Vehicle and control method and control device thereof

Abstract

The invention discloses a vehicle and a control method and device thereof. The method comprises the steps that it is determined that the vehicle is about to enter an abrupt slope; under the condition that the vehicle is about to enter the abrupt slope or enters the abrupt slope, the height of a front axle suspension and the height of a rear axle suspension of the vehicle are adjusted according to the ramp information; and under the condition that the vehicle leaves the abrupt slope, the height of the front axle suspension and the height of the rear axle suspension are adjusted. According to the control method, the driving experience of a driver can be improved, and the view blind area can be reduced, so that the driving safety is improved.

Description

Technical Field

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

[0002] Cars often encounter steep slopes during driving. When a car passes a steep slope, the car body will vibrate. If the amplitude is large, it will affect the people in the vehicle. In order to pass the steep slope smoothly and ensure the driving experience and driving safety, the car suspension needs to be controlled.

[0003] The current related technology reduces the vehicle's sense of frustration when the hill descent system switches from standby to active state by adding an algorithm to control the stiffness of the air suspension. This method is slow to operate and is used more often in long steep slopes. That is, only on long steep slopes can the air suspension system have enough time to adjust and respond. It cannot cope with sharp, short steep slopes such as basements, thus affecting the driving experience. Summary of the invention

[0004] The present application aims to solve one of the technical problems in the related art at least to a certain extent. To this end, the first purpose of the present application is to propose a vehicle control method, which determines that the vehicle is about to enter a steep slope, and when the vehicle is about to enter a steep slope or enters a steep slope, adjusts the front axle suspension height and the rear axle suspension height of the vehicle according to the slope information, and when the vehicle leaves the steep slope, adjusts the front axle suspension height and the rear axle suspension height, thereby improving the driver's driving experience, reducing the blind spot of vision, and improving driving safety.

[0005] A second objective of the present application is to provide a vehicle control device.

[0006] The third object of the present application is to provide a vehicle.

[0007] To achieve the above-mentioned purpose, the first aspect embodiment of the present application proposes a vehicle control method, the method comprising: determining that the vehicle is about to enter a steep slope; when the vehicle is about to enter a steep slope or enters a steep slope, adjusting the front axle suspension height and the rear axle suspension height of the vehicle according to the ramp information; when the vehicle leaves the steep slope, adjusting the front axle suspension height and the rear axle suspension height.

[0008] According to the vehicle control method of the embodiment of the present application, it is determined that the vehicle is about to enter a steep slope. When the vehicle is about to enter a steep slope or enters a steep slope, the front axle suspension height and the rear axle suspension height of the vehicle are adjusted according to the slope information. When the vehicle leaves the steep slope, the front axle suspension height and the rear axle suspension height are adjusted. Thus, the method can improve the driver's driving experience, reduce the blind spot of vision, and thus improve driving safety.

[0009] In addition, the vehicle control method according to the above embodiment of the present application may also have the following additional technical features:

[0010] According to one embodiment of the present application, the steep slope includes a downward steep slope, and the front axle suspension height and the rear axle suspension height of the vehicle are respectively adjusted according to the ramp information, including: when the vehicle is about to enter a downward steep slope, determining a first height reduction value of the front axle suspension and a first height increase value of the rear axle suspension according to the ramp information; adjusting the front axle suspension height according to the first height reduction value, and adjusting the rear axle suspension height according to the first height increase value.

[0011] According to one embodiment of the present application, the steep slope includes a downward steep slope, and the front axle suspension height and the rear axle suspension height of the vehicle are respectively adjusted according to the ramp information, including: when the vehicle enters the downward steep slope, determining a second height increase value of the front axle suspension height and a second height reduction value of the rear axle suspension according to the ramp information; adjusting the front axle suspension height according to the second height increase value, and adjusting the rear axle suspension height according to the second height reduction value.

[0012] According to one embodiment of the present application, the steep slope includes an upward steep slope, and the front axle suspension height and the rear axle suspension height of the vehicle are respectively adjusted according to the ramp information, including: when the vehicle enters an upward steep slope, determining a third height reduction value of the front axle suspension and a third height increase value of the rear axle suspension according to the ramp information; adjusting the front axle suspension height according to the third height reduction value, and adjusting the rear axle suspension height according to the third height increase value.

[0013] According to one embodiment of the present application, when the vehicle leaves a steep slope, the method further includes: adjusting the height of the front axle suspension according to the difference between the current height value of the front axle suspension and a reference value of the height of the front axle suspension; and adjusting the height of the rear axle suspension according to the difference between the current height value of the rear axle suspension and a reference value of the height of the rear axle suspension.

[0014] According to one embodiment of the present application, the steep slope includes a downward steep slope and an upward steep slope. When the vehicle is about to enter an upward steep slope or leave a downward steep slope, the method further includes: acquiring acceleration information of the vehicle; determining a first applied force applied to the front axle suspension and the rear axle suspension according to the acceleration information; and controlling the front axle suspension and the rear axle suspension according to the first applied force.

[0015] According to one embodiment of the present application, when the vehicle is about to enter a steep downhill slope or an steep uphill slope, the method further includes: controlling the front axle suspension and the rear axle suspension with a second applied force, wherein the second applied force is smaller than the first applied force.

[0016] According to one embodiment of the present application, determining that the vehicle is about to enter a steep slope includes: obtaining a road slope within a preset distance, and determining that the vehicle is about to enter a steep slope when the absolute value of the road slope exceeds a preset slope value; or, determining whether the vehicle is about to enter a steep slope based on a navigation system and historical steep slope data of the vehicle.

[0017] To achieve the above-mentioned purpose, the second aspect embodiment of the present application proposes a vehicle control device, which includes: a determination module, used to determine that the vehicle is about to enter a steep slope; an adjustment module, used to adjust the front axle suspension height and the rear axle suspension height of the vehicle according to the ramp information when the vehicle is about to enter a steep slope or enters a steep slope, and to adjust the front axle suspension height and the rear axle suspension height when the vehicle leaves the steep slope.

[0018] According to the vehicle control device of the embodiment of the present application, the determination module is used to determine that the vehicle is about to enter a steep slope, and the adjustment module is used to adjust the front axle suspension height and the rear axle suspension height of the vehicle according to the ramp information when the vehicle is about to enter a steep slope or enters a steep slope, and adjust the front axle suspension height and the rear axle suspension height when the vehicle leaves the steep slope. Thus, the device can improve the driver's driving experience, and can reduce the blind spot of the field of vision to improve driving safety.

[0019] To achieve the above-mentioned purpose, a vehicle is proposed in the third aspect of the embodiment of the present application, including a memory, a processor, and a program stored in the memory and executable on the processor, and when the processor executes the program, the above-mentioned vehicle control method is implemented.

[0020] According to the vehicle of the embodiment of the present application, by executing the above-mentioned vehicle control method, the driver's driving experience can be improved, and the blind spot of vision can be reduced to improve driving safety.

[0021] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present application;

[0023] Figure 2 is a flow chart of a vehicle control method according to a specific example of the present application;

[0024] Figure 3 is a block diagram of a control device for a vehicle according to an embodiment of the present application;

[0025] Figure 4 It is a block diagram of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0026] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0027] The following describes a vehicle control method, a vehicle control device, and a vehicle proposed in an embodiment of the present application with reference to the accompanying drawings.

[0028] Figure 1 Flowchart of a vehicle control method according to an embodiment of the present application.

[0029] like Figure 1 As shown, the vehicle control method of the embodiment of the present application may include the following steps:

[0030] S1, determining that the vehicle is about to enter a steep slope.

[0031] S2: When the vehicle is about to enter a steep slope or enters a steep slope, the front axle suspension height and the rear axle suspension height of the vehicle are adjusted according to the slope information.

[0032] S3, when the vehicle leaves a steep slope, the front axle suspension height and the rear axle suspension height are adjusted.

[0033] Specifically, determining that the vehicle is about to enter a steep slope is a key step in the vehicle suspension control system, which involves identifying and predicting the road conditions ahead of the vehicle, especially the presence of a steep slope. The purpose of this step is to prepare the vehicle suspension system in advance to adapt to the upcoming steep slope driving conditions, thereby improving driving safety and ride comfort. For example, during the driving process of the vehicle, the steep slope of the road ahead is an uphill slope, and the slope information of the road ahead can be detected by the front camera or lidar. For another example, during the driving process of the vehicle, the steep slope of the road ahead is a downhill slope. There may be blind spots when shooting with the front camera, and it is impossible to accurately identify the situation. It is also possible to determine whether the vehicle is about to enter a steep slope through map positioning and driving memory. For example, after the current position of the vehicle can be determined through navigation, combined with the historical data of the vehicle, the road section has been identified as a steep slope under similar conditions.

[0034] When the vehicle is about to enter a steep slope or has already entered a steep slope, the height of the front and rear axle suspensions of the vehicle can be adjusted to optimize the vehicle's passability and ride comfort. For example, when the vehicle is about to enter a steep slope, the target height of the front and rear axle suspensions that need to be adjusted can be calculated based on information such as the size of the slope and the length of the slope. For example, in order to allow the driver to see more situations such as vehicles, pedestrians, and electric vehicles on the steep slope in advance, the height of the front axle suspension can be controlled to be lowered, and the height of the rear axle suspension can be controlled to be raised, so that the vehicle body presents a "nodding" feature. For another example, after the vehicle has entered a steep slope, the height of the front axle suspension can be controlled to be lowered, and the height of the rear axle suspension can be controlled to be raised, so that the vehicle body presents a "nodding" feature, reducing the "lifting" of the vehicle body caused by the steep slope, improving the driver's comfort, and the driver can also see more situations such as vehicles, pedestrians, and electric vehicles after the steep slope ends in advance, improving driving safety.

[0035] When the vehicle leaves a steep slope, the front axle suspension height and the rear axle suspension height can be adjusted. That is, once the vehicle leaves a steep slope, the suspension height of the front axle and the rear axle can be adjusted back to the normal driving height to ensure the stability and comfort of the vehicle on a flat road, that is, to ensure that the adjustment of the suspension height is smooth to avoid discomfort to passengers. In this way, the driver's driving experience can be improved, and the blind spot of vision can be reduced to improve driving safety.

[0036] According to one embodiment of the present application, the steep slope includes a downward steep slope, and the front axle suspension height and the rear axle suspension height of the vehicle are respectively adjusted according to the ramp information, including: when the vehicle is about to enter a downward steep slope, determining a first height reduction value of the front axle suspension and a first height increase value of the rear axle suspension according to the ramp information; adjusting the front axle suspension height according to the first height reduction value, and adjusting the rear axle suspension height according to the first height increase value.

[0037] Specifically, when the front axle suspension height and the rear axle suspension height of the vehicle are adjusted respectively according to the ramp information, the current ramp information is judged. When the vehicle is about to enter a steep slope (such as the intersection position when driving down from a flat road to a road with a slope), the first height reduction value of the front axle suspension and the first height increase value of the rear axle suspension can be determined according to the ramp information. For example, the first height reduction value and the first height increase value can be calculated based on the vehicle dynamics model, the suspension design and the expected body posture change. After determining the first height reduction value and the first height increase value, the front axle suspension height and the rear axle suspension height of the vehicle can be adjusted respectively, that is, according to the calculated first height reduction value of the front axle suspension, the front axle suspension is adjusted to be reduced to a predetermined height, which helps the vehicle to maintain stability when going down a steep slope and reduce the impact caused by the slope change. Similarly, according to the calculated first height increase value of the rear axle suspension, the rear axle suspension is adjusted to be increased to a predetermined height, which helps the vehicle to maintain balance when going down a steep slope and provides a better field of view.

[0038] For example, a vehicle equipped with a fully active suspension system is about to enter a steep slope, and recognizes that there is a 15-degree steep slope 100 meters ahead. The height that the front axle needs to be lowered and the height that the rear axle needs to be raised are calculated based on the road information. For example, the road information is the angle of the current slope, and the relationship between the slope and the first height reduction value of the front axle suspension and the first height increase value of the rear axle suspension is predetermined. After the slope is determined, the first height reduction value and the first height increase value can be obtained by directly calling the corresponding relationship. For example, the first height reduction value is 20mm and the first height increase value is 30mm to adapt to this slope, so that the suspension height can be automatically adjusted, that is, the front axle is lowered by 20mm and the rear axle is raised by 30mm. The vehicle enters the steep slope with a "nodding" posture, and the driver can see more situations such as vehicles, pedestrians, electric vehicles, etc. on the steep slope road surface in advance, and react in advance to improve driving safety. Therefore, through this suspension height adjustment with low front and high rear, the vehicle will present a "nodding" posture when going down a steep slope, which helps the driver see the road conditions at the bottom of the slope in advance. That is, through this precise suspension height adjustment, the vehicle can better adapt to steep slope conditions and improve driving safety and comfort.

[0039] According to one embodiment of the present application, the steep slope includes a downward steep slope, and the front axle suspension height and the rear axle suspension height of the vehicle are respectively adjusted according to the ramp information, including: when the vehicle enters the downward steep slope, determining a second height increase value of the front axle suspension height and a second height reduction value of the rear axle suspension according to the ramp information; adjusting the front axle suspension height according to the second height increase value, and adjusting the rear axle suspension height according to the second height reduction value.

[0040] Specifically, when the front axle suspension height and the rear axle suspension height of the vehicle are adjusted respectively according to the ramp information, the current ramp information is judged. When the vehicle enters a steep slope, for example, when the vehicle is driving from a section about to enter a steep slope to a steep slope, that is, the vehicle is currently completely on a steep slope, the second height increase value of the front axle suspension height and the second height reduction value of the rear axle suspension can be determined according to the ramp information. For example, the second height increase value and the second height reduction value can be calculated based on the vehicle dynamics model, the suspension design and the expected body posture change. After determining the second height increase value and the second height reduction value, the front axle suspension height and the rear axle suspension height of the vehicle can be adjusted respectively, that is, according to the calculated second height increase value of the front axle suspension, the front axle suspension is adjusted to be raised to a predetermined height, which helps the vehicle to maintain stability when going down a steep slope and reduce the impact caused by the slope change. Similarly, according to the calculated second height reduction value of the rear axle suspension, the rear axle suspension is adjusted to be lowered to a predetermined height, which helps the vehicle to maintain balance when going down a steep slope and provides a better field of view.

[0041] Through this suspension height adjustment with high front and low rear, the vehicle will present a "head-up" posture when going down a steep slope, which helps the driver see the road conditions at the bottom of the slope in advance and improves safety. At the same time, it can reduce the "nodding" effect of the vehicle body caused by the steep slope and improve comfort.

[0042] According to one embodiment of the present application, the steep slope includes an upward steep slope, and the front axle suspension height and the rear axle suspension height of the vehicle are respectively adjusted according to the ramp information, including: when the vehicle enters an upward steep slope, determining a third height reduction value of the front axle suspension and a third height increase value of the rear axle suspension according to the ramp information; adjusting the front axle suspension height according to the third height reduction value, and adjusting the rear axle suspension height according to the third height increase value.

[0043] Specifically, when the front axle suspension height and the rear axle suspension height of the vehicle are adjusted respectively according to the ramp information, the current ramp information is judged. When the vehicle is about to enter a steep slope (such as the junction position when driving upward from a flat road to a road with a slope), the third height reduction value of the front axle suspension and the third height increase value of the rear axle suspension can be determined according to the ramp information. For example, the third height reduction value and the third height increase value can be calculated based on the vehicle dynamics model, the suspension design and the expected body posture change. After determining the third height reduction value and the third height increase value, the front axle suspension can be adjusted according to the calculated third height reduction value of the front axle suspension to reduce it to a predetermined height, which helps the vehicle to remain stable when going up a steep slope and reduces the impact caused by the slope change. Similarly, according to the calculated third height increase value of the rear axle suspension, the rear axle suspension is adjusted to increase it to a predetermined height, which helps the vehicle to maintain balance when going up a steep slope and provides a better field of view. Through this suspension height adjustment with low front and high rear, the vehicle will present a "nodding" posture when going up a steep slope, which helps the driver see the road conditions at the top of the slope in advance and improves safety, while reducing the "lifting" effect of the vehicle body caused by the steep slope and improving comfort.

[0044] For example, a vehicle equipped with a fully active suspension system is about to enter a steep slope, and recognizes that there is a 25-degree steep slope 100 meters ahead. The height that the front axle needs to be lowered and the height that the rear axle needs to be raised are calculated based on the road information. For example, the road information is the angle of the current slope, and the relationship between the slope and the third height reduction value of the front axle suspension and the third height increase value of the rear axle suspension is predetermined. After the slope is determined, the third height reduction value and the third height increase value can be obtained by directly calling the corresponding relationship. For example, the third height reduction value is 30mm, and the third height increase value is 20mm to adapt to this slope, so that the suspension height can be automatically adjusted, that is, the front axle is lowered by 30mm and the rear axle is raised by 20mm. The vehicle enters the steep slope with a "nodding" posture, and the driver can see the intersection at the top of the slope earlier and react in advance. Therefore, through this precise suspension height adjustment, the vehicle can better adapt to steep slope conditions and improve driving safety and comfort.

[0045] In summary, after the front wheels enter the uphill slope, the front axle of the vehicle begins to lower and the rear axle begins to rise, making the vehicle body present a "nodding" characteristic, reducing the "lifting" of the vehicle body caused by the steep slope, and improving driver comfort. In addition, the driver can also see more situations such as vehicles, pedestrians, electric vehicles, etc. after the end of the steep slope in advance, thereby improving driving safety.

[0046] According to one embodiment of the present application, when the vehicle leaves a steep slope, the vehicle control method also includes: adjusting the front axle suspension height according to the difference between the current front axle suspension height value and the front axle suspension height reference value; adjusting the rear axle suspension height according to the difference between the current rear axle suspension height value and the rear axle suspension height reference value.

[0047] Specifically, when the vehicle leaves a steep slope, for example, when the vehicle leaves a downward steep slope or when the vehicle leaves an upward steep slope, the vehicle can be restored to a normal driving state by adjusting the suspension heights of the front axle and the rear axle. That is, the front axle suspension height is adjusted according to the difference between the current front axle suspension height value and the front axle suspension height reference value, and the rear axle suspension height is adjusted according to the difference between the current rear axle suspension height value and the rear axle suspension height reference value.

[0048] That is, a suspension height reference value may be preset, which is based on a standard suspension height of the vehicle on a flat road, or according to a recommended setting of the vehicle manufacturer. The current suspension heights of the front and rear axles are monitored in real time, for example, by sensors in the suspension system, which can accurately measure the current height of the suspension. After determining the current suspension heights of the front and rear axles, the difference between the current front axle suspension height and the front axle suspension height reference value, and the difference between the current rear axle suspension height and the rear axle suspension height reference value may be calculated. For example, when the vehicle leaves a steep slope, the current front axle suspension height is higher than the front axle suspension height reference value, and the front axle suspension height may be automatically adjusted according to the difference, that is, the front axle suspension height is reduced to the front axle suspension height reference value. For example, the oil pressure in the suspension may be reduced, or the air pressure in the air suspension system may be reduced. Similarly, when the current rear axle suspension height is lower than the rear axle suspension height reference value, the rear axle suspension height may be automatically adjusted according to the difference, that is, the rear axle suspension height is increased to the rear axle suspension height reference value. For another example, when the vehicle leaves a steep slope, the current front axle suspension height is lower than the front axle suspension height reference value, and the front axle suspension height can be automatically adjusted according to the difference, that is, the front axle suspension height is increased to the front axle suspension height reference value. For example, the oil pressure in the suspension can be increased, or the air pressure in the air suspension system can be increased. Similarly, if the current rear axle suspension height is higher than the rear axle suspension height reference value, the rear axle suspension height can be automatically adjusted according to the difference, that is, the rear axle suspension height is reduced to the rear axle suspension height reference value.

[0049] Therefore, by adjusting the suspension height of the front and rear axles, the vehicle's body posture will gradually return to a horizontal state from the "nodding" or "raising head" state when leaving a steep slope, ensuring the stability and comfort of the vehicle when driving on a flat road. In addition, the adjustment process needs to be smooth and fast to avoid discomfort to passengers. For example, a progressive adjustment strategy is adopted to gradually adjust the suspension height until the reference value is reached.

[0050] According to one embodiment of the present application, a steep slope includes a downward steep slope and an upward steep slope. When the vehicle is about to enter an upward steep slope or leave a downward steep slope, the vehicle control method further includes: acquiring acceleration information of the vehicle; determining a first applied force applied to the front axle suspension and the rear axle suspension according to the acceleration information; and controlling the front axle suspension and the rear axle suspension according to the first applied force.

[0051] Specifically, when the vehicle is leaving a steep slope or entering an upward steep slope, the front and rear axles will be subjected to a short vertical impact, the vehicle body will produce a large vertical acceleration, and the occupants will have obvious discomfort. Therefore, when the vehicle is about to enter an upward steep slope or leave a steep slope, the vehicle's handling and comfort can be optimized by obtaining the vehicle's acceleration information and controlling the suspension system accordingly. That is, the acceleration information of the vehicle can be obtained first. For example, if the vehicle is equipped with an acceleration sensor, these sensors can measure the acceleration of the vehicle in three dimensions (longitudinal, lateral and vertical) in real time. The data of the acceleration sensor is continuously collected to obtain the dynamic information of the vehicle in different directions. After the acceleration information is obtained, the first applied force applied to the front axle suspension and the rear axle suspension can be determined according to the acceleration information, so that the front axle suspension and the rear axle suspension can be controlled according to the first applied force. That is to say, based on the vehicle's acceleration information, the force generated on the suspension due to dynamic changes in the vehicle (such as acceleration or climbing) can be calculated, thereby determining the force applied to the front and rear axle suspensions, such as adjusting the stiffness or damping of the rear axle suspension to increase the supporting force, while appropriately adjusting the front axle suspension to maintain the balance of the vehicle.

[0052] For example, medium-frequency vertical control of 4Hz-10Hz is performed to optimize impact, where vertical control refers to directly controlling the distance between the vehicle and the ground, that is, adjusting the chassis height of the vehicle to adapt to different road conditions or improve ride comfort. Medium frequency refers to the frequency range of the control signal. In suspension control, 4Hz-10Hz belongs to the medium frequency range. Control in this frequency range is usually used to cope with road conditions that change at medium speeds, such as medium-sized bumps or potholes. When a vehicle encounters bumps or potholes on the road, vertical impacts will occur. Medium-frequency vertical control can quickly respond to these impacts and adjust the stiffness or damping of the suspension to reduce the impact energy transmitted to the vehicle body. By reducing the impact, ride comfort can be significantly improved and the discomfort of passengers caused by bumps can be reduced. As a result, the vehicle can better adapt to steep slope conditions and improve driving safety and ride comfort.

[0053] According to one embodiment of the present application, when the vehicle is about to enter a steep downhill slope or an steep uphill slope, the vehicle control method further includes: using a second applied force to control the front axle suspension and the rear axle suspension, wherein the second applied force is smaller than the first applied force.

[0054] Specifically, when the vehicle is about to enter a steep slope or a steep slope, the second applied force can be used to control the front axle suspension and the rear axle suspension, wherein the second applied force is less than the first applied force. That is, the first applied force refers to the suspension force calculated according to the dynamic requirements of the vehicle (such as acceleration, etc.), which is used to maintain the stability and comfort of the vehicle. This force is larger to cope with larger external influences, such as severe road impact or sharp acceleration changes. The second applied force is a supplementary force, which is smaller than the first applied force, and is used to fine-tune the response of the suspension to provide more refined control. This force can be used to deal with smaller road unevenness or slight dynamic changes to improve ride comfort. For example, when the vehicle is about to enter a steep slope or a steep slope, the active suspension begins to perform low-frequency pitch control, such as performing low-frequency pitch control of 0.5Hz-1Hz, to broaden the field of view and optimize the body posture. Among them, pitch control refers to controlling the relative movement of the front and rear axles of the vehicle to reduce or control the pitch movement of the vehicle in the vertical direction. Pitch movement refers to the lifting or lowering of the front or rear of the vehicle due to the forward and backward movement of the center of gravity when the vehicle is accelerating, braking or driving on uneven roads. Low frequency refers to the frequency range of the control signal. In suspension control, 0.5Hz-1Hz belongs to the low frequency range. Control in this frequency range is usually used to cope with slowly changing road conditions, such as gentle slopes or long slopes.

[0055] According to an embodiment of the present application, determining that the vehicle is about to enter a steep slope includes: obtaining the road slope within a preset distance, and determining that the vehicle is about to enter a steep slope when the absolute value of the road slope exceeds a preset slope value; or determining whether the vehicle is about to enter a steep slope based on a navigation system and historical steep slope data of the vehicle. The preset distance and the preset slope value can be determined according to actual conditions.

[0056] Specifically, when it is determined that the vehicle is about to enter a steep slope, the road slope within a preset distance can be obtained. For example, the preview system (such as a front camera, lidar or infrared sensor) equipped with the vehicle is used to detect the road conditions within a certain distance (preset distance) in front of the vehicle, including the slope, and analyze the data collected by these sensors in real time to determine the slope information of the road. The preset distance can be 100 meters or 200 meters as the detection range, and the preset slope value can be 10 degrees or 15 degrees as the standard for determining whether it is a steep slope. The absolute value of the road slope is compared with the preset slope value. When it is detected that the absolute value of the road slope within the preset distance in front of the vehicle exceeds the preset slope value, it can be determined that the vehicle is about to enter a steep slope.

[0057] Alternatively, it is possible to determine whether the vehicle is about to enter a steep slope based on the navigation system and the vehicle's historical steep slope data. That is, the vehicle's navigation system may contain detailed map data, including road slope information, and when the vehicle approaches a known steep slope section, the navigation system can determine that the vehicle is about to enter a steep slope. In addition, the vehicle will record and store information about steep slopes it has encountered in the past, including the location and slope of the steep slope, which can help learn and predict the steep slope sections that the vehicle may encounter. Thus, the navigation system's map data and the vehicle's historical steep slope data can be combined to perform data fusion analysis to jointly determine whether the vehicle is about to enter a steep slope. As a result, the vehicle can more accurately predict and respond to upcoming steep slope sections, thereby improving driving safety and comfort.

[0058] Combine the following Figure 2 To describe the control method of the present application.

[0059] As a specific example, the vehicle control method of the present application may include the following steps:

[0060] S101, obtaining a road slope within a preset distance.

[0061] S102: Whether the absolute value of the road slope exceeds a preset slope value. If yes, execute step S103; if no, execute step S101.

[0062] S103, determining that the vehicle is about to enter a steep slope, and proceeding to step S104 and step S110 respectively.

[0063] S104, when the vehicle is about to enter a steep downhill slope, obtaining acceleration information of the vehicle.

[0064] S105 , determining a first height reduction value of the front axle suspension and a first height increase value of the rear axle suspension according to the ramp information, and determining a first applied force applied to the front axle suspension and the rear axle suspension according to the acceleration information.

[0065] S106, adjusting the height of the front axle suspension according to the first height reduction value, adjusting the height of the rear axle suspension according to the first height increase value, and controlling the front axle suspension and the rear axle suspension according to the first applied force.

[0066] S107: When the vehicle enters a steep downhill slope, determine a second height increase value of the front axle suspension and a second height decrease value of the rear axle suspension according to the ramp information.

[0067] S108, adjusting the front axle suspension height according to the second height increase value, and adjusting the rear axle suspension height according to the second height decrease value.

[0068] S109, when the vehicle leaves a steep slope, the front axle suspension height is adjusted according to the difference between the current front axle suspension height value and the front axle suspension height reference value, and the rear axle suspension height is adjusted according to the difference between the current rear axle suspension height value and the rear axle suspension height reference value.

[0069] S110, when the vehicle enters an upward steep slope, obtaining acceleration information of the vehicle.

[0070] S111, determining a third height reduction value of the front axle suspension and a third height increase value of the rear axle suspension according to the ramp information, and determining a first applied force applied to the front axle suspension and the rear axle suspension according to the acceleration information.

[0071] S112, adjusting the front axle suspension height according to the third height reduction value, adjusting the rear axle suspension height according to the third height increase value, and controlling the front axle suspension and the rear axle suspension according to the first applied force, and entering step S109.

[0072] In summary, according to the vehicle control method of the embodiment of the present application, it is determined that the vehicle is about to enter a steep slope. When the vehicle is about to enter a steep slope or enters a steep slope, the front axle suspension height and the rear axle suspension height of the vehicle are adjusted according to the slope information. When the vehicle leaves the steep slope, the front axle suspension height and the rear axle suspension height are adjusted. Therefore, the method can improve the driver's driving experience, reduce the blind spot of vision, and thus improve driving safety.

[0073] Corresponding to the above embodiments, the present application also proposes a vehicle control device.

[0074] like Figure 3 As shown, the vehicle control device 100 of the embodiment of the present application includes: a determination module 110 and an adjustment module 120.

[0075] The determining module 110 is used to determine that the vehicle is about to enter a steep slope. The adjusting module 120 is used to adjust the front axle suspension height and the rear axle suspension height of the vehicle according to the ramp information when the vehicle is about to enter a steep slope or enters a steep slope, and to adjust the front axle suspension height and the rear axle suspension height when the vehicle leaves the steep slope.

[0076] According to one embodiment of the present application, the steep slope includes a downward steep slope, and the adjustment module 120 adjusts the front axle suspension height and the rear axle suspension height of the vehicle respectively according to the ramp information, and is specifically used for: when the vehicle is about to enter a downward steep slope, determining a first height reduction value of the front axle suspension and a first height increase value of the rear axle suspension according to the ramp information; adjusting the front axle suspension height according to the first height reduction value, and adjusting the rear axle suspension height according to the first height increase value.

[0077] According to one embodiment of the present application, the steep slope includes a downward steep slope, and the adjustment module 120 adjusts the front axle suspension height and the rear axle suspension height of the vehicle respectively according to the ramp information, and is specifically used for: when the vehicle enters a downward steep slope, determining a second height increase value of the front axle suspension height and a second height reduction value of the rear axle suspension according to the ramp information; adjusting the front axle suspension height according to the second height increase value, and adjusting the rear axle suspension height according to the second height reduction value.

[0078] According to one embodiment of the present application, the steep slope includes an upward steep slope, and the adjustment module 120 adjusts the front axle suspension height and the rear axle suspension height of the vehicle respectively according to the ramp information, and is specifically used for: when the vehicle enters an upward steep slope, determining the third height reduction value of the front axle suspension and the third height increase value of the rear axle suspension according to the ramp information; adjusting the front axle suspension height according to the third height reduction value, and adjusting the rear axle suspension height according to the third height increase value.

[0079] According to one embodiment of the present application, when the vehicle leaves a steep slope, the adjustment module 120 is also used to: adjust the front axle suspension height according to the difference between the current front axle suspension height value and the front axle suspension height reference value; adjust the rear axle suspension height according to the difference between the current rear axle suspension height value and the rear axle suspension height reference value.

[0080] According to one embodiment of the present application, a steep slope includes a downward steep slope and an upward steep slope. When the vehicle is about to enter an upward steep slope or leave a downward steep slope, the adjustment module 120 is further used to: obtain acceleration information of the vehicle; determine a first applied force applied to the front axle suspension and the rear axle suspension according to the acceleration information; and control the front axle suspension and the rear axle suspension according to the first applied force.

[0081] According to an embodiment of the present application, when the vehicle is about to enter a steep downhill slope or an steep uphill slope, the adjustment module 120 is further used to: control the front axle suspension and the rear axle suspension with a second applied force, wherein the second applied force is smaller than the first applied force.

[0082] According to one embodiment of the present application, the determination module 110 determines that the vehicle is about to enter a steep slope, specifically for: obtaining the road slope within a preset distance, and determining that the vehicle is about to enter a steep slope when the absolute value of the road slope exceeds a preset slope value; or, determining whether the vehicle is about to enter a steep slope based on the navigation system and the vehicle's historical steep slope data.

[0083] It should be noted that for details not disclosed in the control device of the vehicle in the embodiment of the present application, please refer to the details disclosed in the control method of the vehicle in the embodiment of the present application, and the details will not be repeated here.

[0084] According to the vehicle control device of the embodiment of the present application, the determination module is used to determine that the vehicle is about to enter a steep slope, and the adjustment module is used to adjust the front axle suspension height and the rear axle suspension height of the vehicle according to the ramp information when the vehicle is about to enter a steep slope or enters a steep slope, and adjust the front axle suspension height and the rear axle suspension height when the vehicle leaves the steep slope. Thus, the device can improve the driver's driving experience, and can reduce the blind spot of the field of vision to improve driving safety.

[0085] Corresponding to the above embodiments, the present application also proposes a vehicle.

[0086] like Figure 4 As shown, the vehicle 200 of the embodiment of the present application may include: a memory 210, a processor 220, and a program stored in the memory 210 and executable on the processor 220. When the processor 220 executes the program, the above-mentioned vehicle control method is implemented.

[0087] According to the vehicle of the embodiment of the present application, by executing the above-mentioned vehicle control method, the driver's driving experience can be improved, and the blind spot of vision can be reduced to improve driving safety.

[0088] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0089] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0090] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0091] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0092] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0093] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: determining that the vehicle is about to enter a steep slope; When the vehicle is about to enter a steep slope or enters a steep slope, adjusting the front axle suspension height and the rear axle suspension height of the vehicle respectively according to the slope information; When the vehicle leaves a steep slope, the front axle suspension height and the rear axle suspension height are adjusted.

2. The vehicle control method according to claim 1, characterized in that: The steep slope includes a downward steep slope, and adjusting the front axle suspension height and the rear axle suspension height of the vehicle respectively according to the ramp information, including: When the vehicle is about to enter a steep downhill slope, determining a first height reduction value of the front axle suspension and a first height increase value of the rear axle suspension according to the ramp information; The front axle suspension height is adjusted according to the first height reduction value, and the rear axle suspension height is adjusted according to the first height increase value.

3. The vehicle control method according to claim 1 or 2, characterized in that: The steep slope includes a downward steep slope, and adjusting the front axle suspension height and the rear axle suspension height of the vehicle respectively according to the ramp information, including: In the case where the vehicle enters a steep downhill slope, determining a second height increase value of the front axle suspension height and a second height decrease value of the rear axle suspension according to the ramp information; The front axle suspension height is adjusted according to the second height increase value, and the rear axle suspension height is adjusted according to the second height decrease value.

4. The vehicle control method according to claim 1, characterized in that: The steep slope includes an upward steep slope, and adjusting the front axle suspension height and the rear axle suspension height of the vehicle respectively according to the ramp information, including: When the vehicle enters an upward steep slope, determining a third height reduction value of the front axle suspension and a third height increase value of the rear axle suspension according to the ramp information; The front axle suspension height is adjusted according to the third height reduction value, and the rear axle suspension height is adjusted according to the third height increase value.

5. The vehicle control method according to claim 1, characterized in that: In the case where the vehicle leaves a steep slope, the method further comprises: adjusting the height of the front axle suspension according to the difference between the current height value of the front axle suspension and a reference value of the height of the front axle suspension; The height of the rear axle suspension is adjusted according to the difference between the current height value of the rear axle suspension and a reference value of the height of the rear axle suspension.

6. The vehicle control method according to claim 1, characterized in that: The steep slope includes a downward steep slope and an upward steep slope. When the vehicle is about to enter an upward steep slope or leave a downward steep slope, the method further includes: Acquiring acceleration information of the vehicle; determining a first applied force applied to the front axle suspension and the rear axle suspension according to the acceleration information; The front axle suspension and the rear axle suspension are controlled according to the first applied force.

7. The vehicle control method according to claim 6, characterized in that: When the vehicle is about to enter a steep downhill slope or an steep uphill slope, the method further includes: The front axle suspension and the rear axle suspension are controlled by using a second applied force, wherein the second applied force is smaller than the first applied force.

8. The vehicle control method according to claim 1, characterized in that: Determining that the vehicle is about to enter a steep slope includes: Acquiring a road slope within a preset distance, and determining that the vehicle is about to enter a steep slope when the absolute value of the road slope exceeds a preset slope value; or, Determine whether the vehicle is about to enter a steep slope according to a navigation system and historical steep slope data of the vehicle.

9. A vehicle control device, characterized in that: The device comprises: A determination module, used for determining that the vehicle is about to enter a steep slope; The adjustment module is used to adjust the front axle suspension height and the rear axle suspension height of the vehicle according to the ramp information when the vehicle is about to enter a steep slope or enters a steep slope, and to adjust the front axle suspension height and the rear axle suspension height when the vehicle leaves the steep slope.

10. A vehicle, characterized in that: The invention comprises a memory, a processor and a vehicle control program stored in the memory and executable on the processor. When the processor executes the vehicle control program, a vehicle control method according to any one of claims 1 to 8 is implemented.

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