A vehicle damping cooperative control method and system

Abstract

The application discloses a kind of vehicle damping cooperation's control method and system, wherein method includes: obtaining the operating parameter of current vehicle;Obtain the target damping coefficient of four-wheel support device;Calculate the damping difference of four-wheel support device;Calculate damping adjustment reference and damping total difference amplitude;Calculate the current instantaneous target execution damping coefficient of four-wheel support device;According to the current instantaneous target execution damping coefficient of four-wheel support device and the target damping coefficient of four-wheel support device, the execution state of the present control method is judged;If entering damping cooperation state, then apply the current instantaneous target execution damping coefficient of four-wheel support device to control vehicle;Otherwise, the last instantaneous target execution damping coefficient of four-wheel support device is updated as the current instantaneous target execution damping coefficient of four-wheel support device, and the present method is re-executed.The application can cooperate with the suspension damping coefficient of vehicle wheel, and optimize the comfort of vehicle.

Description

TECHNICAL FIELD

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

[0002] The function of the suspension is to support the vehicle, and the performance of the suspension has an important influence 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 the suspensions need to be coordinated with each other, otherwise the damping coefficients of the suspensions will change uncoordinatedly and synchronously, thereby causing large differences in the damping coefficients of the suspensions during the driving of the vehicle, and causing problems of vehicle vibration and poor comfort. SUMMARY

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

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

[0005] Obtaining the running parameters of the current vehicle, 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 is 0;

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

[0007] 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 the damping difference of the four-wheel upper support device;

[0008] According to the damping difference of the four-wheel upper support device, calculating the damping adjustment reference and the damping total difference amplitude;

[0009] According to the damping total 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, calculating the current instantaneous target execution damping coefficient of the four-wheel upper support device;

[0010] 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, judging the execution state of the control method; if it is a damping coordination state, the current instantaneous target execution damping coefficient of the four-wheel upper support device is used to control the vehicle; otherwise, the last 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 method is re-executed.

[0011] According to the technical solution, the operating parameter of the vehicle comprises a vehicle speed V.

[0012] According to the technical solution, the method for 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-instant target executed damping coefficient of the four-wheel upper support device comprises: for each wheel, the damping difference of the upper support device thereof is equal to the target damping coefficient of the upper support device thereof minus the last-instant target executed damping coefficient of the upper support device thereof. Further, the calculation formula of the above process is:

[0013]

[0014] wherein Δε fl is the target damping difference of the left front wheel upper support device; Δε fr is the target damping difference of the right front wheel upper support device; 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 device; ε fl is the target damping coefficient of the left front wheel upper support device; ε fr is the target damping coefficient of the right front wheel upper support device; ε rl is the target damping coefficient of the left rear wheel upper support device; ε rr is the target damping coefficient of the right rear wheel upper support device; ε(k-1) fl is the last-instant target executed damping coefficient of the left front wheel upper support device; ε(k-1) fr is the last-instant target executed damping coefficient of the right front wheel upper support device; ε(k-1) rl is the last-instant target executed damping coefficient of the left rear wheel upper support device; ε(k-1) rr is the last-instant target executed damping coefficient of the right rear wheel upper support device.

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

[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] calculating the damping adjustment reference according to the maximum damping difference amplitude, the minimum damping difference amplitude and the vehicle speed.

[0018] According to the technical scheme, the method for calculating the maximum damping difference amplitude and the minimum damping difference amplitude according to the damping differences of the four-wheel supporting devices comprises: the maximum damping difference amplitude is equal to the maximum value of the absolute values of the damping differences of the four-wheel supporting devices; and the minimum damping difference amplitude is equal to the minimum value of the absolute values of the damping differences of the four-wheel supporting devices. Further, the calculation formula of the above process is

[0019]

[0020] wherein Δε1 is the maximum damping difference amplitude; and Δε2 is the minimum damping difference amplitude.

[0021] According to the technical scheme, 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 comprises: 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 reciprocal 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] wherein Δε C is the damping adjustment reference; γ is the reference coefficient, which is obtained according to an experience value or calibration; and V is the vehicle speed.

[0024] According to the technical scheme, the method for calculating the damping total difference amplitude according to the damping differences of the four-wheel supporting devices comprises: the damping total difference amplitude is equal to the sum of the absolute values of the damping differences of the four-wheel supporting devices. Further, the calculation formula of the above process is

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

[0026] wherein Δε all is the damping total difference amplitude.

[0027] According to the technical scheme, the method for calculating the current instantaneous target execution damping coefficient of the four-wheel supporting device according to the damping total difference amplitude, the damping differences of the four-wheel supporting devices, the damping adjustment reference Δε C and the previous instantaneous target execution damping coefficient of the four-wheel supporting device comprises:

[0028] calculating the damping difference proportion of the four-wheel supporting device according to the damping total difference amplitude and the damping differences of the four-wheel supporting device;

[0029] According to the damping difference ratio of the four-wheel supporting device and the damping adjustment reference Δε C The damping change execution amount of the four-wheel supporting device is calculated.

[0030] According to the damping change execution amount of the four-wheel supporting device and the last moment target execution damping coefficient of the four-wheel supporting device, the current moment target execution damping coefficient of the four-wheel supporting device is calculated.

[0031] According to the damping total difference amplitude Δε all and the damping difference of the four-wheel supporting device, the damping difference ratio of the four-wheel supporting device is calculated. For each wheel, the damping difference ratio of the wheel supporting device thereof is equal to the damping difference of the wheel supporting device thereof divided by the damping total difference amplitude Δε all . Further, the calculation formula of the above process is,

[0032]

[0033] Wherein: γ fl is the damping difference ratio of the left front wheel supporting device; γ fr is the damping difference ratio of the right front wheel supporting device; γ rl is the damping difference ratio of the left rear wheel supporting device; and γ rr is the damping difference ratio of the right rear wheel supporting device.

[0034] According to the damping difference ratio of the four-wheel supporting device and the damping adjustment reference Δε C The damping change execution amount of the four-wheel supporting device is calculated. For each wheel, the damping change execution amount of the wheel supporting device thereof is equal to the damping difference ratio of the wheel supporting device thereof multiplied by the damping adjustment reference Δε C . Further, the calculation formula of the above process is,

[0035]

[0036] Wherein: Δε1 fl is the damping change execution amount of the left front wheel supporting device; Δε1 fr is the damping change execution amount of the right front wheel supporting device; Δε1 rl is the damping change execution amount of the left rear wheel supporting device; and Δε1 rr is the damping change execution amount of the right rear wheel supporting device.

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

[0038]

[0039] wherein: ε(k) fl is the current instantaneous target execution damping coefficient of the left front wheel upper support device; ε(k) fr is the current instantaneous target execution damping coefficient of the right front wheel upper support device; ε(k) rl is the current instantaneous target execution damping coefficient of the left rear wheel upper support device; and ε(k) rr is the current instantaneous target execution damping coefficient of the right rear wheel upper support device.

[0040] According to the technical scheme, 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 comprises:

[0041] For each wheel, it is judged whether the current instantaneous target execution damping coefficient of the upper support device of the wheel is equal to the target damping coefficient of the upper support device of the wheel. If they are all equal, it is judged that the damping coordination state is entered, otherwise, it is judged that the damping coordination state is not entered.

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

[0043]

[0044] wherein: time fl is the time required for the current instantaneous target execution damping coefficient of the left front wheel upper support device to change to the target damping coefficient of the upper support device of the wheel; time fr is the time required for the current instantaneous target execution damping coefficient of the right front wheel upper support device to change to the target damping coefficient of the upper support device of the wheel; time rltime for the left rear wheel up support device to change its current instantaneous target damping coefficient to its target damping coefficient rr time for the right rear wheel up support device to change its current instantaneous target damping coefficient to its target damping coefficient

[0045] The damping change execution amount of the support device is the product of the damping difference ratio of the support device and the damping adjustment reference Δε C , which is further converted to:

[0046]

[0047] The damping difference ratio of the support device is equal to the damping difference of the support device divided by the total damping difference amplitude Δε all , which is further converted to:

[0048]

[0049] The obtained calculation formula is simplified by fraction:

[0050]

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

[0052] Another aspect of the present application 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 running parameters of the current vehicle, including the last instantaneous target damping coefficient of the four-wheel support device, and the initial value of the stored last instantaneous target damping coefficient of the four-wheel support device is 0.

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

[0055] The damping coordination judgment module is used for judging the execution state of the damping coordination control method according to the current instantaneous target execution damping coefficient of the four-wheel-up supporting device and the target damping coefficient of the four-wheel-up supporting device, and if it is the damping coordination state, the current instantaneous target execution damping coefficient of the four-wheel-up supporting device is applied to control the vehicle, otherwise, the last instantaneous target execution damping coefficient of the four-wheel-up supporting device is updated to the current instantaneous target execution damping coefficient of the four-wheel-up supporting device, and is sent to the parameter collection and storage module, and a restart signal is sent to the damping parameter calculation module.

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

[0057] The vehicle damping coordination control method and system provided by the present application can obtain the running parameters of the vehicle, calculate the current instantaneous target execution damping coefficient of the four-wheel-up supporting device and the target damping coefficient of the four-wheel-up supporting device based on these running parameters, compare the two, realize the damping coordination of the four wheels of the vehicle or continuously update according to the comparison result, and finally realize the damping coordination of the four wheels of the vehicle.

[0058] Further, in the present application, the time required for the current instantaneous target execution damping coefficient of the four-wheel-up supporting device to change to the target damping coefficient of the four-wheel-up supporting device is the same, which can ensure that the current instantaneous target execution damping coefficient of each wheel supporting device synchronously reaches the target damping coefficient of the four-wheel-up supporting device, avoids the uncoordinated change of the wheel posture damping to induce vibration during vehicle driving, and effectively improves the comfort of the vehicle.

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

[0060] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without any creative labor.

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

[0062] Figure 2 is a vehicle damping coordination control system structure diagram of an embodiment of the present application;

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

[0064] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0065] It should be noted that the diagrams provided in the embodiments of the present application only illustrate the basic concept of the present application in a schematic manner, and therefore only the components related to the present application are shown in the diagrams, not the number, shape and size of the components when actually implemented. The actual implementation of each component may be a random change in shape, number and proportion, and the layout pattern of the components may also be more complex.

[0066] In the present application, it should also be noted that, if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like appear, the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, if the terms "first" and "second" appear, they are only for description and distinction purposes and cannot be understood as indicating or implying relative importance.

[0067] Embodiment 1

[0068] The present embodiment provides a vehicle damping coordination control method, the flow is as shown in Figure 1 , comprising:

[0069] S1, obtaining the running parameters of the current vehicle, including the last moment target execution damping coefficient of the four-wheel upper support device, the initial value of the last moment target execution damping coefficient of the four-wheel upper support device is 0.

[0070] The last moment target execution damping coefficient of the four-wheel upper support device includes the last moment target execution damping coefficient of the left front wheel upper support device ε(k-1) fl , the last moment target execution damping coefficient of the right front wheel upper support device ε(k-1) frthe previous moment target execution damping coefficient ε(k-1) of the upper support device of the left rear wheel rl the previous moment target execution damping coefficient ε(k-1) of the upper support device of the right rear wheel rr The initial values of the above parameters are all 0 when participating in the execution of the method for the first time.

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

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

[0073] The target damping coefficient of the four-wheel upper support device includes the target damping coefficient ε of the left front wheel upper support device fl The target damping coefficient ε of the right front wheel upper support device fr The target damping coefficient ε of the left rear wheel upper support device rl And the target damping coefficient ε of the right rear wheel upper support device rr .

[0074] S3, according to the target damping coefficient of the four-wheel upper support device and the previous moment target execution damping coefficient of the four-wheel upper support device, calculating the damping difference of the four-wheel upper support device.

[0075] The calculation method includes: 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 previous moment target execution damping coefficient of its upper support device, and the calculation formula is:

[0076]

[0077] Wherein, Δε fl is the target damping difference of the left front wheel upper support device, Δε fr is the target damping difference of the right front wheel upper support device; 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 device.

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

[0079] Wherein, the process of calculating the damping adjustment reference Δε C includes the following steps:

[0080] The maximum damping difference amplitude Δε1 and the minimum damping difference amplitude Δε2 are calculated according to the damping differences of the four-wheel-up supporting devices. The calculation method comprises: the maximum damping difference amplitude Δε1 is equal to the maximum value of the absolute values of the damping differences of the four-wheel-up supporting devices, and the minimum damping difference amplitude Δε2 is equal to the minimum value of the absolute values of the damping differences of the four-wheel-up supporting devices, 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 comprises: the damping adjustment reference Δε C is equal to the ratio of the maximum damping difference amplitude Δε1 to the minimum damping difference amplitude Δε2 multiplied by the reciprocal of the vehicle speed V, and then multiplied by a reference coefficient γ, the reference coefficient is obtained based on experience or calibration, and the calculation formula is:

[0083]

[0084] The method for calculating the total damping difference amplitude Δε all of the four-wheel-up supporting devices comprises: the total damping difference amplitude Δε all is equal to the sum of the absolute values of the damping differences of the four-wheel-up supporting devices, and the calculation formula is:

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

[0086] S5, the current instantaneous target execution damping coefficient of the four-wheel-up supporting device is calculated according to the total damping difference amplitude Δε all , the damping differences of the four-wheel-up supporting devices, the damping adjustment reference Δε C and the previous instantaneous target execution damping coefficient of the four-wheel-up supporting device. It comprises the following steps:

[0087] S501, the damping difference proportion of the four-wheel-up supporting device is calculated according to the total damping difference amplitude Δε all and the damping differences of the four-wheel-up supporting devices. The calculation method comprises: for each wheel, the damping difference proportion of the wheel-up supporting device thereof is equal to the damping difference of the wheel-up supporting device thereof divided by the total damping difference amplitude Δε all , and the calculation formula is

[0088]

[0089] Wherein, γ fl is the damping difference proportion of the left front wheel-up supporting device; γfr is the damping difference ratio of the right front wheel upper support device; γ rl is the damping difference ratio of the left rear wheel upper support device; γ rr is the damping difference ratio of the right rear wheel upper support device.

[0090] S502, according to the damping difference ratio of the four-wheel upper support device and the damping adjustment reference Δε C The damping change execution amount of the four-wheel upper support device is calculated. For each wheel, the damping change execution amount of its wheel upper support device is equal to the damping difference ratio of its wheel upper support device multiplied by the damping adjustment reference Δε C , and the calculation formula is

[0091]

[0092] wherein 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 right front wheel upper support device; Δε1 rl is the damping change execution amount of the left rear wheel upper support device; Δε1 rr is the damping change execution amount of the right rear wheel upper support device.

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

[0094]

[0095] wherein ε(k) fl is the current moment target execution damping coefficient of the left front wheel upper support device; ε(k) fr is the current moment target execution damping coefficient of the right front wheel upper support device; ε(k) rl is the current moment target execution damping coefficient of the left rear wheel upper support device; ε(k) rr is the current moment target execution damping coefficient of the right rear wheel upper support device.

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

[0097] The judgment method is that, for each wheel, judging whether the current instantaneous target execution damping coefficient of the support device thereon is equal to the target damping coefficient of the support device of the wheel, if all are equal, judging that the damping coordination state is entered, otherwise, judging that the damping coordination state is not entered.

[0098] If the damping coordination state is entered, the vehicle is controlled by applying the current instantaneous target execution damping coefficient of the four support devices.

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

[0100] The reasoning process of the conclusion is as follows:

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

[0102]

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

[0104] Further, the damping change execution amount of the support device is the product of the damping difference ratio of the support device and the damping adjustment reference Δε C , so it is further transformed as:

[0105]

[0106] Further, the damping difference ratio of the support device is equal to the damping difference of the support device of the wheel divided by the total damping difference amplitude Δε all , so it is further transformed as:

[0107]

[0108] The obtained calculation formula is simplified as follows:

[0109]

[0110] That is, the time required for the current instantaneous target execution damping coefficient of each wheel support device to change to the target damping coefficient of the wheel support device thereof is equal, and is equal to the total damping difference amplitude Δε all and the damping adjustment reference Δε C Based on this, the present application can ensure that the current instantaneous target execution damping coefficient of each wheel support device simultaneously and synchronously reaches the target damping coefficient of the wheel support device thereof, and avoids the vibration of the vehicle in driving caused by the uncoordinated change of the wheel posture damping, thereby improving the comfort of the vehicle.

[0111] Based on the above-mentioned damping coordination control method, the embodiment further provides a damping coordination control system, comprising a parameter acquisition and storage module, a damping parameter calculation module and a damping coordination judgment module.

[0112] The parameter acquisition and storage module is used to acquire and store the running parameters of the current vehicle, and comprises the parameter acquisition and storage module, the damping parameter calculation module and the damping coordination judgment module.

[0113] The parameter acquisition and storage module is used to acquire and store the running parameters of the current vehicle, and comprises the parameter acquisition and storage module, the damping parameter calculation module and the damping coordination judgment module.

[0114] The damping parameter calculation module is used to call the running parameters of the vehicle from the parameter acquisition and storage module, acquire the target damping coefficient of the four-wheel support devices according to the running parameters of the vehicle, calculate the damping difference of the four-wheel support devices according to the target damping coefficient of the four-wheel support devices and the last instantaneous target execution damping coefficient of the four-wheel support devices, and calculate the damping adjustment reference Δε C and the total damping difference amplitude Δε all According to the total damping difference amplitude Δε all , the damping difference of the four-wheel support devices, the damping adjustment reference Δε C and the last instantaneous target execution damping coefficient of the four-wheel support devices, the current instantaneous target execution damping coefficient of the four-wheel support devices is calculated.

[0115] The damping coordination judgment module is configured to judge the execution state of the damping coordination control method according to the current instantaneous target execution damping coefficient of the four-wheel supporting device and the target damping coefficient of the four-wheel supporting device, and if the state is the damping coordination state, the current instantaneous target execution damping coefficient of the four-wheel supporting device is applied to control the vehicle, otherwise, the last instantaneous target execution damping coefficient of the four-wheel supporting device is updated as the current instantaneous target execution damping coefficient of the four-wheel supporting device, which is sent to the parameter collection and storage module, and a restart signal is sent to the damping parameter calculation module.

[0116] Embodiment 2

[0117] The embodiment provides another vehicle damping coordination control method, and a flowchart of the method is as shown in Figure 3 The method comprises the following steps.

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

[0119] The last instantaneous target execution damping coefficient of the four-wheel supporting device includes the last instantaneous target execution damping coefficient ε(k-1) of the left front wheel supporting device, the last instantaneous target execution damping coefficient ε(k-1) of the right front wheel supporting device, the last instantaneous target execution damping coefficient ε(k-1) of the left rear wheel supporting device and the last instantaneous target execution damping coefficient ε(k-1) of the right rear wheel supporting device. fl fr rl rr The initial values of the above parameters are all 0 when participating in the execution of the method for the first time.

[0120] The target damping coefficient of the four-wheel supporting device includes the target damping coefficient ε of the left front wheel supporting device, the target damping coefficient ε of the right front wheel supporting device, the target damping coefficient ε of the left rear wheel supporting device and the target damping coefficient ε of the right rear wheel supporting device. fl fr rl rr

[0121] T2, calculating the damping difference of the four-wheel supporting device.

[0122] ​​​​​​​The damping difference of the four-wheel upper support devices is calculated based on the target damping coefficient of the four-wheel upper support devices and the last-instant target executed damping coefficient of the four-wheel upper support devices. 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-instant target executed damping coefficient of its upper support device. The calculation formula of the damping difference of the four-wheel upper support devices is:

[0123]

[0124] wherein Δε fl is the target damping difference of the left front wheel upper support device; Δε fr is the target damping difference of the right front wheel upper support device; 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 device; ε fl is the target damping coefficient of the left front wheel upper support device; ε fr is the target damping coefficient of the right front wheel upper support device; ε rl is the target damping coefficient of the left rear wheel upper support device; ε rr is the target damping coefficient of the right rear wheel upper support device; ε(k-1) fl is the last-instant target executed damping coefficient of the left front wheel upper support device; ε(k-1) fr is the last-instant target executed damping coefficient of the right front wheel upper support device; ε(k-1) rl is the last-instant target executed damping coefficient of the left rear wheel upper support device; ε(k-1) rr is the last-instant target executed damping coefficient of the right rear wheel upper support device.

[0125] T3, the maximum damping difference amplitude Δε1 and the minimum damping difference amplitude Δε2 are calculated.

[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 upper support devices. The maximum damping difference amplitude Δε1 is the maximum value in the absolute values of the damping difference of the four-wheel upper support devices; the minimum damping difference amplitude Δε2 is equal to the minimum value in the absolute values of the damping difference of the four-wheel upper support devices; the calculation formula of the maximum damping difference amplitude Δε1 and the minimum damping difference amplitude Δε2 is:

[0127]

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

[0129] T4, the damping adjustment reference Δε C is calculated.

[0130] Calculate damping adjustment reference Δε based on maximum damping difference amplitude Δε1, minimum damping difference amplitude Δε2 and vehicle speed V C The principle of calculating damping adjustment reference is: the greater the vehicle speed V, the more slowly the damping change process is ensured, and the smaller the damping adjustment reference is; meanwhile, the greater the difference between maximum damping difference amplitude Δε1 and minimum damping difference amplitude Δε2, the faster the damping change process needs to be ensured, so the calculation method of designing damping adjustment reference is: damping adjustment reference Δε C equals the ratio of maximum damping difference amplitude Δε1 and minimum damping difference amplitude Δε2 multiplied by the inverse of vehicle speed V, and then multiplied by reference coefficient γ, which is obtained based on experience or calibration. The calculation formula of damping adjustment reference is:

[0131]

[0132] Wherein: Δε C is damping adjustment reference; γ is reference coefficient, an empirical value or a calibration value; V is vehicle speed.

[0133] T5, calculate damping total difference amplitude Δε all .

[0134] Calculate damping total difference amplitude Δε based on damping difference of four-wheel supporting devices all . Damping total difference amplitude Δε all equals the sum of absolute values of damping difference of four-wheel supporting devices. The calculation formula of damping total difference amplitude Δε all is:

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

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

[0137] T6, calculate damping difference proportion of four-wheel supporting devices.

[0138] Calculate damping difference proportion of four-wheel supporting devices based on damping total difference amplitude Δε all and damping difference of four-wheel supporting devices. For each wheel, the damping difference proportion of its wheel supporting device equals the damping difference of its wheel supporting device divided by damping total difference amplitude Δε all . The calculation formula of damping difference proportion of four-wheel supporting devices is:

[0139]

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

[0141] T7, calculate the damping change execution amount of the four-wheel upper support devices.

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

[0143]

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

[0145] T8, calculate the current instantaneous target execution damping coefficient of the four-wheel upper support devices.

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

[0147]

[0148] Wherein: ε(k) fl is the current instantaneous target execution damping coefficient of the left front wheel upper support device; ε(k) fr is the current instantaneous target execution damping coefficient of the right front wheel upper support device; ε(k) rl is the current instantaneous target execution damping coefficient of the left rear wheel upper support device; ε(k) rr is the current instantaneous target execution damping coefficient of the right rear wheel upper support device.

[0149] T9, determine the execution state of the control method.

[0150] The determination 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 thereof, it is determined that the dynamic control process is ended, and the vehicle is controlled by using the current instantaneous target execution damping coefficient of the four-wheel support device. 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 thereof, it is determined that the dynamic control process is not ended, the last instantaneous target execution damping coefficient of the four-wheel support device is updated as the current instantaneous target execution damping coefficient of the four-wheel support device, and the method is restarted from step T2.

[0151] Further, 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 thereof is the same. The reasoning process is as follows:

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

[0153]

[0154] Wherein: time fl is the time required for the current instantaneous target execution damping coefficient of the left front wheel support device to change to the target damping coefficient of the wheel support device thereof; time fr is the time required for the current instantaneous target execution damping coefficient of the right front wheel support device to change to the target damping coefficient of the wheel support device thereof; time rl is the time required for the current instantaneous target execution damping coefficient of the left rear wheel support device to change to the target damping coefficient of the wheel support device thereof; time rr is the time required for the current instantaneous target execution damping coefficient of the right rear wheel support device to change to the target damping coefficient of the wheel support device thereof;

[0155] Further, the damping change execution amount of the support device is the product of the damping difference ratio of the support device and the damping adjustment reference Δε C , and is further converted to:

[0156]

[0157] Further, the damping difference ratio of the support device is equal to the damping difference of the support device divided by the total damping difference amplitude Δε all , and is further converted to:

[0158]

[0159] The obtained calculation formula is simplified as follows:

[0160]

[0161] That is, the time required for the current instantaneous target execution damping coefficient of each wheel support device to change to the target damping coefficient of the wheel support device thereof is equal, and is equal to the total damping difference amplitude Δε all , and the ratio of the damping adjustment reference Δε C , based on which the present application can ensure that the current instantaneous target execution damping coefficient of each wheel support device simultaneously and synchronously reaches the target damping coefficient of the wheel support device thereof, avoiding the incoordination of wheel posture damping changes to induce vibration during vehicle driving, thereby improving the comfort of the vehicle.

[0162] Based on the above-mentioned vehicle damping coordination control method, the present embodiment further proposes a vehicle damping coordination control system, which has the same structure as the vehicle damping coordination control system described in Embodiment 1 and comprises 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 configured to acquire and store the running parameters of the current vehicle, including the last instantaneous target execution damping coefficient of the four wheel support devices, and the initial value of the stored last instantaneous target execution damping coefficient of the four wheel support devices is 0.

[0164] The damping parameter calculation module is configured to call the running parameters of the vehicle from the parameter acquisition and storage module, acquire the target damping coefficient of the four wheel support devices according to the running parameters of the vehicle, calculate the damping difference of the four wheel support devices based on the target damping coefficient of the four wheel support devices and the last instantaneous target execution damping coefficient of the four wheel support devices, calculate the maximum damping difference amplitude Δε1 and the minimum damping difference amplitude Δε2 based on the damping difference of the four wheel support devices, calculate the damping adjustment reference Δε C based on the maximum damping difference amplitude Δε1, the minimum damping difference amplitude, and the vehicle speed V, calculate the total damping difference amplitude Δε all based on the damping difference of the four wheel support devices, calculate the damping difference proportion of the four wheel support devices based on the total damping difference amplitude Δε all and the damping difference of the four wheel support devices, calculate the damping change execution amount of the four wheel support devices based on the damping difference proportion of the four wheel support devices and the damping adjustment reference Δε V , and calculate the current instantaneous target execution damping coefficient of the four wheel support devices based on the damping change execution amount of the four wheel support devices and the last instantaneous target execution damping coefficient of the four wheel support devices.

[0165] The damping coordination judging module is configured to judge whether the vehicle enters a damping coordination state according to the current instantaneous target damping coefficient of the four-wheel supporting device, and when the vehicle enters the damping coordination state, the current instantaneous target damping coefficient of the four-wheel supporting device is applied to control the vehicle, and when the vehicle does not enter the damping coordination state, the last instantaneous target damping coefficient of the four-wheel supporting device is updated to the current instantaneous target damping coefficient of the four-wheel supporting device, and the updated current instantaneous target damping coefficient is sent to the parameter acquisition and storage module, and a signal for re-computation is sent to the damping parameter calculation module.

[0166] Embodiment 3

[0167] The embodiment provides a computer storage medium, which stores a computer program executable by a processor, and the computer program performs the vehicle damping coordination control method described in the embodiment 1 or the embodiment 2.

[0168] In conclusion, the application provides a vehicle damping coordination control method and system, based on the running parameters of the vehicle, the current instantaneous target damping coefficient of the four-wheel supporting device is obtained by calculation, and the target damping coefficient of the four-wheel supporting device is compared, and the damping coordination of the four wheels is controlled according to the comparison result or further iteration update, so that the vehicle vibration can be avoided and the comfort of the vehicle is improved.

[0169] It should be noted that, according to the needs of implementation, each step / component described in the present application can be split into more steps / components, or two or more steps / components or part of the operation of the steps / components can be combined into a new step / component, so as to achieve the purpose of the present application.

[0170] The size of the serial number of each step in the above embodiment does not mean the order of execution, the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0171] It should be understood that for those skilled in the art, improvements or changes can be made according to the above description, and all these improvements and changes shall belong to the protection scope of the appended claims of the present application.

Claims

1. A vehicle damping coordination control method, characterized in that, include: Obtain the current vehicle's operating parameters, including the target execution damping coefficient of the four-wheel upper support device at the previous instant, wherein the initial value of the target execution damping coefficient of the four-wheel upper support device at the previous instant is 0; Based on the current operating parameters of the vehicle, the target damping coefficient of the support device on the four wheels is obtained; 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 target execution damping coefficient of the four-wheel upper support device at the previous instant. Based on the damping difference of the support devices on the four wheels, calculate the damping adjustment reference and the total damping difference amplitude; The current instantaneous target execution damping coefficient of the four-wheel upper support device is calculated based on the total damping difference amplitude, the damping difference of the four-wheel upper support device, the damping adjustment reference, and the previous instantaneous target execution damping coefficient of the four-wheel upper support device. The execution status of this control method is determined based on the current instantaneous target damping coefficient of the four-wheel support device and the target damping coefficient of the four-wheel support device. If it is in a damping-coordinated state, the current instantaneous target of the four-wheel support device is used to execute the damping coefficient control of the vehicle; Otherwise, update the previous instantaneous target execution damping coefficient of the four-wheel support device to the current instantaneous target execution damping coefficient of the four-wheel support device, and re-execute the method.

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

3. The vehicle damping coordination control method according to claim 1, characterized in that, The method for calculating 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 target executed damping coefficient of the four-wheel upper support device at the previous instant includes: 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 target executed damping coefficient of its upper support device at the previous instant.

4. The vehicle damping coordination control method according to claim 2, characterized in that, The method for calculating the damping adjustment reference based on the damping difference of the four-wheel support device includes: Calculate the maximum and minimum damping difference amplitudes based on the damping difference of the support devices on the four wheels; The damping adjustment reference is calculated based on 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 and minimum damping difference amplitudes based on the damping difference of the four-wheel support devices includes: the maximum damping difference amplitude is equal to the maximum absolute value of the damping difference of the four-wheel support devices; the minimum damping difference amplitude is equal to the minimum absolute value of the damping difference of the four-wheel support devices.

6. The vehicle damping coordination control method according to claim 5, characterized in that, The method for calculating the damping adjustment reference based on 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 reciprocal of the vehicle speed, and then multiplied by a reference coefficient, wherein 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 based on the damping difference of the four wheel 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 support devices.

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

9. The vehicle damping coordination control method according to claim 8, characterized in that, The method for calculating the proportion of damping difference of the four-wheel support device based on the total damping difference amplitude and the damping difference of the four-wheel support device includes: for each wheel, the proportion of damping difference 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 based on the damping difference ratio and damping adjustment reference of the four-wheel support device 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, The method for calculating the current instantaneous target damping coefficient of the four-wheel support device 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 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 determining whether the vehicle has entered a damping coordination state based on the current instantaneous target damping coefficient of the four-wheel upper support device and the target damping coefficient of the four-wheel upper support device includes: For each wheel, determine whether the current instantaneous target damping coefficient of its support device is equal to the target damping coefficient of its wheel support device. If they are equal, determine that the wheel has entered a damping coordination state; otherwise, determine that the wheel has not entered a damping coordination state.

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 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 coordinated control method according to any one of claims 1-13, including a parameter acquisition and storage module, a damping parameter calculation module, and a damping coordinated judgment module; The parameter acquisition and storage module is used to acquire and store the current vehicle's operating parameters, including the target execution damping coefficient of the four-wheel support device at the previous instant, and the initial value of the stored target execution damping coefficient of the four-wheel support device at the previous instant is 0. The damping parameter calculation module is used to retrieve the vehicle's operating parameters from the parameter acquisition and storage module, obtain the target damping coefficient of the four-wheel upper support device based on the vehicle's operating parameters, 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 previous instantaneous target execution damping coefficient of the four-wheel upper support device, calculate the damping adjustment reference and the total damping difference amplitude based on 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 based on the total damping difference amplitude, the damping difference of the four-wheel upper support device, the damping adjustment reference and the previous instantaneous target execution damping coefficient of the four-wheel upper support device. The damping coordination judgment module is used to determine the execution state of the damping coordination control method based on the current instantaneous target execution damping coefficient and the target damping coefficient of the four-wheel support device. If it is in 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, 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, It contains a computer program that can be executed by a processor, which performs the vehicle damping coordination control method according to any one of claims 1-13.

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