference amplitude Δε2 is:

[0127]

[0128] Where: Δε1 is the maximum damping difference amplitude; Δε2 is the minimum damping difference amplitude.

[0129] T4. Calculate the damping adjustment reference Δε C .

[0130] Calculate the damping adjustment reference Δε based on the maximum damping difference amplitude Δε1, the minimum damping difference amplitude Δε2, and the vehicle speed V C The calculation principle of the damping adjustment reference is: when the vehicle speed V is larger, the damping change process is smoother, and the damping adjustment reference is smaller; at the same time, when the difference between the maximum damping difference amplitude Δε1 and the minimum damping difference amplitude Δε2 is larger, it is necessary to ensure the rapidity of the damping change process. Therefore, the calculation method of the damping adjustment reference is designed as follows: damping adjustment reference Δε C It is equal to the ratio of the maximum damping difference amplitude Δε1 to the minimum damping difference amplitude Δε2 multiplied by the inverse of the vehicle speed V, and then multiplied by the reference coefficient γ, which is obtained based on experience or calibration. The calculation formula of the damping adjustment reference is:

[0131]

[0132] Where: Δε C is the reference for damping adjustment; γ is the reference coefficient, which can be an empirical value or a calibrated value; V is the vehicle speed.

[0133] T5. Calculate the total damping difference amplitude Δε all .

[0134] Calculate the total damping difference amplitude Δε based on the damping difference of the four-wheel upper support device all The total difference in damping amplitude Δε all It is equal to the sum of the absolute values ​​of the damping differences of the support devices on the four wheels. The total damping difference amplitude Δε all The calculation formula is:

[0135] Δε all =|Δε fl |+|Δε fr |+|Δε rl |+|Δε rr |

[0136] Where: Δε all is the total damping difference amplitude.

[0137] T6. Calculate the damping difference ratio of the four-wheel upper support device.

[0138] Based on the total damping difference amplitude Δε all , the damping difference of the four-wheel support device is calculated to calculate the damping difference ratio of the four-wheel support device. For each wheel, the damping difference ratio of its wheel support device is equal to the damping difference of its wheel support device divided by the total damping difference amplitude Δε all The calculation formula for the damping difference ratio of the four-wheel upper support device is:

[0139]

[0140] Where: γ flis the damping difference ratio of the left front wheel upper support device; γ fr is the damping difference ratio of the upper support device on the right front wheel; γ rl is the damping difference ratio of the support device on the left rear wheel; γ rr is the damping difference ratio of the support device on the right rear wheel.

[0141] T7. Calculate the damping change execution amount of the four-wheel upper support device.

[0142] Damping difference ratio of the four-wheel upper support device and damping adjustment reference Δε C Calculate the damping change execution amount of the support device on the four wheels. For each wheel, the damping change execution amount of its wheel support device is equal to the damping difference ratio of its wheel support device multiplied by the damping adjustment reference Δε C The calculation formula for the damping change execution amount of the four-wheel upper support device is:

[0143]

[0144] Where: Δε1 fl is the damping change execution amount of the left front wheel upper support device; Δε1 fr is the damping change execution amount of the support device on the right front wheel; Δε1 rl Δε1 is the damping change execution amount of the support device on the left rear wheel; rr It is the damping change execution amount of the support device on the right rear wheel.

[0145] T8. Calculate the current instantaneous target execution damping coefficient of the four-wheel upper support device.

[0146] The current instantaneous target execution damping coefficient of the four-wheel support device is calculated based on the damping change execution amount of the four-wheel support device and the previous instantaneous target execution damping coefficient of the four-wheel support device. For each wheel, the current instantaneous target execution damping coefficient of its wheel support device is equal to the damping change execution amount of its wheel support device plus the previous instantaneous target execution damping coefficient of its wheel support device. The calculation formula of the current instantaneous target execution damping coefficient of the four-wheel support device is:

[0147]

[0148] Where: ε(k) fl The current instantaneous target damping coefficient for the support device on the left front wheel; ε(k) fr The current instantaneous target damping coefficient for the support device on the right front wheel; ε(k) rl The current instantaneous target damping coefficient for the support device on the left rear wheel; ε(k) rr The damping coefficient is implemented for the current instantaneous target of the support device on the right rear wheel.

[0149] T9. Determine the execution status of the control method.

[0150] The judgment method is that if the current instantaneous target execution damping coefficient of the four-wheel support device is equal to the target damping coefficient of the wheel support device, it is determined that the dynamic control process is over, and the current instantaneous target execution damping coefficient of the four-wheel support device is applied to control the vehicle. If the current instantaneous target execution damping coefficient of the four-wheel support device is not equal to the target damping coefficient of the wheel support device, it is determined that the dynamic control process is not over, and the previous instantaneous target execution damping coefficient of the four-wheel support device is updated to the current instantaneous target execution damping coefficient of the four-wheel support device, and the method is jumped to step T2 to start re-executing this method.

[0151] Furthermore, if the damping coordination state is not entered, the time required for the current instantaneous target execution damping coefficient of the four-wheel support device to change to the target damping coefficient of the wheel support device is the same. The reasoning process is as follows:

[0152] It can be seen that for each wheel, the time required for the current instantaneous target execution damping coefficient of its support device to change to the target damping coefficient of its support device is equal to the target damping difference of the support device of the wheel divided by the damping change execution amount of its support device, that is:

[0153]

[0154] Where: time fl The time required for the current instantaneous target damping coefficient of the support device on the left front wheel to change to the target damping coefficient of the support device on the wheel; time fr The time required for the current instantaneous target damping coefficient of the support device on the right front wheel to change to the target damping coefficient of the support device on the wheel; time rl The time required for the current instantaneous target damping coefficient of the support device on the left rear wheel to change to the target damping coefficient of the support device on the wheel; time rr The time required for executing the damping coefficient change to the target damping coefficient of the support device on the right rear wheel for the current instantaneous target of the support device on the right rear wheel;

[0155] Furthermore, the damping change execution amount of the support device is the ratio of the damping difference of the support device to the damping adjustment reference Δε C The product of is further transformed into:

[0156]

[0157] Furthermore, the damping difference ratio of the supporting device is equal to the damping difference of the supporting device divided by the total damping difference amplitude Δε all , so it is further transformed into:

[0158]

[0159] Simplifying the obtained calculation formula, we can get:

[0160]

[0161] That is, the time required for the current instantaneous target execution damping coefficient of the support device of each wheel to change to the target damping coefficient of the support device on the wheel is equal, and is equal to the total damping difference amplitude Δε all With damping adjustment reference Δε C Based on this, the present invention can ensure that the current instantaneous target execution damping coefficient of each wheel support device is synchronously coordinated to reach the target damping coefficient of its wheel support device, avoiding the uncoordinated change of wheel posture damping to induce vibration during vehicle driving, thereby improving the comfort of the vehicle.

[0162] Based on the above-mentioned vehicle damping coordination control method, this embodiment further proposes a vehicle damping coordination control system, whose structure is the same as the vehicle damping coordination control system described in Example 1, including a parameter acquisition and storage module, a damping parameter calculation module and a damping coordination judgment module;

[0163] The parameter acquisition and storage module is used to acquire and store the current vehicle operating parameters, including the last instantaneous target execution damping coefficient of the four-wheel upper support device, and the initial value of the last instantaneous target execution damping coefficient of the four-wheel upper support device stored is 0;

[0164] The damping parameter calculation module is used to retrieve the operating parameters of the vehicle from the parameter acquisition and storage module, obtain the target damping coefficient of the four-wheel upper support device according to the operating parameters of the vehicle, calculate the damping difference of the four-wheel upper support device based on the target damping coefficient of the four-wheel upper support device and the last instantaneous target execution damping coefficient of the four-wheel upper support device, calculate the maximum damping difference amplitude Δε1 and the minimum damping difference amplitude Δε2 based on the damping difference of the four-wheel upper support device, and calculate the damping adjustment reference Δε based on the maximum damping difference amplitude Δε1, the minimum damping difference amplitude, and the vehicle speed V C , based on the damping difference of the four-wheel upper support device, calculate the total damping difference amplitude Δε all , based on the total damping difference amplitude Δε all , the damping difference of the four-wheel upper support device is calculated, and the damping difference ratio of the four-wheel upper support device is calculated. Based on the damping difference ratio of the four-wheel upper support device and the damping adjustment reference Δε V The damping change execution amount of the four-wheel upper support device is calculated, and the current instantaneous target execution damping coefficient of the four-wheel upper support device is calculated based on the damping change execution amount of the four-wheel upper support device and the previous instantaneous target execution damping coefficient of the four-wheel upper support device.

[0165] The damping coordination judgment module is used to judge whether the vehicle enters the damping coordination state according to the current instantaneous target execution damping coefficient of the four-wheel support device. When the vehicle enters the damping coordination state, the current instantaneous target execution damping coefficient of the four-wheel support device is applied to control the vehicle. When the vehicle does not enter the damping coordination state, the previous instantaneous target execution damping coefficient of the four-wheel support device is updated to the current instantaneous target execution damping coefficient of the four-wheel support device, which is sent to the parameter acquisition and storage module, and a signal for recalculation is sent to the damping parameter calculation module.

[0166] Example 3

[0167] This embodiment provides a computer storage medium, which stores a computer program that can be executed by a processor. The computer program executes the vehicle damping coordination control method described in Embodiment 1 or Embodiment 2.

[0168] In summary, the present invention provides a control method and system for vehicle damping coordination. Based on the vehicle's operating parameters, the current instantaneous target execution damping coefficient of the four-wheel support device is obtained by calculation, and compared with the target damping coefficient of the four-wheel support device. According to the comparison result, the damping coordination of the four wheels is controlled or further iteratively updated, which can avoid vehicle vibration and improve the comfort of the vehicle.

[0169] It should be pointed out that, according to the needs of implementation, the various steps / components described in this application can be split into more steps / components, and two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0170] The order of execution of each step in the above embodiment does not mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0171] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. A vehicle damping coordination control method, characterized in that: include: Acquire the current vehicle operation parameters, including the last instantaneous target execution damping coefficient of the four-wheel upper support device, wherein the initial value of the last instantaneous target execution damping coefficient of the four-wheel upper support device is 0; Based on the current operating parameters of the vehicle, obtaining a target damping coefficient of the four-wheel upper support device; Calculating the damping difference of the four-wheel upper support device according to the target damping coefficient of the four-wheel upper support device and the last instantaneous target execution damping coefficient of the four-wheel upper support device; Calculating a damping adjustment reference and a total damping difference amplitude according to the damping difference of the four-wheel upper support device; Calculating a current instantaneous target execution damping coefficient of the four-wheel upper support device according to the total damping difference amplitude, the damping difference of the four-wheel upper support device, the damping adjustment reference and the last instantaneous target execution damping coefficient of the four-wheel upper support device; Determining the execution state of the control method according to the current instantaneous target execution damping coefficient of the four-wheel upper support device and the target damping coefficient of the four-wheel upper support device; If it is in the damping coordination state, the current instantaneous target execution damping coefficient of the four-wheel upper support device is applied to control the vehicle; Otherwise, the last instantaneous target execution damping coefficient of the four-wheel upper support device is updated as the current instantaneous target execution damping coefficient of the four-wheel upper support device, and the method is executed again.

2. The vehicle damping coordination control method according to claim 1, characterized in that: The operating parameters of the vehicle include the vehicle speed.

3. The vehicle damping coordination control method according to claim 1, characterized in that: According to the target damping coefficient of the four-wheel upper support device and the last instantaneous target execution damping coefficient of the four-wheel upper support device, the method for calculating the damping difference of the four-wheel upper support device includes: for each wheel, the damping difference of the upper support device is equal to the target damping coefficient of the upper support device minus the last instantaneous target execution damping coefficient of the upper support device.

4. The vehicle damping coordination control method according to claim 2, characterized in that: According to the damping difference of the four-wheel upper support device, the method for calculating the damping adjustment reference includes: Calculating a maximum damping difference amplitude and a minimum damping difference amplitude according to the damping difference of the four-wheel upper support device; A damping adjustment reference is calculated according to the maximum damping difference amplitude, the minimum damping difference amplitude and the vehicle speed.

5. The vehicle damping coordination control method according to claim 4, characterized in that: The method for calculating the maximum damping difference amplitude and the minimum damping difference amplitude according to the damping difference of the four-wheel upper support device includes: the maximum damping difference amplitude is equal to the maximum value of the absolute values ​​of the damping difference of the four-wheel upper support device; the minimum damping difference amplitude is equal to the minimum value of the absolute values ​​of the damping difference of the four-wheel upper support device.

6. The vehicle damping coordination control method according to claim 5, characterized in that: The method for calculating the damping adjustment reference according to the maximum damping difference amplitude, the minimum damping difference amplitude and the vehicle speed includes: the damping adjustment reference is equal to the ratio of the maximum damping difference amplitude to the minimum damping difference amplitude multiplied by the inverse of the vehicle speed, and then multiplied by a reference coefficient, and the reference coefficient is obtained based on experience or calibration.

7. The vehicle damping coordination control method according to claim 1, characterized in that: The method for calculating the total damping difference amplitude according to the damping difference of the four-wheel upper support devices includes: the total damping difference amplitude is equal to the sum of the absolute values ​​of the damping differences of the four-wheel upper support devices.

8. The vehicle damping coordination control method according to claim 1, characterized in that: The method for calculating the current instantaneous target execution damping coefficient of the four-wheel upper support device according to the total damping difference amplitude, the damping difference of the four-wheel upper support device, the damping adjustment reference and the last instantaneous target execution damping coefficient of the four-wheel upper support device includes: Calculating the damping difference ratio of the four-wheel upper support device according to the total damping difference amplitude and the damping difference of the four-wheel upper support device; Calculating the damping change execution amount of the four-wheel upper support device according to the damping difference ratio of the four-wheel upper support device and the damping adjustment reference; The current instantaneous target execution damping coefficient of the four-wheel upper support device is calculated according to the damping change execution amount of the four-wheel upper support device and the previous instantaneous target execution damping coefficient of the four-wheel upper support device.

9. The vehicle damping coordination control method according to claim 8, characterized in that: The method for calculating the damping difference ratio of the four-wheel support device according to the total damping difference amplitude and the damping difference of the four-wheel support devices includes: for each wheel, the damping difference ratio of its wheel support device is equal to the damping difference of its wheel support device divided by the total damping difference amplitude.

10. The vehicle damping coordination control method according to claim 9, characterized in that: The method for calculating the damping change execution amount of the four-wheel support device according to the damping difference ratio of the four-wheel support device and the damping adjustment reference includes: for each wheel, the damping change execution amount of its wheel support device is equal to the damping difference ratio of its wheel support device multiplied by the damping adjustment reference.

11. The vehicle damping coordination control method according to claim 9, characterized in that: According to the damping change execution amount of the four-wheel support device and the previous instantaneous target execution damping coefficient of the four-wheel support device, a method for calculating the current instantaneous target execution damping coefficient of the four-wheel support device includes: for each wheel, the current instantaneous target execution damping coefficient of its wheel support device is equal to the damping change execution amount of its wheel support device plus the previous instantaneous target execution damping coefficient of its wheel support device.

12. The vehicle damping coordination control method according to claim 1, characterized in that: The method for judging whether the current vehicle enters a damping coordination state according to the current instantaneous target execution damping coefficient of the four-wheel upper support device and the target damping coefficient of the four-wheel upper support device comprises: For each wheel, determine whether the current instantaneous target execution damping coefficient of the support device on it is equal to the target damping coefficient of the support device on its wheel. If they are equal, it is determined that the damping coordination state has been entered; otherwise, it is determined that the damping coordination state has not been entered.

13. The vehicle damping coordination control method according to claim 12, characterized in that: If the damping coordination state is not entered, for each wheel, the time required for the current instantaneous target execution damping coefficient of its wheel support device to change to the target damping coefficient of its wheel support device is equal.

14. A damping cooperative control system, characterized in that: The system executes the damping cooperative control method described in any one of claims 1 to 13, comprising a parameter acquisition and storage module, a damping parameter calculation module and a damping cooperative judgment module; The parameter acquisition and storage module is used to acquire and store the current vehicle operating parameters, including the last instantaneous target execution damping coefficient of the four-wheel upper support device, and the initial value of the last instantaneous target execution damping coefficient of the four-wheel upper support device stored is 0; The damping parameter calculation module is used to retrieve the operating parameters of the vehicle from the parameter acquisition and storage module, obtain the target damping coefficient of the four-wheel upper support device according to the operating parameters of the vehicle, calculate the damping difference of the four-wheel upper support device according to the target damping coefficient of the four-wheel upper support device and the last instantaneous target execution damping coefficient of the four-wheel upper support device, calculate the damping adjustment reference and the total damping difference amplitude according to the damping difference of the four-wheel upper support device, and calculate the current instantaneous target execution damping coefficient of the four-wheel upper support device according to the total damping difference amplitude, the damping difference of the four-wheel upper support device, the damping adjustment reference and the last instantaneous target execution damping coefficient of the four-wheel upper support device; The damping coordination judgment module is used to judge the execution state of the damping coordination control method according to the current instantaneous target execution damping coefficient of the four-wheel support device and the target damping coefficient of the four-wheel support device. If it is a damping coordination state, the current instantaneous target execution damping coefficient of the four-wheel support device is applied to control the vehicle; otherwise, the previous instantaneous target execution damping coefficient of the four-wheel support device is updated to the current instantaneous target execution damping coefficient of the four-wheel support device, which is sent to the parameter acquisition and storage module, and a restart signal is sent to the damping parameter calculation module.

15. A computer storage medium, characterized in that A computer program executable by a processor is stored therein, and the computer program executes the vehicle damping coordination control method according to any one of claims 1 to 13.

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