Method for controlling a damper of a target vehicle

Abstract

The invention relates to a method for controlling a shock absorber of a target vehicle. The method comprises the steps that detection data about pitching motion, roll motion and vertical motion at the mass center of the target vehicle are acquired; based on the acquired detection data, determining the magnitude of a driving current for driving the shock absorber; determining a current value interval to which the driving current belongs based on the determined magnitude of the driving current so as to determine driving time for driving the shock absorber based on the current value interval to which the driving current belongs; and outputting a control signal corresponding to the determined driving current to a driving unit of the shock absorber of the target vehicle, so that the driving unit continuously outputs the driving current for the driving time. According to the method, the vehicle parameters of the target vehicle and the mechanical parameters of the shock absorber do not need to be known in advance, the method is not sensitive to changes of the parameters, and abnormal sound of the shock absorber cannot be caused.

Description

Technical Field

[0001] Embodiments of the present invention generally relate to the field of vehicle-mounted device testing, and more particularly to a method for controlling a shock absorber of a target vehicle. Background Art

[0002] Traditional methods of controlling vehicle shock absorbers can be divided into three methods: passive, semi-active and active. Passive control methods, for example, keep the resistance of the valve system fixed. Semi-active control methods, for example, change the damping of the shock absorber by changing the shock absorber valve system parameters or changing the oil properties. In the semi-active shock absorber control method, the entire suspension mechanism of the vehicle needs to passively withstand road excitation, and the changes in road excitation are matched by changing the shock absorber valve system parameters or changing the oil properties. Active control methods, for example, use motors, hydraulic pumps or pneumatic pumps to apply control force or elastic unit parameters to the wheels or body of the target vehicle based on the parameters of the target vehicle's dynamic model and the mechanical performance parameters of the motors, hydraulic pumps or pneumatic pumps to actively cater to changes in road excitation.

[0003] Taking the active control method as an example, if the shock absorber is controlled, it is necessary to control the magnetorheological damper based on the parameters of the dynamic model of the target vehicle known in advance and the mechanical performance parameters and mechanical model of the shock absorber. This not only makes its control algorithm more complicated, but also the dynamic models of different vehicles are different, and even for the same vehicle under different usage time, the parameters of its dynamic model also change. In addition, for active or semi-active shock absorbers, such as but not limited to magnetorheological shock absorbers based on the rheological properties of magnetic soft particle suspensions, their damping characteristics are nonlinear and relatively complex. Therefore, the above-mentioned traditional algorithms for controlling vehicle-mounted magnetorheological shock absorbers based on the models and parameters of the target vehicle and magnetorheological shock absorbers are not effective in actual engineering applications, and their robustness is poor, and they will cause shock absorber vibration, which will cause abnormal noise. And more sensors are required.

[0004] In summary, the traditional method for controlling the on-vehicle magnetorheological shock absorber has the following shortcomings: the vehicle model of the target vehicle, the mechanical model of the shock absorber and related parameters need to be known in advance, and abnormal noise of the shock absorber may be caused. Summary of the invention

[0005] In view of the above problems, the present invention provides a method for controlling a shock absorber of a target vehicle, which does not require prior knowledge of a vehicle model of the target vehicle, a mechanical model of the shock absorber and related parameters, and does not cause abnormal noise from the shock absorber.

[0006] According to a first aspect of the present invention, there is provided a method for controlling a shock absorber of a target vehicle, the method comprising: acquiring detection data on pitch motion, roll motion and vertical motion at the center of mass of the target vehicle; determining the magnitude of a driving current for driving the shock absorber based on the acquired detection data, the shock absorber being electrically connected to a driving unit; determining a current value interval to which the driving current belongs based on the determined magnitude of the driving current, so as to determine a driving time for driving the shock absorber based on the current value interval to which the driving current belongs; and outputting a control signal corresponding to the determined driving current to the driving unit of the shock absorber of the target vehicle, so that the driving unit continuously outputs the driving current for the driving time.

[0007] In some embodiments, the detection data about the pitch motion, the roll motion and the vertical motion include: pitch angle and pitch angular velocity detection data, roll angle and roll angular velocity detection data, vertical velocity and vertical acceleration detection data.

[0008] In some embodiments, determining the size of the driving current for driving the shock absorber based on the acquired detection data includes: determining a pitch control current for controlling the pitch movement based on the pitch angle and pitch angular velocity detection data; determining a roll control current for controlling the roll movement based on the roll angle and roll angular velocity detection data; determining a vertical control current for controlling the vertical movement based on the vertical velocity and vertical acceleration detection data; and comparing the determined pitch control current, roll control current and vertical control current so as to determine the maximum value of the three as the size of the driving current for driving the shock absorber.

[0009] In some embodiments, determining the pitch control current used to control the pitch movement includes: in response to determining that a first predetermined condition is satisfied, determining that the pitch control current used to control the pitch movement is a first predetermined pitch control current value, the first predetermined pitch control current value being a maximum value in a predetermined pitch control current value set, the first predetermined condition being any one of the following: the pitch angle is greater than or equal to a first predetermined positive pitch angle threshold; the pitch angle is less than or equal to a first predetermined negative pitch angle threshold; the pitch angular velocity is greater than or equal to a first predetermined positive pitch angular velocity threshold; and the pitch angular velocity is less than or equal to a first predetermined negative pitch angular velocity threshold.

[0010] In some embodiments, determining the pitch control current used to control the pitch movement includes: in response to determining that the first predetermined condition is not satisfied, and determining that the absolute value of the pitch angle is less than a first predetermined positive pitch angle threshold and greater than or equal to a second predetermined positive pitch angle threshold, determining that the pitch control current used to control the pitch movement is a second predetermined pitch control current value, the predetermined pitch control current value set includes at least: a first predetermined pitch control current value, a second predetermined pitch control current value, and "0", the second predetermined pitch control current value is less than the first predetermined pitch control current value.

[0011] In some embodiments, determining the pitch control current for controlling the pitch movement further includes: in response to determining that the pitch angle is within a first predetermined range of the value "0" and the pitch angle velocity is within a second predetermined range of the value "0", determining that the pitch control current for controlling the pitch movement is "0".

[0012] In some embodiments, determining the pitch control current used to control the pitch movement also includes: in response to determining that the pitch angle is within a first predetermined range of the "0" value, and determining that the absolute value of the pitch angular velocity is less than a first predetermined positive pitch angular velocity threshold and greater than or equal to a second positive pitch angular velocity threshold, determining that the pitch control current used to control the pitch movement is a third predetermined pitch control current value, and the predetermined pitch control current value set includes at least: a first predetermined pitch control current value, a second predetermined pitch control current value, a third predetermined pitch control current value, "0", the second predetermined pitch control current value is less than the first predetermined pitch control current value, and the third predetermined pitch control current value is less than the first predetermined pitch control current value.

[0013] In some embodiments, the second predetermined pitch control current value is equal to the third predetermined pitch control current value.

[0014] In some embodiments, determining the roll control current used to control the roll motion includes: in response to determining that a second predetermined condition is satisfied, determining that the roll control current used to control the roll motion is a first predetermined roll control current value, the first predetermined roll control current value being a maximum value in a predetermined roll control current value set, the second predetermined condition being any one of the following: the roll angle is greater than or equal to a first predetermined positive roll angle threshold; the roll angle is less than or equal to a first predetermined negative roll angle threshold; the roll angular velocity is greater than or equal to a first predetermined positive roll angular velocity threshold; and the roll angular velocity is less than or equal to a first predetermined negative roll angular velocity threshold.

[0015] In some embodiments, determining a vertical control current for controlling vertical movement includes: in response to determining that a third predetermined condition is satisfied, determining that the vertical control current for controlling vertical movement is a first predetermined vertical control current value, the first predetermined vertical control current value being a maximum value in a predetermined vertical control current value set, the third predetermined condition being any one of the following: a vertical speed is greater than or equal to a first predetermined positive vertical speed threshold; a vertical speed is less than or equal to a first predetermined negative vertical speed threshold; a vertical acceleration is greater than or equal to a first predetermined positive vertical acceleration threshold; and a vertical acceleration is less than or equal to a first predetermined negative vertical acceleration threshold.

[0016] In some embodiments, determining the magnitude of the driving current used to drive the shock absorber includes: dividing the value of each detection data into multiple numerical intervals based on the corresponding value intervals of each detection data among the pitch angle and pitch angular velocity detection data, the roll angle and roll angular velocity detection data, and the vertical velocity and vertical acceleration detection data, wherein the multiple numerical intervals include multiple positive numerical intervals, a "0" value interval, and multiple negative numerical intervals; determining the control current corresponding to each detection data based on the numerical interval to which each acquired detection data belongs, so as to determine the magnitude of the driving current used to drive the shock absorber, wherein the driving current used to drive the shock absorber is one of the pitch control current, the roll control current, and the vertical control current.

[0017] In some embodiments, determining the driving time for driving the shock absorber based on the current value interval to which the driving current belongs includes: dividing the value interval of the driving current into multiple current value intervals; determining the current value interval to which the driving current belongs based on the determined magnitude of the driving current; and determining the driving time value matching the determined current value interval as the driving time for driving the shock absorber.

[0018] In some embodiments, determining the driving time for driving the shock absorber based on the current value interval to which the driving current belongs includes: in response to determining that the driving current is greater than or equal to a first predetermined current threshold, determining the driving time for driving the shock absorber based on a first number of predetermined steps; and in response to determining that the driving current is less than the first predetermined current threshold and greater than or equal to a second predetermined current threshold, determining the driving time for driving the shock absorber based on a second number of predetermined steps, the second number being less than the first number; and in response to determining that the driving current is less than the second predetermined current threshold and greater than or equal to a third predetermined current threshold, determining the driving time for driving the shock absorber based on a third number of predetermined steps, the third number being less than the second number.

[0019] In some embodiments, causing a driving unit to continuously output a driving current for a driving time includes: determining whether there are multiple driving times that have not yet ended at a current moment; in response to determining that there are multiple driving times that have not yet ended at a current moment, determining a maximum driving current among multiple driving currents corresponding to the multiple driving times respectively; and outputting a control signal corresponding to the determined maximum driving current to a driving unit of a shock absorber of a target vehicle, and causing the control signal to continuously output the driving time.

[0020] According to a second aspect of the present invention, a control unit is provided. The control unit comprises: at least one processor; and at least one memory, the at least one memory being coupled to the at least one processor and storing instructions for execution by the at least one processor, the instructions, when executed by the at least one processor, causing the control unit to execute the method according to the first aspect of the present invention.

[0021] According to a third aspect of the present invention, there is provided a computer readable storage medium having computer program code stored thereon, which, when executed, performs the method according to the first aspect of the present invention.

[0022] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be better understood and other objects, details, features and advantages of the present invention will become more apparent through the following description of specific embodiments of the present invention given with reference to the accompanying drawings.

[0024] Figure 1 A schematic diagram of a system for implementing a method for controlling a shock absorber of a target vehicle according to an embodiment of the present invention is shown.

[0025] Figure 2 A flow chart showing a method for controlling a shock absorber of a target vehicle according to an embodiment of the present invention is shown.

[0026] Figure 3 A flow chart of a method for determining a driving time for driving a shock absorber according to an embodiment of the present invention is shown.

[0027] Figure 4 A flow chart of a method for causing a driving unit to continuously output a driving current for a driving time according to an embodiment of the present invention is shown.

[0028] Figure 5A flow chart of a method for determining a driving current for driving a vibration absorber based on acquired detection data according to an embodiment of the present invention is shown.

[0029] Figure 6 The block diagram of an electronic device suitable for implementing the embodiments of the present invention is schematically shown.

[0030] In the various drawings, the same or corresponding reference numerals represent the same or corresponding parts. DETAILED DESCRIPTION

[0031] The preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0032] In the following description, certain specific details are set forth for the purpose of illustrating various embodiments of the invention to provide a thorough understanding of the various embodiments of the invention. However, those skilled in the relevant art will recognize that the embodiments may be practiced without one or more of these specific details. In other cases, well-known devices, structures, and techniques associated with the present application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0033] Unless the context requires otherwise, throughout the specification and claims, the word "comprise" and variations such as "include" and "have" should be construed in an open, inclusive sense, ie, should be interpreted as "including, but not limited to."

[0034] References throughout the specification to "one embodiment" or "some embodiments" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearance of "in one embodiment" or "some embodiments" in various places throughout the specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any manner in one or more embodiments.

[0035] In addition, the terms "first", "second", etc. used in the specification and claims are only used to distinguish each object for the sake of clarity of description, and do not limit the size or other order of the objects described.

[0036] As described above, the conventional method for controlling the vehicle-mounted shock absorber has the following disadvantages: the vehicle model of the target vehicle, the mechanical model of the shock absorber and related parameters need to be known in advance, and abnormal noise of the shock absorber may be caused.

[0037] In order to at least partially solve one or more of the above problems and other potential problems, the present invention provides a method for controlling a shock absorber of a target vehicle. In the method, by determining the magnitude of a driving current for driving the shock absorber based on the detection data of pitching motion, rolling motion and vertical motion at the mass center of the target vehicle obtained, the present invention can be based on associating the magnitude of the damping of the shock absorber with the detection data at the mass center of the target vehicle, that is, providing a shock absorber resistance that changes adaptively with the change of the vehicle posture. In addition, the present invention can determine the driving current for driving the shock absorber without complex calculations, so its response time is fast, and vibration control can be effectively performed for high-frequency vibrations. In addition, by determining the numerical range of the driving current based on the determined magnitude of the driving current; and determining the driving time for driving the shock absorber based on the numerical range of the driving current; and outputting a control signal corresponding to the determined driving current to the driving unit of the shock absorber of the target vehicle so that the driving unit continuously outputs the driving current for the driving time, the present invention can determine the duration of the driving current according to the magnitude of the driving current, so that the change of the vehicle posture can be quickly corrected. Therefore, the present invention does not need to know the vehicle model, shock absorber mechanical model and related parameters of the target vehicle in advance, and will not cause abnormal noise of the shock absorber.

[0038] Figure 1 FIG. 1 is a schematic diagram of a system 100 for implementing a method for controlling a shock absorber of a target vehicle according to an embodiment of the present invention. Figure 1 As shown in , the system 100 includes a shock absorber 110 of the target vehicle, a drive unit 112, a control unit 120, a pitch motion detection device 114 (for example, including a pitch angle detection device, a pitch angular velocity detection device), a roll motion detection device 116 (for example, including a roll angle detection device, a roll angular velocity detection device) and a vertical motion detection device 118 (for example, including a vertical velocity detection device, a vertical acceleration detection device). The drive unit 112, the control unit 120, the pitch motion detection device 114, the roll motion detection device 116 and the vertical motion detection device 118 can exchange data.

[0039] Regarding the shock absorber 110, it is electrically connected to the drive unit 112 to receive the driving current output by the drive unit 112. The shock absorber 110 is, for example, a vehicle-mounted semi-active / active vibration reduction system, such as an air spring, an electromagnetic shock absorber, a CDC (Continuous Damping Control) shock absorber, a magnetorheological shock absorber, etc. Taking the magnetorheological shock absorber as an example, the magnetorheological shock absorber is provided with an electromagnetic coil and a magnetic soft particle suspension. Among them, the electromagnetic coil generates a magnetic field when the driving current flows through it. The magnetorheological fluid is a magnetic soft particle suspension formed by mixing tiny soft magnetic particles with high magnetic permeability and low magnetic hysteresis and a non-magnetic conductive liquid. It should be understood that the magnetic soft particle suspension exhibits the characteristics of low viscosity under zero magnetic field conditions, and exhibits the liquid characteristics of high viscosity and low fluidity under the action of a strong magnetic field. The magnetorheological damper uses the rheological controllability of the magnetic soft particle suspension to achieve continuous variable damping force, and uses the magnetic field to change the rheological characteristics of the magnetic soft particle suspension to produce a damping force that reacts quickly to vibration and has strong controllability. Therefore, by adjusting the driving current of the electromagnetic coil in the magnetorheological damper, the rheological characteristics of the magnetic soft particle suspension can be changed, thereby changing the stiffness and damping of the magnetorheological damper.

[0040] Regarding the drive unit 112, it is configured to generate a drive current for driving the shock absorber 110 based on the control signal output from the control unit 120. The input end of the drive unit 112 is connected to the output end of the control unit 120 for receiving the output signal of the control unit 120 regarding the drive current. The output end of the drive unit 112 is connected to the shock absorber 110 for providing a drive current to the electromagnetic coil of the shock absorber 110. The magnitude of the drive current for driving the shock absorber is, for example, the maximum value among the pitch control current, the roll control current and the vertical control current. The control unit 120 outputs a control signal (e.g., a PWM signal) corresponding to the drive current, so that the drive unit generates a corresponding drive current based on the control signal. It should be understood that the control unit can adjust the magnitude of the drive current output by the drive unit by adjusting the duty cycle of the output control signal (e.g., a PWM signal). In some embodiments, the system 100 also includes: a drive current detection unit ( Figure 1 (not shown). The control unit 120, for example, obtains the detection value of the driving current collected by the driving current detection unit, and compares the detection value of the driving current with the target value of the driving current; and adjusts the control signal output by the control unit 120 based on the comparison result, so that the detection value of the driving current output by the driving unit 112 approaches the target value of the driving current. In this way, the control accuracy of the driving current can be improved.

[0041] Regarding the control unit 120, it is used to determine the magnitude of the driving current for driving the shock absorber based on the detection data of the pitch motion, roll motion and vertical motion at the center of mass of the target vehicle (from the sensor) obtained; determine the driving time for driving the shock absorber based on the determined driving current; and output a control signal corresponding to the determined driving current to the driving unit of the shock absorber of the target vehicle, so that the driving unit continuously outputs the driving current for the driving time. It should be understood that the control unit 120 can be implemented by MCU (Micro Controller Unit), CPU (Central Processing Unit), GPU (Graphics Processing Unit), GPGPU (General-purpose Computing on Graphics Processing Units), FPGA (Field Programmable Gate Array) or other programmable logic devices, ASIC (Application Specific Integrated Circuit), discrete gate or transistor logic devices, discrete hardware components, etc. The control unit 120 can have one or more processing units, including dedicated processing units such as GPU, FPGA and ASIC, and general processing units such as CPU. The control unit 120 , for example, at least includes: a pitch, roll and vertical motion detection data acquisition unit 122 , a driving current determination unit 124 , a driving time determination unit 126 , and a control signal output unit 128 .

[0042] The pitch, roll and vertical motion detection data acquisition unit 122 is used to acquire detection data on the pitch motion, roll motion and vertical motion at the mass center of the target vehicle.

[0043] The driving current determining unit 124 is used to determine the magnitude of the driving current for driving the shock absorber based on the acquired detection data, and the shock absorber is electrically connected to the driving unit.

[0044] The driving time determining unit 126 is used to determine the current value interval to which the driving current belongs based on the determined magnitude of the driving current, so as to determine the driving time for driving the shock absorber based on the current value interval to which the driving current belongs.

[0045] The control signal output unit 128 is configured to output a control signal corresponding to the determined driving current to the driving unit of the shock absorber of the target vehicle so that the driving unit continues to output the driving current for the driving time.

[0046] The following will be combined Figure 2 A method 200 for controlling a shock absorber of a target vehicle according to an embodiment of the present invention is described. Figure 2 FIG. 2 is a flow chart of a method 200 for controlling a shock absorber of a target vehicle according to an embodiment of the present invention. It should be understood that the method 200 may be implemented in Figure 6 The electronic device 600 described above is executed. Figure 1 The described control unit 120 is executed. It should be understood that the method 200 may also include additional actions not shown and / or may omit the actions shown, and the scope of the present invention is not limited in this respect.

[0047] At step 202 , the control unit 120 acquires detection data (from sensors) on pitch motion, roll motion, and vertical motion at the center of mass of the target vehicle.

[0048] The detection data of pitch motion, roll motion and vertical motion include, for example: pitch angle and pitch angular velocity detection data, roll angle and roll angular velocity detection data, vertical velocity and vertical acceleration detection data.

[0049] It should be understood that the pitch angle of the target vehicle will change when it brakes or starts quickly. Taking the braking of a vehicle as an example, its pitch angle detection data will have a large peak during the braking process. After the braking action is completed, the pitch angle still has two or three cycles of "aftershocks", and then changes within the predetermined range of the distance "0". For roll motion, a larger roll angle will be generated when the vehicle turns quickly or changes lanes. Vertical motion is when the vehicle is driving on a bumpy road, and the vertical speed will change significantly.

[0050] Therefore, if the change in the damping of the shock absorber is made to match the above-mentioned change characteristics of the detection data on pitch motion, roll motion and vertical motion, it will be beneficial to improve the effect of using the shock absorber to adjust the posture change of the target vehicle and improve the comfort level of the vehicle.

[0051] At step 204 , the control unit 120 determines the magnitude of a driving current for driving a shock absorber based on the acquired detection data, the shock absorber being electrically connected to the driving unit.

[0052] Regarding the shock absorber, for example, it is a vehicle-mounted semi-active / active shock absorption system, such as an air spring, an electromagnetic shock absorber, a CDC (Continuous Damping Control) shock absorber, a magnetorheological shock absorber, etc.

[0053] It should be understood that when the pitch angle detection data shows that the pitch angle and pitch angular velocity detection data, the roll angle and roll angular velocity detection data, and / or the vertical velocity and vertical acceleration detection data are large, it usually indicates that the posture of the target vehicle is poor or is about to become poor. At this time, it is necessary to make the driving current used to drive the shock absorber larger so that the shock absorber can provide greater damping.

[0054] Regarding the method for determining the size of the driving current for driving the shock absorber, it includes, for example: determining the pitch control current for controlling the pitch movement based on the pitch angle and pitch angular velocity detection data; determining the roll control current for controlling the roll movement based on the roll angle and roll angular velocity detection data; determining the vertical control current for controlling the vertical movement based on the vertical velocity and vertical acceleration detection data; and comparing the determined pitch control current, roll control current and vertical control current to determine the maximum value of the three as the size of the driving current for driving the shock absorber. The determined pitch control current, roll control current and vertical control current are compared to determine the maximum value of the three as the size of the driving current for driving the shock absorber. The following will be combined with Figure 5 The method 500 for determining the magnitude of the driving current for driving the shock absorber is described, and will not be described in detail herein.

[0055] In some embodiments, a method for determining the magnitude of a driving current includes, for example: the control unit 120 divides the value of each type of detection data into a plurality of numerical intervals based on the corresponding value intervals of each type of detection data, the pitch angle and pitch angular velocity detection data, the roll angle and roll angular velocity detection data, and the vertical velocity and vertical acceleration detection data, respectively, wherein the plurality of numerical intervals include a plurality of positive numerical intervals, a "0" value interval, and a plurality of negative numerical intervals; based on the numerical interval to which each type of detection data obtained belongs, determining a control current corresponding to each type of detection data, so as to determine the magnitude of a driving current for driving a shock absorber, wherein the driving current for driving the shock absorber is one of a pitch control current, a roll control current, and a vertical control current.

[0056] Regarding the pitch angle numerical interval or the pitch angle velocity numerical interval, in some embodiments, for example, it includes seven numerical intervals. Taking the pitch angle numerical interval as an example, the seven numerical intervals include, for example, three positive pitch angle numerical intervals (for example, a positive large pitch angle numerical interval, a positive medium pitch angle numerical interval, and a positive small pitch angle numerical interval), a "0" value interval, and three negative pitch angle numerical intervals (for example, a negative large pitch angle numerical interval, a negative medium pitch angle numerical interval, and a negative small pitch angle numerical interval). In other embodiments, the pitch angle numerical interval or the pitch angle velocity numerical interval includes, for example, five numerical intervals. Taking the pitch angle velocity numerical interval as an example, the five numerical intervals include, for example, two positive pitch angle velocity numerical intervals (for example, a positive large pitch angle velocity numerical interval, a positive small pitch angle velocity numerical interval), a "0" value interval, and two negative pitch angle velocity numerical intervals (for example, a negative large pitch angle velocity numerical interval, a negative small pitch angle velocity numerical interval).

[0057] Similarly, regarding the numerical intervals of the roll angle and roll angular velocity detection data, in some embodiments, seven numerical intervals are included. Taking the roll angle numerical interval as an example, the seven numerical intervals include, for example, three positive numerical intervals of the roll angle, a "0" value interval, and three negative numerical intervals of the roll angle. In other embodiments, the numerical intervals of the roll angle and roll angular velocity detection data include, for example, five numerical intervals. Taking the roll angular velocity numerical interval as an example, the five numerical intervals include, for example, two positive numerical intervals of the roll angular velocity, a "0" value interval, and two negative numerical intervals of the roll angular velocity.

[0058] Regarding the value intervals of the vertical velocity and vertical acceleration detection data, in some embodiments, they include, for example, seven value intervals of the vertical velocity and five value intervals of the vertical acceleration. For example, three positive value intervals of the vertical velocity, a "0" value interval, and three negative value intervals of the vertical velocity; and two positive value intervals of the vertical acceleration, a "0" value interval, and two negative value intervals of the vertical acceleration.

[0059] Regarding the method for determining the pitch control current used to control the pitch movement, it includes, for example: if the control unit 120 determines that the numerical interval to which the acquired pitch angle detection data belongs is a large positive numerical interval of the pitch angle, then no matter which numerical interval the acquired pitch angular velocity detection data belongs to, the size of the pitch control current used to control the pitch movement is determined to be a first predetermined pitch control current value, and the first predetermined pitch control current value is the maximum value in the predetermined pitch control current value set.

[0060] For another example, if the control unit 120 determines that the pitch angle value interval to which the acquired pitch angle detection data belongs is a "0" value interval (the "0" value interval is an interval within a predetermined range from "0"), and the pitch angle velocity value interval to which the acquired pitch angle velocity detection data belongs is a positive large value interval of the pitch angle velocity or a negative large value interval of the pitch angle velocity, then the magnitude of the pitch control current used to control the pitch motion is determined to be a first predetermined pitch control current value. It should be understood that when the pitch angle value interval to which the pitch angle detection data belongs is a "0" value interval, if the pitch angle is only viewed, it is easy to determine that the target vehicle is stable, but if the pitch angle velocity value interval to which the pitch angle velocity detection data belongs is a positive large value interval of the pitch angle velocity or a negative large value interval of the pitch angle velocity, it indicates that the pitch angle will increase rapidly, and at this time, the pitch control current used to control the pitch motion is the maximum value in the predetermined pitch control current value set, which is conducive to preventing the pitch angle from increasing rapidly.

[0061] In some embodiments, a method for determining the magnitude of a pitch control current used to control pitch motion, for example, includes: if the control unit 120 determines that a first predetermined condition is satisfied, determining that the magnitude of a driving current used to drive the shock absorber is a first predetermined pitch control current value, the first predetermined pitch control current value being a maximum value in a predetermined pitch control current value set, the first predetermined condition being any one of the following: the pitch angle is greater than or equal to a first predetermined positive pitch angle threshold; the pitch angle is less than or equal to a first predetermined negative pitch angle threshold; the pitch angular velocity is greater than or equal to a first predetermined positive pitch angular velocity threshold; and the pitch angular velocity is less than or equal to a first predetermined negative pitch angular velocity threshold.

[0062] Further, if the control unit 120 determines that the first predetermined condition is not satisfied, and determines that the absolute value of the pitch angle is less than the first predetermined positive pitch angle threshold and greater than or equal to the second predetermined positive pitch angle threshold, the magnitude of the pitch control current used to control the pitch motion is determined to be the second predetermined pitch control current value, and the predetermined pitch control current value set includes at least: the first predetermined pitch control current value, the second predetermined pitch control current value, and "0", and the second predetermined pitch control current value is less than the first predetermined pitch control current value. If the control unit 120 determines that the pitch angle is within a first predetermined range of the "0" value, and the pitch angular velocity is within a second predetermined range of the "0" value (wherein the first predetermined range and the second predetermined range are respectively values ​​near "0", and the first predetermined range and the second predetermined range may be the same or different), the magnitude of the pitch control current used to control the pitch motion is determined to be "0". And if the control unit 120 determines that the pitch angle is within a first predetermined range of the value "0", and determines that the absolute value of the pitch angular velocity is less than the first predetermined positive pitch angular velocity threshold and is greater than or equal to the second positive pitch angular velocity threshold, the magnitude of the pitch control current used to control the pitch movement is determined to be a third predetermined pitch control current value, and the predetermined pitch control current value set includes at least: a first predetermined pitch control current value, a second predetermined pitch control current value, a third predetermined pitch control current value, "0", the second predetermined pitch control current value is less than the first predetermined pitch control current value, and the third predetermined pitch control current value is less than the first predetermined pitch control current value.

[0063] Regarding the method for determining the roll control current for controlling the roll motion, it is similar in principle to the above-mentioned method for determining the pitch control current for controlling the pitch motion. For example, the control unit 120 determines the roll control current for controlling the roll motion, including: in response to determining that the second predetermined condition is satisfied, determining that the roll control current for controlling the roll motion is a first predetermined roll control current value, the first predetermined roll control current value is the maximum value in the predetermined roll control current value set, and the second predetermined condition is any one of the following: the roll angle is greater than or equal to the first predetermined positive roll angle threshold; the roll angle is less than or equal to the first predetermined negative roll angle threshold; the roll angular velocity is greater than or equal to the first predetermined positive roll angular velocity threshold; and the roll angular velocity is less than or equal to the first predetermined negative roll angular velocity threshold. Further, if the control unit 120 determines that the second predetermined condition is not satisfied, and determines that the absolute value of the roll angle is less than the first predetermined positive roll angle threshold and greater than or equal to the second predetermined positive roll angle threshold, the roll control current used to control the roll motion is determined to be the second predetermined roll control current value, and the predetermined roll control current value set includes at least: the first predetermined roll control current value, the second predetermined roll control current value, and "0", and the second predetermined roll control current value is less than the first predetermined roll control current value. If it is determined that the roll angle is within the third predetermined range of the "0" value, and the roll angular velocity is within the fourth predetermined range of the "0" value, the pitch control current used to control the roll motion is determined to be "0". If the control unit 120 determines that the roll angle is within a third predetermined range of the value "0", and determines that the absolute value of the roll angular velocity is less than the first predetermined positive roll angular velocity threshold and is greater than or equal to the second positive roll angular velocity threshold, the roll control current used to control the roll movement is determined to be a third predetermined roll control current value, and the predetermined roll control current value set includes at least: the first predetermined roll control current value, the second predetermined roll control current value, the third predetermined roll control current value, "0", the second predetermined roll control current value is less than the first predetermined roll control current value, and the third predetermined roll control current value is less than the first predetermined roll control current value.

[0064] Similarly, regarding the method for determining the vertical control current for controlling the vertical motion, it is similar in principle to the above-mentioned method for determining the pitch control current for controlling the pitch motion. For example, determining the vertical control current for controlling the vertical motion includes: in response to determining that the third predetermined condition is satisfied, determining that the vertical control current for controlling the vertical motion is a first predetermined vertical control current value, the first predetermined vertical control current value is the maximum value in the predetermined vertical control current value set, and the third predetermined condition is any one of the following: the vertical speed is greater than or equal to the first predetermined positive vertical speed threshold; the vertical speed is less than or equal to the first predetermined negative vertical speed threshold; the vertical acceleration is greater than or equal to the first predetermined positive vertical acceleration threshold; and the vertical acceleration is less than or equal to the first predetermined negative vertical acceleration threshold. Regarding the method for determining the vertical control current for controlling the vertical motion, it is similar to the above-mentioned method for determining the pitch control current for controlling the pitch motion, and will not be repeated here.

[0065] At step 206 , the control unit 120 determines the current value interval to which the driving current belongs based on the determined magnitude of the driving current, so as to determine the driving time for driving the shock absorber based on the current value interval to which the driving current belongs.

[0066] In some embodiments, the control unit 120 divides the current value interval of the driving current into three or four intervals based on the determined magnitude of the driving current.

[0067] It should be understood that the magnitude of the driving current mentioned above is determined based on the detection data about the pitch motion, the roll motion and the vertical motion. For example, the magnitude of the driving current is determined based on the maximum value of the pitch control current, the roll control current and the vertical control current. Therefore, when the magnitude of the determined driving current is different, it usually indicates that the pitch angle and pitch angular velocity detection data, the roll angle and roll angular velocity detection data, the vertical velocity and vertical acceleration detection data of the target vehicle are different, and the time required for the driving current to last is also different. When the driving current is large, the posture of the target vehicle is poor. In this case, the driving current needs to last longer.

[0068] In some embodiments, the method for determining the driving time for driving the shock absorber includes, for example: determining whether the road on which the target vehicle is traveling is an urban road or a paved road; if it is determined that the road on which the target vehicle is traveling is an urban road or a paved road, making the driving time for driving the shock absorber positively correlated with the determined driving current. That is, the larger the value of the determined driving current is, the longer the driving current needs to last.

[0069] In some embodiments, a method for determining a driving time for driving a shock absorber, for example, includes: if the control unit 120 determines that the driving current is greater than or equal to a first predetermined current threshold, determining the driving time for driving the shock absorber based on a first number of predetermined steps; if the control unit 120 determines that the driving current is less than the first predetermined current threshold and greater than or equal to a second predetermined current threshold, determining the driving time for driving the shock absorber based on a second number of predetermined steps, the second number being less than the first number; and if the control unit 120 determines that the driving current is less than the second predetermined current threshold and greater than or equal to a third predetermined current threshold, determining the driving time for driving the shock absorber based on a third number of predetermined steps, the third number being less than the second number.

[0070] In other embodiments, the method for determining the driving time for driving the shock absorber includes, for example: the control unit 120 divides the value interval of the driving current into a plurality of current value intervals; based on the determined magnitude of the driving current, determines the current value interval to which the driving current belongs; and determines the driving time value matching the determined current value interval as the driving time for driving the shock absorber. Figure 3 The method 300 for determining the driving time for driving the shock absorber has been described in detail, and will not be repeated herein.

[0071] At step 208 , the control unit 120 outputs a control signal corresponding to the determined driving current to a driving unit of the shock absorber of the target vehicle, so that the driving unit continuously outputs the driving current for the driving time.

[0072] It should be understood that the maximum value of the waveform of the pitch angle detection data of the target vehicle indicates the moment when the vehicle posture is the worst. If the drive unit is made to output a larger drive current at this moment, and the drive current is made to continue for a determined drive time (for example, but not limited to 0.5 seconds, or 1 second), the body posture of the target vehicle can be quickly adjusted. Regarding the method for making the drive unit continuously output the drive current for the drive time, it for example includes: the control unit 120 determines whether there are multiple drive times that have not yet ended at the current moment; in response to determining that there are multiple drive times that have not yet ended at the current moment, determines the maximum drive current among the multiple drive currents respectively corresponding to the multiple drive times; and outputs a control signal corresponding to the determined maximum drive current to the drive unit of the shock absorber of the target vehicle, and causes the control signal to continue outputting the drive time. The following will be combined with Figure 4 The method 400 for making the driving current continue the driving time is described in detail, which will not be repeated here.

[0073] In the above scheme, the present invention can be based on associating the magnitude of the damping of the driving shock absorber with the detection data about the pitch motion, roll motion and vertical motion at the center of mass of the target vehicle, that is, providing a shock absorber resistance that changes in accordance with the vehicle posture change. In addition, the present invention can determine the driving current for driving the shock absorber without complex calculations, so the response time is fast and high-frequency vibrations can be effectively controlled. In addition, the present invention determines the duration of the driving current according to the magnitude of the driving current, so that the vehicle posture change can be quickly corrected. Therefore, the present invention does not need to know the vehicle model, shock absorber mechanical model and related parameters of the target vehicle in advance, and will not cause abnormal noise of the shock absorber.

[0074] The following will be combined Figure 3 A method 300 for determining a driving time for driving a shock absorber according to an embodiment of the present invention is described. Figure 3 FIG. 3 is a flow chart of a method 300 for determining a driving time for driving a shock absorber according to an embodiment of the present invention. It should be understood that the method 300 may be implemented in, for example, Figure 6 The electronic device 600 described above is executed. Figure 1 The described control unit 120 is executed. It should be understood that the method 300 may also include additional actions not shown and / or may omit the actions shown, and the scope of the present invention is not limited in this respect.

[0075] At step 302, the control unit 120 divides the value interval of the driving current into a plurality of current value intervals, which may be three or four, for example.

[0076] At step 304 , the control unit 120 determines the current value interval to which the driving current belongs based on the determined magnitude of the driving current.

[0077] For example, if the control unit 120 determines that the current driving current is greater than or equal to the first current threshold, it is determined that the current driving current belongs to the large current value interval; if the control unit 120 determines that the current driving current is less than the first current threshold and greater than or equal to the second current threshold, it is determined that the current driving current belongs to the medium current value interval; if the control unit 120 determines that the current driving current is less than the second current threshold and greater than or equal to the third current threshold, it is determined that the current driving current belongs to the small current value interval.

[0078] At step 306, the control unit 120 determines the driving time value that matches the determined current numerical interval as the driving time for driving the shock absorber. For example, the control unit 120 matches the corresponding driving time value for each numerical interval in the multiple numerical intervals. For example, the large current numerical interval matches the first driving time, which is determined based on, for example, m1 predetermined steps. The medium current numerical interval matches the second driving time, which is determined based on, for example, m2 predetermined steps (m1 is greater than m2). The small current numerical interval matches the third driving time, which is determined based on, for example, m3 predetermined steps (m2 is greater than m3), and m1, m2, and m3 are all natural numbers.

[0079] By adopting the above technical means, the present invention can quickly determine the continuous driving time that matches the driving current.

[0080] The following will be combined Figure 4 A method 400 for causing a driving unit to continuously output a driving current for a driving time according to an embodiment of the present invention is described. Figure 4 FIG. 4 is a flow chart showing a method 400 for causing a driving unit to continuously output a driving current for a driving time according to an embodiment of the present invention. It should be understood that the method 400 may be implemented, for example, in Figure 6 The electronic device 600 described above is executed. Figure 1 The described control unit 120 is executed. It should be understood that the method 400 may further include additional actions not shown and / or may omit the actions shown, and the scope of the present invention is not limited in this respect.

[0081] At step 402, the control unit 120 determines whether there are multiple driving times that have not yet ended at the current moment. If the control unit 120 determines that there are multiple driving times that have not yet ended at the current moment, then wait at step 402.

[0082] At step 404 , if the control unit 120 determines that there are multiple driving times that have not yet ended at the current moment, the maximum driving current among the multiple driving currents respectively corresponding to the multiple driving times is determined.

[0083] For example, if the control unit 120 determines that there are two driving times that have not yet ended at the current moment, for example, the first driving time and the second driving time.

[0084] For example, when the previous driving current and its corresponding driving time (e.g., the first driving time) determined based on the previous detection data about the pitch motion, the roll motion, and the vertical motion have not yet ended, the control unit 120 determines a new driving current and its corresponding driving time (e.g., the second driving time) based on the new detection data about the pitch motion, the roll motion, and the vertical motion. At this time, there are two driving times that have not yet ended. That is, the first driving time and the second driving time. For example, the first driving time is determined based on m1 predetermined steps. The second driving time is determined based on m2 predetermined steps (m1 is greater than m2).

[0085] The control unit 120 compares the driving current corresponding to the first driving time with the driving current corresponding to the second driving time to determine a maximum value of the two corresponding driving currents.

[0086] For example, the driving current corresponding to the first driving time is, for example, the second predetermined pitch control current value, and the driving current corresponding to the second driving time is, for example, the first predetermined pitch control current value. According to the foregoing, the first predetermined pitch control current value is greater than the second predetermined pitch control current value. Therefore, the control unit 120 determines that the maximum driving current among the driving currents corresponding to the two driving times that have not yet ended is the first predetermined pitch control current value. That is, the driving current corresponding to the second driving time is the maximum driving current.

[0087] At step 406 , the control unit 120 outputs a control signal corresponding to the determined maximum driving current to a driving unit of the shock absorber of the target vehicle, and causes the control signal to be output continuously for a driving time.

[0088] For example, the control unit 120 continuously provides the determined maximum driving current (eg, the first predetermined pitch control current value) to the shock absorber of the target vehicle via the driving unit until the driving time (eg, the second driving time) corresponding to the maximum driving current ends.

[0089] For example, when the pitch angle and roll angle at the target vehicle's center of mass are small angles, the driving time of the driving current determined based on the pitch angle is 0.5 seconds. If the pitch angle and roll angle at the target vehicle's center of mass continue to increase, a larger driving current and a longer driving time are determined based on the pitch angle and roll angle at the increased center of mass, for example, 0.8 seconds. The control unit 120 outputs a control signal corresponding to the larger driving current to the drive unit of the shock absorber of the target vehicle, and causes the control signal to continue for 0.8 seconds.

[0090] By adopting the above means, even in the case where the posture of the target vehicle changes continuously, the present invention can determine the matching driving current and duration based on the detection data of the worst moment of the posture of the target vehicle, so as to quickly adjust the posture of the target vehicle.

[0091] The following will be combined Figure 5 A method 500 for determining a driving current for driving a vibration absorber based on acquired detection data according to an embodiment of the present invention is described. Figure 5 FIG. 5 is a flow chart of a method 500 for determining a driving current for driving a shock absorber based on acquired detection data according to an embodiment of the present invention. It should be understood that the method 500 may be implemented, for example, in Figure 6 The electronic device 600 described above is executed. Figure 1 The described control unit 120 is executed. It should be understood that the method 500 may also include additional actions not shown and / or may omit the actions shown, and the scope of the present invention is not limited in this respect.

[0092] At step 502 , the control unit 120 determines a pitch control current for controlling the pitch motion based on the pitch angle and pitch angular velocity detection data.

[0093] At step 504 , the control unit 120 determines a roll control current for controlling the roll motion based on the roll angle and roll angular velocity detection data.

[0094] At step 506 , the control unit 120 determines a vertical control current for controlling the vertical movement based on the vertical velocity and vertical acceleration detection data.

[0095] At step 508, the control unit 120 compares the determined pitch control current, roll control current, and vertical control current to determine the maximum value among the three as the magnitude of the driving current for driving the shock absorber. For example, if the pitch control current is the largest, the magnitude of the driving current for driving the shock absorber is determined based on the pitch control current.

[0096] Figure 6 The block diagram of an electronic device 600 suitable for implementing the embodiment of the present invention is schematically shown. The device 600 may be used to implement the control unit 120. The device 600 may be used to implement the execution Figure 2 , Figures 3 to 5 The apparatus of methods 200 to 500 is shown. Figure 5As shown, the device 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) 602 or loaded from a storage unit 608 into a random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the device 600 can also be stored. The CPU 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0097] A plurality of components in the device 600 are connected to the I / O interface 605, including: an input unit 606, an output unit 607, a storage unit 608, and a central processing unit 601 performs the various methods and processes described above, such as performing methods 200 to 500. For example, in some embodiments, the various processes or operations described above may be implemented as computer software programs, which are stored in a machine-readable medium, such as a storage unit 608. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 600 via the ROM 602 and / or the communication unit 609. When the computer program is loaded into the RAM 603 and executed by the CPU 601, the various methods and processes described above may be performed, such as performing one or more operations of methods 200 to 500. Alternatively, in other embodiments, the CPU 601 may be configured to perform the various methods and processes described above, such as performing one or more actions of methods 200 to 500, by any other appropriate means (e.g., by means of firmware).

[0098] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0099] The computer program instructions for performing the operation of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present invention.

[0100] These computer-readable program instructions can be provided to a processor in a voice interaction device, a general-purpose computer, a special-purpose computer, or a processing unit of other programmable data processing devices, thereby producing a machine, so that when these instructions are executed by the processing unit of a computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other device to work in a specific manner.

[0101] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

[0102] The above are only optional embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for controlling a shock absorber of a target vehicle, the shock absorber being driven by an electric current, It is characterized in that include: Acquire detection data on pitch motion, roll motion and vertical motion at the center of mass of the target vehicle; Based on the acquired detection data, determining the magnitude of a driving current for driving a shock absorber, the shock absorber being electrically connected to the driving unit; Based on the determined magnitude of the driving current, determining a current value interval to which the driving current belongs, so as to determine a driving time for driving the shock absorber based on the current value interval to which the driving current belongs; as well as A control signal corresponding to the determined drive current is output to a drive unit of a shock absorber of the target vehicle so that the drive unit continues to output the drive current for the drive time.

2. The system according to claim 1, It is characterized in that The detection data on pitch motion, roll motion and vertical motion include: pitch angle and pitch angular velocity detection data, roll angle and roll angular velocity detection data, vertical velocity and vertical acceleration detection data.

3. The system according to claim 2, It is characterized in that Determining the magnitude of the driving current for driving the shock absorber based on the acquired detection data includes: determining a pitch control current for controlling the pitch motion based on the pitch angle and pitch angular velocity detection data; determining a roll control current for controlling the roll motion based on the roll angle and the roll angular velocity detection data; Determining a vertical control current for controlling vertical motion based on the vertical velocity and vertical acceleration detection data; and The determined pitch control current, roll control current, and vertical control current are compared to determine a maximum value among the three as the magnitude of the drive current for driving the shock absorber.

4. The system according to claim 3, It is characterized in that Determining the pitch control current used to control the pitch motion includes: In response to determining that the first predetermined condition is satisfied, determining that the pitch control current for controlling the pitch motion is a first predetermined pitch control current value, the first predetermined pitch control current value being a maximum value in a set of predetermined pitch control current values, the first predetermined condition being any one of the following: The pitch angle is greater than or equal to a first predetermined positive pitch angle threshold; The pitch angle is less than or equal to a first predetermined negative pitch angle threshold; The pitch angular velocity is greater than or equal to a first predetermined positive pitch angular velocity threshold; and The pitch angular velocity is less than or equal to a first predetermined negative pitch angular velocity threshold.

5. The system according to claim 4, It is characterized in that Determining the pitch control current used to control the pitch motion includes: In response to determining that the first predetermined condition is not satisfied, and determining that the absolute value of the pitch angle is less than a first predetermined positive pitch angle threshold and greater than or equal to a second predetermined positive pitch angle threshold, the pitch control current used to control the pitch movement is determined to be a second predetermined pitch control current value, and the predetermined pitch control current value set includes at least: a first predetermined pitch control current value, a second predetermined pitch control current value, and "0", and the second predetermined pitch control current value is less than the first predetermined pitch control current value.

6. The system according to claim 4, It is characterized in that Determining the pitch control current used to control the pitch motion also includes: In response to determining that the pitch angle is within a first predetermined range from a value of “0” and the pitch angular velocity is within a second predetermined range from a value of “0”, a pitch control current for controlling the pitch motion is determined to be “0”.

7. The system according to claim 5, It is characterized in that Determining the pitch control current used to control the pitch motion also includes: In response to determining that the pitch angle is within a first predetermined range of the "0" value, and determining that the absolute value of the pitch angular velocity is less than a first predetermined positive pitch angular velocity threshold and greater than or equal to a second positive pitch angular velocity threshold, the pitch control current used to control the pitch movement is determined to be a third predetermined pitch control current value, and the predetermined pitch control current value set includes at least: a first predetermined pitch control current value, a second predetermined pitch control current value, a third predetermined pitch control current value, "0", the second predetermined pitch control current value is less than the first predetermined pitch control current value, and the third predetermined pitch control current value is less than the first predetermined pitch control current value.

8. The system according to claim 7, It is characterized in that The second predetermined pitch control current value is equal to the third predetermined pitch control current value.

9. The system according to claim 3, It is characterized in that Determining the roll control current used to control the roll motion includes: In response to determining that the second predetermined condition is satisfied, determining that the roll control current for controlling the roll motion is a first predetermined roll control current value, the first predetermined roll control current value being a maximum value in a set of predetermined roll control current values, and the second predetermined condition is any one of the following: The roll angle is greater than or equal to a first predetermined positive roll angle threshold; The roll angle is less than or equal to a first predetermined negative roll angle threshold; The roll angle velocity is greater than or equal to a first predetermined positive roll angle velocity threshold; and The roll angle velocity is less than or equal to a first predetermined negative roll angle velocity threshold.

10. The system according to claim 2, It is characterized in that Determining the amount of drive current used to drive the shock absorber includes: Based on the corresponding value intervals of each of the pitch angle and pitch angular velocity detection data, the roll angle and roll angular velocity detection data, and the vertical velocity and vertical acceleration detection data, the value of each of the detection data is divided into a plurality of value intervals, wherein the plurality of value intervals include a plurality of positive value intervals, a "0" value interval, and a plurality of negative value intervals; and Based on the numerical range to which each type of detection data obtained belongs, a control current corresponding to each type of detection data is determined to determine the size of a driving current for driving the shock absorber. The driving current for driving the shock absorber is one of a pitch control current, a roll control current and a vertical control current.

11. The system according to claim 1, It is characterized in that Determining the driving time for driving the shock absorber based on the current value interval to which the driving current belongs includes: Dividing the value interval of the driving current into a plurality of current value intervals; Based on the determined magnitude of the driving current, determining a current value interval to which the driving current belongs; and A driving time value matching the determined current value interval is determined as a driving time for driving the shock absorber.

12. The system according to claim 1, It is characterized in that Determining the driving time for driving the shock absorber based on the current value interval to which the driving current belongs includes: In response to determining that the driving current is greater than or equal to a first predetermined current threshold, determining a driving time for driving the shock absorber based on a first number of predetermined steps; and In response to determining that the driving current is less than a first predetermined current threshold and greater than or equal to a second predetermined current threshold, determining a driving time for driving the shock absorber based on a second number of predetermined steps, the second number being less than the first number; and In response to determining that the driving current is less than the second predetermined current threshold and greater than or equal to a third predetermined current threshold, a driving time for driving the shock absorber is determined based on a third number of predetermined steps, the third number being less than the second number.

13. The system according to claim 1, It is characterized in that The driving current that enables the driving unit to continuously output the driving time includes: Determine whether there are multiple driving times that have not yet ended at the current moment; In response to determining that there are a plurality of driving times that have not yet ended at the current moment, determining a maximum driving current among a plurality of driving currents respectively corresponding to the plurality of driving times; and A control signal corresponding to the determined maximum driving current is output to a driving unit of a shock absorber of the target vehicle, and the control signal is output for a driving time.

14. A control unit, include: a memory configured to store one or more computer programs; as well as A processor is coupled to the memory and configured to execute the one or more programs to enable the control unit to perform the measurement method according to any one of claims 1-13.

15. A non-transitory machine-readable storage medium having machine-readable program instructions stored thereon, wherein the machine-readable program instructions are configured to cause a machine to execute the steps of the measurement method according to any one of claims 1 to 13.

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