Shock absorber control method and device of vehicle suspension system, vehicle and storage medium

Abstract

The invention provides a damper control method and device of a vehicle suspension system, a vehicle and a storage medium. The method comprises the steps that the vehicle body speed and the vehicle body acceleration are determined; determining a second control force by using the first control force and the gain coefficient; wherein the first control force is determined based on vehicle body speed, and the gain coefficient is determined based on vehicle body acceleration; and the input current of a shock absorber of the vehicle suspension system is controlled according to the second control force so as to adjust the damping of the shock absorber, and therefore continuous adjustment of the damping of the shock absorber can be achieved through the control current, the riding comfort, controllability and steering performance of a vehicle are improved, the driving experience is improved, and the product competitiveness is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of suspension system control, and particularly to a shock absorber control method, device, vehicle and storage medium for a vehicle suspension system. Background Art

[0002] A vehicle suspension can connect a load-bearing body and wheels, transmit the acting forces and torques therebetween, attenuate the vibrations caused by road surface impacts and the changes in the body attitude, improve the vehicle motion characteristics under excitation conditions such as road unevenness and driver operations, and has a great impact on the driving stability, ride comfort and safety of the vehicle. During the driving process of the vehicle, due to vertical movement, pitching movement and rolling movement, the body attitude deteriorates, resulting in body torsion, which affects the ride comfort and safety. Summary of the Invention

[0003] Embodiments of the present disclosure provide a shock absorber control method, device, vehicle and storage medium for a vehicle suspension system to solve the problems existing in the related art. The technical solutions are as follows:

[0004] As a first aspect of the embodiments of the present disclosure, an embodiment of the present disclosure provides a shock absorber control method for a vehicle suspension system, including:

[0005] Determine the vehicle body speed and vehicle body acceleration;

[0006] Determine a second control force by using a first control force and a gain coefficient; wherein, the first control force is determined based on the vehicle body speed, and the gain coefficient is determined based on the vehicle body acceleration;

[0007] Control the input current of the shock absorber of the vehicle suspension system according to the second control force to adjust the damping of the shock absorber.

[0008] In some possible implementation manners, the vehicle body speed includes the vehicle body vertical speed, and the vehicle body acceleration includes the vehicle body vertical acceleration. The determining the second control force by using the first control force and the gain coefficient includes:

[0009] Determine a first control force in the vehicle body vertical direction based on the vehicle body vertical speed; determine a gain coefficient in the vehicle body vertical direction according to the vehicle body vertical acceleration;

[0010] Determine a second control force in the vehicle body vertical direction by using the first control force in the vehicle body vertical direction and the gain coefficient in the vehicle body vertical direction.

[0011] In some possible implementation manners, the vehicle body speed includes the vehicle body pitching speed, and the vehicle body acceleration includes the vehicle body pitching acceleration. The determining the second control force by using the first control force and the gain coefficient includes:

[0012] Determine the first control force for vehicle body pitch based on the vehicle body pitch speed, and determine the gain coefficient for vehicle body pitch based on the vehicle body pitch acceleration;

[0013] Determine the second control force for vehicle body pitch by using the first control force for vehicle body pitch and the gain coefficient for vehicle body pitch.

[0014] In some possible implementation manners, the vehicle body speed includes the vehicle body roll speed, and the vehicle body acceleration includes the vehicle body roll acceleration. The determining of the second control force by using the first control force and the gain coefficient includes:

[0015] Determine the first control force for vehicle body roll based on the vehicle body roll speed, and determine the gain coefficient for vehicle body roll based on the vehicle body roll acceleration;

[0016] Determine the second control force for vehicle body roll by using the first control force for vehicle body roll and the gain coefficient for vehicle body roll.

[0017] In some possible implementation manners, the determining of the vehicle body speed and the vehicle body acceleration includes:

[0018] Obtain the accelerations of each wheel of the vehicle;

[0019] Calculate and determine the vehicle body speed and the vehicle body acceleration based on the accelerations of each wheel of the vehicle. The vehicle body speed includes the vehicle body vertical speed, the vehicle body pitch speed, and the vehicle body roll speed, and the vehicle body acceleration includes the vehicle body vertical acceleration, the vehicle body pitch acceleration, and the vehicle body roll acceleration.

[0020] In some possible implementation manners, the calculating and determining the vehicle body speed and the vehicle body acceleration based on the accelerations of each wheel of the vehicle includes:

[0021] Determine the vehicle body vertical speed and the vehicle body vertical acceleration according to the accelerations of the diagonally opposite wheels of the vehicle;

[0022] Determine the vehicle body pitch speed and the vehicle body pitch acceleration according to the accelerations of the wheels on the same side of the vehicle;

[0023] Determine the vehicle body roll speed and the vehicle body roll acceleration according to the accelerations of the wheels at the same end on different sides of the vehicle.

[0024] In some possible implementation manners, controlling the input current of the shock absorber of the vehicle suspension system according to the second control force to adjust the damping of the shock absorber includes:

[0025] According to the preset distribution rule, the second control force is distributed to the shock absorbers corresponding to the wheels of the vehicle to control each of the shock absorbers to input current according to the distributed control force, so as to adjust the damping of each of the shock absorbers.

[0026] As a second aspect of the embodiments of the present disclosure, an apparatus for controlling a shock absorber of a vehicle suspension system is provided, and the apparatus includes: a memory and a processor. Wherein, the memory and the processor communicate with each other through an internal connection path, the memory is used to store instructions, the processor is used to execute the instructions stored in the memory, and when the processor executes the instructions stored in the memory, the processor is caused to execute the method in any one of the above aspects.

[0027] As a third aspect of the embodiments of the present disclosure, a vehicle is provided, including the apparatus for controlling a shock absorber of the vehicle suspension system of the embodiments of the present disclosure.

[0028] As a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, and the computer-readable storage medium stores a computer program. When the computer program runs on a computer, the method in any one of the above aspects is executed.

[0029] The technical solutions of the embodiments of the present disclosure can achieve the following beneficial effects: This method for controlling a shock absorber of a vehicle suspension system can continuously adjust the damping of the shock absorber by controlling the current, improve the ride comfort, handling performance and steering performance of the vehicle, improve the driving and riding experience, and improve the product competitiveness.

[0030] The above summary is only for the purpose of the specification and is not intended to limit in any way. In addition to the above-described illustrative aspects, embodiments and features, further aspects, embodiments and features of the present disclosure will be readily apparent by reference to the drawings and the following detailed description. The above summary is only for the purpose of the specification and is not intended to limit in any way. In addition to the above-described illustrative aspects, embodiments and features, further aspects, embodiments and features of the present disclosure will be readily apparent by reference to the drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In the drawings, unless otherwise specified, the same reference numerals throughout the several views denote the same or similar components or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments in accordance with the present disclosure and should not be regarded as limiting the scope of the present disclosure.

[0032] Figure 1 It is a schematic diagram of the implementation process of the method for controlling a shock absorber of a vehicle suspension system according to an embodiment of the present disclosure;

[0033] Figure 2 Schematic diagram of the calculation process of the second control force in the vertical direction of the vehicle body according to an embodiment of the present disclosure;

[0034] Figure 3 Schematic diagram of the calculation process of the second control force for vehicle body pitch according to an embodiment of the present disclosure;

[0035] Figure 4 Schematic diagram of the calculation process of the second control force for vehicle body roll according to an embodiment of the present disclosure;

[0036] Figure 5 Schematic diagram of the implementation model of the shock absorber control method according to an embodiment of the present disclosure;

[0037] Figure 6 Block diagram of an electronic device for implementing the shock absorber control method of the vehicle suspension system according to an embodiment of the present disclosure. Detailed implementation manners

[0038] In the following, only some exemplary embodiments are briefly described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and the description are considered to be exemplary in nature rather than restrictive.

[0039] Figure 1 Schematic diagram showing the implementation flow of the shock absorber control method of the vehicle suspension system according to an embodiment of the present disclosure. This control method can be applied to the vehicle suspension system. As Figure 1 shown, the shock absorber control method of the vehicle suspension system may include the following steps:

[0040] S101: Determine the vehicle body speed and vehicle body acceleration.

[0041] S102: Determine the second control force by using the first control force and the gain coefficient; wherein, the first control force is determined based on the vehicle body speed, and the gain coefficient is determined based on the vehicle body acceleration.

[0042] S103: Control the input current of the shock absorber of the vehicle suspension system according to the second control force to adjust the damping of the shock absorber.

[0043] In this control method, when the vehicle is in motion, due to factors such as road conditions and different control scenarios, the motion trend of the vehicle is constantly changing. Correspondingly, the control objectives of the vehicle's suspension system are also constantly changing, and the requirements for the damping force of the shock absorber are also different. The control method of the present disclosure corrects and compensates the first control force determined by the vehicle body speed through the gain coefficient determined by the vehicle body acceleration, so as to further predict the motion trend of the vehicle body to control the damping force of the shock absorber, improve the ride comfort and handling performance of the vehicle, and improve the applicability of the vehicle.

[0044] Exemplarily, the actuator of the vehicle suspension system includes a shock absorber in the suspension system. The number of shock absorbers is at least four, and the shock absorbers are respectively arranged at the wheels of the vehicle. After determining the second control force, the damping value of one or more of the plurality of shock absorbers is adjusted to increase or decrease according to the second control force, thereby realizing the adjustment of the suspension system, improving the ride comfort of the user, and improving the ride comfort, handling performance and steering performance of the vehicle, enhancing the driving experience, and improving the product competitiveness.

[0045] The first control force is determined based on the vehicle body speed. Exemplarily, after obtaining and determining the current vehicle body speed of the vehicle, the first control force corresponding to the current vehicle body speed is determined by looking up a table in a preset control force table. For example, the preset control force table can be established by means of offline simulation calculation.

[0046] The gain coefficient is determined based on the vehicle body acceleration. Exemplarily, after obtaining and determining the current vehicle body acceleration of the vehicle, the gain coefficient corresponding to the current vehicle body acceleration is determined by looking up a table in a preset gain coefficient table. For example, the preset gain coefficient table is determined by means of offline calibration.

[0047] Exemplarily, the gain coefficient can be less than 1. When the gain coefficient is less than 1, the second control force is less than the first control force. Both the second control force and the first control force are control forces for suppressing the vehicle body movement, and the effect of suppressing the vehicle body movement can be achieved. When the gain coefficient is less than 1, the next motion trend of the vehicle can be judged based on the current acceleration of the vehicle body, and then the control force is further reduced to reduce the damping force of the shock absorber to improve the motion posture of the vehicle.

[0048] Exemplarily, the gain coefficient can also be greater than 1. When the gain coefficient is greater than 1, the second control force is greater than the first control force. In this way, the next motion trend of the vehicle can be judged based on the current acceleration of the vehicle body, and then the control force is further increased to increase the damping force of the shock absorber to improve the motion posture of the vehicle. The specific value of the gain coefficient is not limited herein.

[0049] In the above method provided by the embodiments of the present disclosure, the first control force is determined based on the vehicle body speed, the gain coefficient is determined based on the vehicle body acceleration, the second control force is determined by using the first control force and the gain coefficient, and the input current of each shock absorber is determined according to the second control force, so as to achieve continuous adjustment of the damping of the shock absorber. The gain coefficient determined by the vehicle body acceleration can adjust the damping of the shock absorber according to the prediction of the movement trend of the vehicle body, thereby improving the ride comfort, handling performance and steering performance of the vehicle and providing a better driving experience for users.

[0050] In one embodiment, the above step S101 may further include: obtaining the accelerations of each wheel of the vehicle; calculating and determining the vehicle body speed and the vehicle body acceleration based on the accelerations of each wheel of the vehicle. The vehicle body speed includes the vehicle body vertical speed, the vehicle body pitch speed and the vehicle body roll speed, and the vehicle body acceleration includes the vehicle body vertical acceleration, the vehicle body pitch acceleration and the vehicle body roll acceleration.

[0051] Acceleration sensors corresponding thereto are arranged at the wheel positions of the vehicle or the four end corner positions of the vehicle body corresponding to the wheels. Exemplarily, a left front acceleration sensor is correspondingly arranged at the left front wheel of the vehicle, and a left rear acceleration sensor is correspondingly arranged at the left rear wheel of the vehicle. A right front acceleration sensor is correspondingly arranged at the right front wheel of the vehicle, and a right rear acceleration sensor is correspondingly arranged at the right rear wheel of the vehicle. The left front acceleration sensor can collect the left front wheel acceleration, the left rear acceleration sensor can collect the left rear wheel acceleration, the right front acceleration sensor can collect the right front wheel acceleration, and the right rear acceleration sensor can collect the right rear wheel acceleration.

[0052] Each acceleration sensor of the vehicle respectively collects the left front wheel acceleration, the left rear wheel acceleration, the right front wheel acceleration and the right rear wheel acceleration and sends them to the controller, and the controller calculates and determines the vehicle body speed and the vehicle body acceleration based on the built-in algorithm.

[0053] In one embodiment, calculating and determining the vehicle body speed and the vehicle body acceleration based on the accelerations of each wheel of the vehicle includes:

[0054] Determining the vehicle body vertical speed and the vehicle body vertical acceleration according to the accelerations of the wheels at the diagonals of the vehicle;

[0055] Determining the vehicle body pitch speed and the vehicle body pitch acceleration according to the accelerations of the wheels on the same side of the vehicle;

[0056] Determining the vehicle body roll speed and the vehicle body roll acceleration according to the accelerations of the wheels at the same end on different sides of the vehicle.

[0057] Determine the vehicle body vertical speed and the vehicle body vertical acceleration. Exemplarily, determine the vehicle body vertical acceleration based on the left front wheel acceleration and the right rear wheel acceleration, and determine the vehicle body vertical speed by integrating the vehicle body vertical acceleration. Alternatively, the vehicle body vertical acceleration can also be determined based on the left rear wheel acceleration and the right front wheel acceleration.

[0058] Determine the vehicle body pitch speed and the vehicle body pitch acceleration. Exemplarily, determine the vehicle body pitch acceleration based on the left front wheel acceleration and the left rear wheel acceleration, and determine the vehicle body pitch speed by integrating the vehicle body pitch acceleration. Alternatively, the vehicle body pitch acceleration can also be determined based on the right front wheel acceleration and the right rear wheel acceleration.

[0059] Determine the vehicle body roll speed and the vehicle body roll acceleration. Exemplarily, determine the vehicle body roll acceleration based on the left front wheel acceleration and the right front wheel acceleration, and determine the vehicle body roll speed by integrating the vehicle body roll acceleration. Alternatively, the vehicle body roll acceleration can also be determined based on the left rear wheel acceleration and the right rear wheel acceleration.

[0060] Figure 2 This is a schematic diagram of the calculation process of the second control force in the vertical direction of the vehicle body according to the embodiments of the present disclosure. As Figure 2 shown, in one embodiment, the vehicle body speed includes the vehicle body vertical speed, the vehicle body acceleration includes the vehicle body vertical acceleration, and determining the second control force by using the first control force and the gain coefficient includes:

[0061] Determine the first control force in the vertical direction of the vehicle body based on the vehicle body vertical speed; determine the gain coefficient in the vertical direction of the vehicle body according to the vehicle body vertical acceleration;

[0062] Determine the second control force in the vertical direction of the vehicle body by using the first control force in the vertical direction of the vehicle body and the gain coefficient in the vertical direction of the vehicle body.

[0063] Exemplarily, determine the vehicle body vertical acceleration based on the left front wheel acceleration and the right rear wheel acceleration, and determine the vehicle body vertical speed by integrating the vehicle body vertical acceleration. The vehicle body vertical speed looks up the table through the table calculated by offline simulation to determine the first control force in the vertical direction of the vehicle body, and the vehicle body vertical acceleration looks up the table through the gain table calibrated offline to determine the gain coefficient in the vertical direction of the vehicle body. Multiply the first control force in the vertical direction of the vehicle body and the gain coefficient in the vertical direction of the vehicle body to obtain the second control force in the vertical direction of the vehicle body, and then distribute the second control force in the vertical direction of the vehicle body to each shock absorber through calculation. The shock absorber controls the input current according to the distributed control force, thereby realizing continuous adjustment of the shock absorber damping and realizing adjustment of the vehicle body vertical attitude.

[0064] The shock absorber control method of the vehicle suspension system according to the embodiments of the present disclosure determines the first control force in the vertical direction of the vehicle body based on the vertical body speed, determines the gain coefficient in the vertical direction of the vehicle body according to the vertical body acceleration, and then determines the second control force in the vertical direction of the vehicle body by using the first control force in the vertical direction of the vehicle body and the gain coefficient in the vertical direction of the vehicle body. In this way, the gain coefficient can be determined according to the vertical body acceleration, so as to realize the prediction of the vehicle body movement trend and improve the controllability of the vehicle vertical attitude control.

[0065] Figure 3 It is a schematic diagram of the calculation process of the second control force for vehicle body pitch according to the embodiments of the present disclosure. As Figure 3 shown, in one embodiment, the vehicle body speed includes the vehicle body pitch speed, the vehicle body acceleration includes the vehicle body pitch acceleration, and determining the second control force by using the first control force and the gain coefficient includes:

[0066] Determining the first control force for vehicle body pitch based on the vehicle body pitch speed, and determining the gain coefficient for vehicle body pitch according to the vehicle body pitch acceleration;

[0067] Determining the second control force for vehicle body pitch by using the first control force for vehicle body pitch and the gain coefficient for vehicle body pitch.

[0068] Exemplarily, the vehicle body pitch acceleration is calculated and determined according to the left front wheel acceleration and the left rear wheel acceleration, and the vehicle body pitch speed is determined by integrating the vehicle body pitch acceleration. The first control force for vehicle body pitch is determined by looking up a table in an offline simulation calculation table for the vehicle body pitch speed, the gain coefficient for vehicle body pitch is determined by looking up a table in a gain table calibrated offline for the vehicle body pitch acceleration, the first control force for vehicle body pitch and the gain coefficient for vehicle body pitch are multiplied to obtain the second control force for vehicle body pitch, and the second control force for vehicle body pitch is then calculated and distributed to each shock absorber. The shock absorber controls the input current according to the distributed control force, thereby realizing continuous adjustment of the shock absorber damping and realizing adjustment of the vehicle body pitch attitude.

[0069] The shock absorber control method of the vehicle suspension system according to the embodiments of the present disclosure determines the first control force for vehicle body pitch based on the vehicle body pitch speed, determines the gain coefficient for vehicle body pitch according to the vehicle body pitch acceleration, and then determines the second control force for vehicle body pitch by using the first control force for vehicle body pitch and the gain coefficient for vehicle body pitch. In this way, the gain coefficient can be determined according to the vehicle body pitch acceleration, so as to realize the prediction of the vehicle body movement trend and improve the controllability of the vehicle.

[0070] Figure 4 It is a schematic diagram of the calculation process of the second control force for vehicle body roll according to the embodiments of the present disclosure. As Figure 4 shown, in one embodiment, the vehicle body speed includes the vehicle body roll speed, the vehicle body acceleration includes the vehicle body roll acceleration, and determining the second control force by using the first control force and the gain coefficient includes:

[0071] Determine the first control force for vehicle body roll based on the vehicle body roll speed, and determine the gain coefficient for vehicle body roll based on the vehicle body roll acceleration;

[0072] Determine the second control force for vehicle body roll by using the first control force for vehicle body roll and the gain coefficient for vehicle body roll.

[0073] Exemplarily, calculate and determine the vehicle body roll acceleration according to the left front wheel acceleration and the right front wheel acceleration, and determine the vehicle body roll speed by integrating the vehicle body roll acceleration. The vehicle body roll speed is used to look up the table in the offline simulation calculation table to determine the first control force for vehicle body roll, and the vehicle body roll acceleration is used to look up the table in the gain table calibrated offline to determine the gain coefficient for vehicle body roll. Multiply the first control force for vehicle body roll and the gain coefficient for vehicle body roll to obtain the second control force for vehicle body roll, and then distribute the second control force for vehicle body roll to each shock absorber through calculation. The shock absorber controls the input current according to the distributed control force, thereby realizing continuous adjustment of the shock absorber damping.

[0074] The shock absorber control method of the vehicle suspension system according to the embodiments of the present disclosure determines the first control force for vehicle body roll through the vehicle body roll speed, determines the gain coefficient for vehicle body roll according to the vehicle body roll acceleration, and then determines the second control force for vehicle body roll by using the first control force for vehicle body roll and the gain coefficient for vehicle body roll, so that the gain coefficient can be determined according to the vehicle body pitch acceleration to predict the movement trend of the vehicle body.

[0075] In one embodiment, step S103 may further include: distributing the control force to the shock absorbers corresponding to each wheel of the vehicle according to a preset distribution rule, so as to control each shock absorber to input current according to the distributed control force to adjust the damping of each shock absorber.

[0076] Exemplarily, the second control force can be distributed according to factors such as the size parameters of the vehicle body, the speed parameters of the wheels, and the road conditions. The second control force in the vertical direction, the second control force in the pitch direction, and the second control force in the roll direction are respectively distributed to the corresponding shock absorbers according to the preset distribution rule, and the control forces distributed to each shock absorber are added up to obtain the control forces required for each shock absorber to suppress the vehicle body movement.

[0077] The embodiments of the present disclosure further provide a shock absorber control device for a vehicle suspension system, and the device may include:

[0078] A driving parameter determination module, configured to determine the vehicle body speed and the vehicle body acceleration;

[0079] A control force determination module, configured to determine the second control force by using the first control force and the gain coefficient; wherein, the first control force is determined based on the vehicle body speed, and the gain coefficient is determined based on the vehicle body acceleration;

[0080] A control module, configured to control an input current of a shock absorber of a vehicle suspension system according to a second control force to adjust the damping of the shock absorber.

[0081] In an open embodiment, the vehicle body speed includes a vehicle body vertical speed, the vehicle body acceleration includes a vehicle body vertical acceleration, and the control force determination module includes:

[0082] A first sub-determination module, configured to determine a first control force in the vehicle body vertical direction based on the vehicle body vertical speed, determine a gain coefficient in the vehicle body vertical direction according to the vehicle body vertical acceleration, and determine a second control force in the vehicle body vertical direction by using the first control force in the vehicle body vertical direction and the gain coefficient in the vehicle body vertical direction.

[0083] In an open embodiment, the vehicle body speed includes a vehicle body pitch speed, the vehicle body acceleration includes a vehicle body pitch acceleration, and the control force determination module includes:

[0084] A second sub-determination module, configured to determine a first control force in the vehicle body pitch direction based on the vehicle body pitch speed, determine a gain coefficient in the vehicle body pitch direction according to the vehicle body pitch acceleration, and determine a second control force in the vehicle body pitch direction by using the first control force in the vehicle body pitch direction and the gain coefficient in the vehicle body pitch direction.

[0085] In an open embodiment, the vehicle body speed includes a vehicle body roll speed, the vehicle body acceleration includes a vehicle body roll acceleration, and the control force determination module includes:

[0086] A third sub-determination module, configured to determine a first control force in the vehicle body roll direction based on the vehicle body roll speed, determine a gain coefficient in the vehicle body roll direction based on the vehicle body roll acceleration, and determine a second control force in the vehicle body roll direction by using the first control force in the vehicle body roll direction and the gain coefficient in the vehicle body roll direction.

[0087] In an open embodiment, the driving parameter determination module includes: a first acquisition module, configured to acquire accelerations of all wheels of the vehicle; a calculation module, configured to calculate and determine the vehicle body speed and the vehicle body acceleration based on the accelerations of all wheels of the vehicle, where the vehicle body speed includes a vehicle body vertical speed, a vehicle body pitch speed, and a vehicle body roll speed, and the vehicle body acceleration includes a vehicle body vertical acceleration, a vehicle body pitch acceleration, and a vehicle body roll acceleration.

[0088] In an open embodiment, the calculation module includes:

[0089] A first sub-calculation module, configured to determine the vehicle body vertical speed and the vehicle body vertical acceleration according to the accelerations of the diagonally opposite wheels of the vehicle;

[0090] A second sub-calculation module, configured to determine the vehicle body pitch speed and the vehicle body pitch acceleration according to the accelerations of the wheels on the same side of the vehicle;

[0091] A third sub-computation module, configured to determine a body roll speed and a body roll acceleration based on accelerations of wheels at the same end on different sides of the vehicle.

[0092] In an openly implemented embodiment, the control module is specifically configured to: allocate a second control force to shock absorbers corresponding to respective wheels of the vehicle according to a preset allocation rule, so as to control each shock absorber to input a current according to the allocated control force, thereby adjusting damping of each shock absorber.

[0093] In one embodiment, Figure 5 is a schematic diagram of an implementation model of the shock absorber control method according to an embodiment of the present disclosure. As Figure 5 shown, the shock absorber control device of the vehicle suspension system according to an embodiment of the present disclosure mainly includes five subsystems. The driving parameter determination module can obtain accelerations corresponding to respective wheels of the vehicle through acceleration sensors at four corners of the vehicle body, and calculate and determine a vehicle body speed and a vehicle body acceleration through a computation module based on the accelerations corresponding to respective wheels. The vehicle body speed includes a vehicle body vertical speed, a vehicle body pitch speed, and a vehicle body roll speed, and the vehicle body acceleration includes a vehicle body vertical acceleration, a vehicle body pitch acceleration, and a vehicle body roll acceleration.

[0094] A first sub-determination module determines a first control force in the vehicle body vertical direction based on the vehicle body vertical speed determined by the computation module, determines a gain coefficient in the vehicle body vertical direction according to the vehicle body vertical acceleration, determines a second control force in the vehicle body vertical direction by using the first control force in the vehicle body vertical direction and the gain coefficient in the vehicle body vertical direction, and then allocates the second control force in the vehicle body vertical direction to four shock absorbers according to a preset allocation rule.

[0095] A second sub-determination module determines a first control force in the vehicle body pitch direction based on the vehicle body pitch speed determined by the computation module, determines a gain coefficient in the vehicle body pitch direction according to the vehicle body pitch acceleration, determines a second control force in the vehicle body pitch direction by using the first control force in the vehicle body pitch direction and the gain coefficient in the vehicle body pitch direction, and then allocates the second control force in the vehicle body pitch direction to four shock absorbers according to a preset allocation rule.

[0096] A third sub-determination module determines a first control force in the vehicle body roll direction based on the vehicle body roll speed determined by the computation module, determines a gain coefficient in the vehicle body roll direction based on the vehicle body roll acceleration; determines a second control force in the vehicle body roll direction by using the first control force in the vehicle body roll direction and the gain coefficient in the vehicle body roll direction, and then allocates the second control force in the vehicle body roll direction to four shock absorbers according to a preset allocation rule.

[0097] The control module can add the second control forces calculated and allocated to respective shock absorbers by each of the first sub-determination module, the second sub-determination module, and the third sub-determination module, so as to respectively obtain control forces required for each shock absorber to suppress vehicle body movement.

[0098] The functions of the modules in each device of this embodiment can be referred to the corresponding descriptions in the shock absorber control method of the vehicle suspension system in the above-mentioned Embodiment 1, and will not be elaborated here. The above-mentioned device provided by the embodiments of the present disclosure can control the input current of the shock absorber of the vehicle suspension system through the second control force to adjust the damping of the shock absorber, so that the continuous adjustment of the shock absorber damping can be realized by controlling the current, improving the riding comfort, handling performance and steering performance of the vehicle, enhancing the riding experience, and improving the product competitiveness.

[0099] The embodiments of the present disclosure also provide a shock absorber control device for a vehicle suspension system, and the device includes: a memory and a processor. Among them, the memory and the processor communicate with each other through an internal connection path. The memory is used to store instructions, and the processor is used to execute the instructions stored in the memory. When the processor executes the instructions stored in the memory, the processor executes the methods in any of the above aspects and any of the implementation manners.

[0100] The present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0101] Figure 6 The structural block diagram of an electronic device according to an embodiment of the present disclosure is shown. As Figure 6 shown, the electronic device includes: a memory 601 and a processor 602. The memory 601 stores a computer program that can run on the processor 602. When the processor 602 executes the computer program, the methods in the above embodiments are implemented. The number of the memory 601 and the processor 602 can be one or more. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0102] The electronic device may further include a communication interface 603 for communicating with external devices and performing data interaction and transmission. Each device is interconnected using different buses and may be mounted on a common motherboard or otherwise mounted as required. The processor 602 may process computer programs executed within the shock absorber control device, including computer programs stored in or on the memory for displaying graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In other embodiments, multiple processors and / or multiple buses may be used in conjunction with multiple memories and multiple memories if needed. Similarly, multiple shock absorber control devices may be connected, with each device providing a portion of the necessary operations (such as an array of servers, a set of blade servers, or a multiprocessor system). The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 only a thick line is shown in the figure, but it does not mean that there is only one bus or one type of bus.

[0103] Optionally, in a specific implementation, if the memory 601, the processor 602, and the communication interface 603 are integrated on a single chip, the memory 601, the processor 602, and the communication interface 603 may communicate with each other through an internal interface.

[0104] It should be understood that the above-mentioned processor may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. It is worth noting that the processor may be a processor that supports the advanced reduced instruction set machine (ARM) architecture.

[0105] An embodiment of the present disclosure provides a computer-readable storage medium (such as the above-mentioned memory 601) that stores a computer program, and when the computer program is executed by a processor, the method provided in the embodiment of the present disclosure is implemented.

[0106] Optionally, the memory 601 may include a program storage area and a data storage area. The program storage area may store an operating system and application programs required for at least one function. The data storage area may store data created according to the use of the control shock absorber control device of the vehicle projection lamp, etc. In addition, the memory 601 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory 601 may optionally include memories generated remotely relative to the processor 602, and these remote memories may be connected to the control electronic device of the vehicle projection lamp through a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0107] Computer-readable media includes both permanent and non-permanent, removable and non-removable media implemented by any method or technology for information storage. The information may be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other physical categories of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage media, or any other non-transmission media that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0108] The embodiments of the present disclosure also provide a vehicle, which may include a controller. The controller may be used to execute the method of any embodiment of the present disclosure, or the controller may include any device of the embodiments of the present disclosure, or the controller may be any device of the embodiments of the present disclosure.

[0109] Among them, the vehicle of the embodiments of the present disclosure may be a fuel vehicle, an electric vehicle, a solar vehicle, or any other power-driven vehicle. Other components of the vehicle of the embodiments of the present disclosure, such as the specific structures of the frame and wheels and the connecting and fastening components, etc., may adopt various technical solutions known to those skilled in the art now and in the future, and will not be described in detail here.

[0110] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. Moreover, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0111] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present disclosure, "a plurality of" means two or more unless otherwise specifically defined.

[0112] Any process or method description represented in the flowchart or described in other ways herein can be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a specific logical function or process. And the scope of the preferred embodiments of the present disclosure includes additional implementations, where the functions may be executed in a substantially simultaneous manner or in the reverse order according to the involved functions, rather than in the order shown or discussed.

[0113] The logic and / or steps represented in the flowchart or described in other ways herein, for example, can be considered as a sequenced list of executable instructions for implementing a logical function, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch instructions from the instruction execution system, apparatus, or device and execute the instructions), or in connection with these instruction execution systems, apparatus, or devices.

[0114] It should be understood that the various parts of the present disclosure can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. All or part of the steps of the method in the above embodiments can be completed by a program instructing the relevant hardware, and this program can be stored in a computer-readable storage medium. When this program is executed, it includes one or a combination of the steps of the method embodiment.

[0115] In addition, each functional unit in various embodiments of the present disclosure may be integrated into one processing module, may exist separately as individual physical units, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the above-mentioned integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium. The storage medium may be a read-only memory, a magnetic disk, an optical disc, or the like.

[0116] As described above, the foregoing are only specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present disclosure can easily think of various changes or substitutions thereof, and these should all be covered by the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims

1. A shock absorber control method for a vehicle suspension system, comprising: Determine vehicle body speed and vehicle body acceleration; Determine a second control force using a first control force and a gain coefficient; wherein the first control force is determined based on the vehicle body speed, and the gain coefficient is determined based on the vehicle body acceleration; An input current of a shock absorber of the vehicle suspension system is controlled according to the second control force to adjust damping of the shock absorber.

2. The method according to claim 1, wherein: The vehicle body speed includes a vehicle body vertical speed, the vehicle body acceleration includes a vehicle body vertical acceleration, and the determining of the second control force using the first control force and the gain coefficient includes: determining a first control force of the vehicle body in the vertical direction based on the vehicle body vertical velocity; determining a gain coefficient of the vehicle body in the vertical direction according to the vehicle body vertical acceleration; The second vertical control force of the vehicle body is determined by using the first vertical control force of the vehicle body and the gain coefficient of the vehicle body.

3. The method according to claim 1, wherein the vehicle body speed includes a vehicle body pitch speed, the vehicle body acceleration includes a vehicle body pitch acceleration, and the determining the second control force using the first control force and the gain coefficient comprises: determining a first control force for the pitch of the vehicle body based on the pitch velocity of the vehicle body, and determining a gain coefficient for the pitch of the vehicle body according to the pitch acceleration of the vehicle body; A second control force for the pitch of the vehicle body is determined by using the first control force for the pitch of the vehicle body and a gain coefficient for the pitch of the vehicle body.

4. The method according to claim 1, wherein the vehicle body speed includes a vehicle body roll speed, the vehicle body acceleration includes a vehicle body roll acceleration, and the determining the second control force using the first control force and the gain coefficient comprises: determining a first control force for the vehicle body roll based on the vehicle body roll speed, and determining a gain coefficient for the vehicle body roll based on the vehicle body roll acceleration; A second control force for the vehicle body roll is determined using the first control force for the vehicle body roll and a gain coefficient for the vehicle body roll.

5. The method according to claim 1, wherein: The determining of the vehicle body speed and the vehicle body acceleration comprises: Get the acceleration of each wheel of the vehicle; The vehicle body speed and the vehicle body acceleration are determined based on the acceleration calculation of each wheel of the vehicle, wherein the vehicle body speed includes a vehicle body vertical speed, a vehicle body pitch speed and a vehicle body roll speed, and the vehicle body acceleration includes a vehicle body vertical acceleration, a vehicle body pitch acceleration and a vehicle body roll acceleration.

6. The method according to claim 5, wherein: The calculating and determining the vehicle body speed and the vehicle body acceleration based on the acceleration of each wheel of the vehicle comprises: Determining the vehicle body vertical velocity and the vehicle body vertical acceleration according to the acceleration of the diagonal wheels of the vehicle; Determining the vehicle body pitch velocity and the vehicle body pitch acceleration according to the acceleration of the wheels on the same side of the vehicle; The vehicle body roll speed and the vehicle body roll acceleration are determined based on the accelerations of the wheels at the same end on different sides of the vehicle.

7. The method according to claim 1, wherein: Controlling an input current of a shock absorber of the vehicle suspension system according to the second control force to adjust the damping of the shock absorber comprises: According to a preset distribution rule, the second control force is distributed to the shock absorbers corresponding to each wheel of the vehicle to control each shock absorber to input current according to the distributed control force to adjust the damping of each shock absorber.

8. A shock absorber control device for a vehicle suspension system, characterized in that: include: A processor and a memory, wherein the memory stores instructions, and the instructions are loaded and executed by the processor to implement the method according to any one of claims 1 to 7.

9. A vehicle, characterized in that: A shock absorber control device for a vehicle suspension system comprising the device of claim 8.

10. A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the shock absorber control method of the vehicle suspension system according to any one of claims 1 to 7 is implemented.

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