Vehicle vibration reduction control method and device and electronic equipment

Abstract

The invention discloses a vehicle vibration reduction control method and device and electronic equipment, and belongs to the technical field of vehicle vibration reduction control. The method comprises the following steps: acquiring vibration accelerations of two front wheels and the tail part of a vehicle body, wherein the vibration accelerations comprise the magnitude and the direction of the vibration accelerations; based on the vibration acceleration of the two front wheels and the tail of the vehicle body, the driving working conditions of the vehicle are obtained, and the driving working conditions comprise the deceleration strip working condition, the pit working condition, the pitching working condition and the curve working condition; the damping force of the four shock absorbers of the whole vehicle is adjusted based on the driving working condition of the vehicle and the vibration acceleration of the two front wheels and the tail of the vehicle body. According to road surface input working conditions, automatic and intelligent data processing and control instruction outputting can be carried out, corresponding control parameters are sent out, an electromagnetic valve on an actuator acts, needed damping force is generated to adjust the driving and riding characteristics of an automobile, a control expected value after specific calibration is effectively and accurately achieved, cost is remarkably reduced, and meanwhile the driving and riding characteristics of the automobile are adjusted. And the intelligent driving experience of the automobile is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle vibration damping control, and particularly to a vehicle vibration damping control method, device and electronic device. Background Art

[0002] At present, semi-active suspension systems with adjustable damping force have been used in more and more vehicles. Generally, they improve the vehicle body stability when passing through various road surface uneven conditions by adjusting the damping force of the electronically controlled shock absorber in real time. The control of automotive semi-active suspension often uses a PID controller, because its control principle is simple and practical, and can achieve good control effects.

[0003] However, a vehicle has a total of four suspensions. The existing semi-active suspension systems often monitor the vibration conditions of each suspension and perform PID control on the damping force of the shock absorbers on each suspension. In this way, on the one hand, it has a high requirement for computing power, resulting in increased costs. On the other hand, due to the certain hysteresis in the damping force adjustment, the vibration damping effect needs to be improved. Summary of the Invention

[0004] The purpose of the present invention is to solve the above-mentioned problems existing in the prior art, and provide a vehicle vibration damping control method, device and electronic device, which can effectively reduce costs and ensure the vibration damping effect.

[0005] The purpose of the present invention is achieved by the following technical solutions: A vehicle vibration damping control method includes: Obtaining the vibration accelerations of two front wheels and the vehicle body tail, including the magnitude and direction of the vibration acceleration; Based on the vibration accelerations of two front wheels and the vehicle body tail, obtaining the driving conditions of the vehicle, where the driving conditions include speed bump conditions, pothole conditions, pitching conditions and cornering conditions; Based on the driving conditions of the vehicle and the vibration accelerations of two front wheels and the vehicle body tail, adjusting the damping forces of the four shock absorbers of the whole vehicle.

[0006] Preferably, the obtaining the driving conditions of the vehicle based on the vibration accelerations of two front wheels and the vehicle body tail includes: If the directions of the vibration accelerations of two front wheels are upward and the magnitudes are gradually increasing, and at the same time the direction of the vibration acceleration of the vehicle body tail is downward and gradually increasing, then determine that the vehicle is in a speed bump condition or a pitching condition according to the magnitudes of the vibration accelerations of two front wheels; If the directions of the vibration accelerations of two front wheels are downward and the vibration acceleration of the vehicle body tail is zero, then determine that the vehicle is in a pothole condition; If the directions of the vibration accelerations of two front wheels are upward and downward respectively and both are gradually increasing, then determine that the vehicle is in a cornering condition.

[0007] Preferably, adjusting the damping forces of the four shock absorbers of the whole vehicle based on the driving condition of the vehicle and the vibration accelerations of the two front wheels and the rear of the vehicle body includes: When the vehicle is in a speed bump condition: when the directions of the vibration accelerations of the two front wheels are upward and gradually increasing, according to the magnitudes of the vibration accelerations, control the damping forces of the two front axle shock absorbers to decrease by corresponding values; when the directions of the vibration accelerations of the two front wheels are downward and gradually increasing, according to the magnitudes of the vibration accelerations, control the damping forces of the two front axle shock absorbers to increase by corresponding values; obtain a delay time based on the vehicle speed and the wheelbase between the front and rear wheels, and after the delay time, perform corresponding control on the damping forces of the two rear axle shock absorbers as that of the front axle shock absorbers; When the direction of the vibration acceleration of the rear of the vehicle body is downward and gradually increasing, according to the magnitude of the vibration acceleration, control the damping forces of the four shock absorbers of the whole vehicle to decrease by corresponding values; when the direction of the vibration acceleration of the rear of the vehicle body is upward and gradually increasing, according to the magnitude of the vibration acceleration, control the damping forces of the four shock absorbers of the whole vehicle to increase by corresponding values.

[0008] Preferably, adjusting the damping forces of the four shock absorbers of the whole vehicle based on the driving condition of the vehicle and the vibration accelerations of the two front wheels and the rear of the vehicle body includes: When the vehicle is in a pothole condition: when the directions of the vibration accelerations of the two front wheels are downward, according to the magnitudes of the vibration accelerations, control the damping forces of the four shock absorbers of the whole vehicle to decrease by corresponding values; when the directions of the vibration accelerations of the two front wheels are upward, control the damping forces of the four shock absorbers of the whole vehicle to return to the initial values; obtain a delay time based on the vehicle speed and the wheelbase between the front and rear wheels, and after the delay time, perform corresponding control on the damping forces of the two rear axle shock absorbers as that of the front axle shock absorbers.

[0009] Preferably, adjusting the damping forces of the four shock absorbers of the whole vehicle based on the driving condition of the vehicle and the vibration accelerations of the two front wheels and the rear of the vehicle body includes: When the vehicle is in a pitching condition: when the directions of the vibration accelerations of the two front wheels are upward and gradually increasing, according to the magnitudes of the vibration accelerations, control the damping forces of the two front axle shock absorbers to decrease by corresponding values; when the directions of the vibration accelerations of the two front wheels are downward and gradually increasing, according to the magnitudes of the vibration accelerations, control the damping forces of the two front axle shock absorbers to increase by corresponding values; obtain a delay time based on the vehicle speed and the wheelbase between the front and rear wheels, and after the delay time, perform corresponding control on the damping forces of the two rear axle shock absorbers as that of the front axle shock absorbers; When the direction of the vibration acceleration of the rear of the vehicle body is downward and gradually increasing, according to the magnitude of the vibration acceleration, control the damping forces of the four shock absorbers of the whole vehicle to increase by corresponding values; when the direction of the vibration acceleration of the rear of the vehicle body is upward and gradually increasing, according to the magnitude of the vibration acceleration, control the damping forces of the four shock absorbers of the whole vehicle to increase by corresponding values.

[0010] Preferably, adjusting the damping forces of the four shock absorbers of the whole vehicle based on the driving condition of the vehicle and the vibration accelerations of the two front wheels and the rear of the vehicle body includes: When the vehicle is in a cornering condition: when the directions of the vibration accelerations of the two front wheels are respectively upward and downward and both are gradually increasing, control the damping forces of the two front axle shock absorbers to increase by corresponding values according to the magnitudes of the vibration accelerations of the two front wheels.

[0011] Preferably, obtaining the vibration accelerations of the two front wheels and the rear of the vehicle body includes: Calculating the direction of the vibration acceleration as positive or negative values, and calculating the magnitude of the vibration acceleration as corresponding values according to the set unit value.

[0012] An embodiment of this specification further provides a vehicle shock absorption control device, including: A vibration acceleration acquisition module, configured to acquire the vibration accelerations of the two front wheels and the rear of the vehicle body, including the magnitude and direction of the vibration acceleration; A vehicle driving condition acquisition module, configured to acquire the driving condition of the vehicle based on the vibration accelerations of the two front wheels and the rear of the vehicle body, and the driving condition includes a speed bump condition, a pothole condition, a pitching condition, and a cornering condition; A damping force adjustment module, configured to adjust the damping forces of the four shock absorbers of the whole vehicle based on the driving condition of the vehicle and the vibration accelerations of the two front wheels and the rear of the vehicle body.

[0013] An embodiment of this specification further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of the above method are implemented.

[0014] An embodiment of this specification further provides a computer-readable storage medium, on which a computer program is stored. Instructions are stored in the computer-readable storage medium. When the instructions are run on a computer or a processor, the computer or the processor is caused to execute the steps of the above method.

[0015] The advantages of the present invention are: only by monitoring the vibration accelerations of the two front wheels and the rear of the vehicle body to obtain the driving condition of the vehicle, and then effectively adjusting the damping forces of the four shock absorbers of the whole vehicle based on the driving condition of the vehicle and the situation of the vibration acceleration, not only the cost is reduced, but also the shock absorption effect is guaranteed. Description of the Drawings

[0016] Figure 1 It is a flowchart of a vehicle shock absorption control method provided by an embodiment of this specification; Figure 2Schematic structural diagram of a vehicle vibration damping control device provided by an embodiment of this specification; Figure 3 Schematic structural diagram of an electronic device provided by an embodiment of this specification. Specific implementation manners

[0017] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0018] As Figure 1 shown, an embodiment of this specification provides a vehicle vibration damping control method, including: Step 102, obtaining the vibration accelerations of two front wheels and the vehicle body tail, including the magnitude and direction of the vibration accelerations.

[0019] Specifically, the vibration accelerations are obtained by vibration acceleration sensors. The sensor for obtaining the front wheel vibration acceleration is arranged outside the cylinder body of the front axle shock absorber, and the sensor for obtaining the vehicle body tail vibration acceleration is arranged at the middle position of the vehicle body tail. Moreover, according to the different magnitudes of the vibration accelerations received by the front wheels and the vehicle body tail, vibration acceleration sensors with a measuring range of 13g are used on the two front axle shock absorbers, while a vibration acceleration sensor with a measuring range of 1.3g is used for the vehicle body tail. In addition, single-solenoid valve shock absorbers are used for all four shock absorbers of the whole vehicle, that is, the damping force magnitude of the shock absorber can be directly controlled by controlling the opening degree of the solenoid valve.

[0020] In order to reduce the requirement for computing power and thus reduce costs, in this embodiment, based on the conventional PID control algorithm, the correspondence between the input value (vibration acceleration) and the output value (damper force adjustment value of the shock absorber) is stored in a table. That is, during actual use, the damper force adjustment value corresponding to the vibration acceleration can be found in the table to control the shock absorber of the vehicle. To further reduce the computing power required for table lookup and reduce the number of input values in the table, the range of vibration acceleration is equally divided, and the number of equal parts is used as the input value in the table. Taking the 13g vibration acceleration sensor on the front axle shock absorber as an example, its 13g range is equally divided into 20 parts, each part being 0.65g. That is, there are 20 input values in the table: 1, 2, 3... 20, corresponding to 0.65g, 1.3g, 1.95g... 13g respectively. At the same time, the direction of the vibration acceleration is stored as positive and negative values. For example, the upward vibration acceleration is positive and the downward vibration acceleration is negative. Then, there are 41 input values stored in each table: -20, -19, -18... -1, 0, 1, 2, 3... 20. If the vibration acceleration obtained by the vibration acceleration sensor is 2.5g downward, it is resolved to -3, and the corresponding damper force adjustment value of the shock absorber is queried in the table with -3 as the input value. Of course, since each input value in the table corresponds to an interval of actual input values, for example, the actual input value a corresponding to the input value 1 in the table is: 1 ≤ a < 2. Therefore, the output value corresponding to the input value 1 stored in the table is also adjusted accordingly based on the test results during the actual calibration process on the basis of the output value of the conventional PID control algorithm, or the output value corresponding to the median value of this interval is used as the output value of this interval.

[0021] Step 104, based on the vibration accelerations of the two front wheels and the rear of the vehicle body, obtain the driving conditions of the vehicle, and the driving conditions include the speed bump condition, the pothole condition, the pitching condition, and the turning condition: If the directions of the vibration accelerations of the two front wheels are upward and the magnitudes are gradually increasing, and at the same time, the direction of the vibration acceleration of the rear of the vehicle body is downward and gradually increasing, then determine the vehicle is in the speed bump condition or the pitching condition according to the magnitudes of the vibration accelerations of the two front wheels; among them, in the speed bump condition, the vibration acceleration of the front wheels is relatively larger, while in the pitching condition, the vibration deceleration of the front wheels is relatively smaller. Therefore, the two conditions can be distinguished by setting the magnitude range of the vibration acceleration.

[0022] Specifically, the vehicle is in a speed bump condition: first, the front wheel contacts the speed bump and climbs to the top and then falls back to the flat road. At this moment, the wheel acceleration sensor arranged on the front axle shock absorber detects a set of acceleration signals. We define the upward vibration acceleration value as a positive value, and the downward acceleration value as a negative value. Then the acceleration value gradually increases from 0. When the wheel reaches the top of the speed bump, the acceleration value is still positive but stops increasing, and begins to show the characteristics of falling back. When the wheel begins to fall back from the speed bump to the flat road, the positive value of the wheel acceleration sensor gradually decreases to a negative value, while the negative value continues to increase. When the wheel completes the speed bump condition and falls back to the flat road, the negative value of the wheel acceleration sensor reaches a peak and then instantly returns to zero.

[0023] When the front wheels pass over a speed bump, the rear body acceleration sensor detects the following movement of the rear body: first the tail sinks and gradually increases, that is, the acceleration is downward and gradually increases; then after reaching the lowest point, the body gradually flattens out and continues to rise to a maximum value, and then instantly returns to zero.

[0024] The vehicle is in the speed bump condition: when the vehicle passes through some hump bridges or wavy roads, there will be a follow-up jump and bump. At this time, the wheel acceleration sensor arranged on the front deceleration detects a gently rising positive value data and then randomly decreases to a negative value signal. At the same time, the acceleration sensor arranged behind the vehicle body detects a decrease in the opposite direction of the wheel acceleration. The negative value increases and then returns to zero until a positive value appears and reaches the maximum and then returns to zero.

[0025] If the vibration acceleration of the two front wheels is in the downward direction and the vibration acceleration of the rear of the vehicle body is zero, the vehicle is judged to be in a pothole condition. When the front wheel falls into the pothole, the wheel acceleration sensor arranged on the front brake detects a large downward impact value, and then due to inertia, the vehicle body temporarily remains motionless. At the next moment, when the wheel rushes out of the pothole, the vehicle body begins to fall due to inertia. At this moment, the upward impact force of the wheel and the downward impact force of the vehicle body are superimposed, and the physical sensation is very obvious.

[0026] If the vibration acceleration of the two front wheels is in the upward and downward directions respectively, and both are gradually increasing, it is determined that the vehicle is in a curve. When the vehicle is turning, the inner body is lifted and the outer body sinks. The two wheel acceleration sensors arranged on the front reduction gear can detect the slight inner wheel negative value gradually increasing (the inner wheel has a stronger downward pulling force) and the outer wheel positive value gradually increasing (the outer wheel has a stronger upward pulling force).

[0027] Step 106: Based on the driving conditions of the vehicle and the vibration accelerations of the two front wheels and the vehicle body tail, adjust the damping forces of the four shock absorbers of the whole vehicle. The control logics under the following four working conditions will be introduced respectively. It should be noted that the increase and decrease adjustments of the damping forces below are all made on the basis of the initial state.

[0028] When the vehicle is in the speed bump condition: When the directions of the vibration accelerations of the two front wheels are upward and gradually increasing, according to the magnitudes of the vibration accelerations, control the damping forces of the two front axle shock absorbers to decrease by corresponding values, so that the suspension springs can absorb the impact vibration linearly and slowly. When the directions of the vibration accelerations of the two front wheels are downward and gradually increasing, according to the magnitudes of the vibration accelerations, control the damping forces of the two front axle shock absorbers to increase by corresponding values, so that the suspension springs can linearly and slowly release the energy absorbed by the impact. Obtain the delay time based on the vehicle speed and the wheelbase between the front and rear wheels. After the delay time, perform corresponding control on the damping forces of the two rear axle shock absorbers as that of the front axle shock absorbers. And based on the test results during the calibration process, that is, taking into account the differences in vibrations received by the rear wheels and the front wheels, corresponding weighting can be performed when adjusting the damping forces of the two rear axle shock absorbers. For example, since the vibrations received by the rear wheels are generally greater, after weighting the damping force adjustment value of the front axle shock absorbers by about 10%, output it to the rear axle shock absorbers. In this way, the adjustment action of the damping force of the rear axle shock absorbers does not need to be made after detecting the vibration acceleration of the rear wheels, which can effectively ensure the timeliness of the adjustment action and guarantee the shock absorption effect.

[0029] When the direction of the vibration acceleration of the vehicle body tail is downward and gradually increasing, according to the magnitude of the vibration acceleration, control the damping forces of the four shock absorbers of the whole vehicle to decrease by corresponding values to improve the smoothness of the vehicle body's downward movement. When the direction of the vibration acceleration of the vehicle body tail is upward and gradually increasing, according to the magnitude of the vibration acceleration, control the damping forces of the four shock absorbers of the whole vehicle to increase by corresponding values. Of course, according to the differences in vibration accelerations during the downward and upward movements of the vehicle body, corresponding proportional weighting can be performed on the adjustment values of the damping forces.

[0030] When the vehicle is in the pothole condition: When the directions of the vibration accelerations of the two front wheels are downward, according to the magnitudes of the vibration accelerations, control the damping forces of the four shock absorbers of the whole vehicle to decrease by corresponding values to cope with the impact forces when the front wheels get out of the pothole and the rear wheels enter the pothole. When the directions of the vibration accelerations of the two front wheels are upward, that is, after the front wheels get out of the pothole, control the damping forces of the four shock absorbers of the whole vehicle to return to the initial values. Similarly, obtain the delay time based on the vehicle speed and the wheelbase between the front and rear wheels. After the delay time, perform corresponding control on the damping forces of the two rear axle shock absorbers as that of the front axle shock absorbers.

[0031] When the vehicle is in the pitching condition: when the directions of the vibration accelerations of the two front wheels are upward and gradually increasing, according to the magnitudes of the vibration accelerations, control the damping forces of the two front axle shock absorbers to decrease by corresponding values; when the directions of the vibration accelerations of the two front wheels are downward and gradually increasing, according to the magnitudes of the vibration accelerations, control the damping forces of the two front axle shock absorbers to increase by corresponding values; when the vibration accelerations of the two front wheels are 0, control the damping forces of the two front axle shock absorbers to return to the initial state. Similarly, obtain the delay time based on the vehicle speed and the wheelbase between the front and rear wheels, and after the delay time, perform corresponding control on the damping forces of the two rear axle shock absorbers as that of the front axle shock absorbers.

[0032] When the direction of the vibration acceleration at the rear of the vehicle body is downward and gradually increasing, the body bounce occurs in a raised state. According to the magnitude of the vibration acceleration, control the damping forces of the four shock absorbers of the whole vehicle to increase by corresponding values to hold back the excessive body bounce. When the direction of the vibration acceleration at the rear of the vehicle body is upward and gradually increasing, the body shows a state of sinking. According to the magnitude of the vibration acceleration, control the damping forces of the four shock absorbers of the whole vehicle to increase by corresponding values to withstand the excessive sinking state of the vehicle body.

[0033] When the vehicle is in the cornering condition: when the directions of the vibration accelerations of the two front wheels are respectively upward and downward and both are gradually increasing, according to the magnitudes of the vibration accelerations of the two front wheels, control the damping forces of the two front axle shock absorbers to increase by corresponding values respectively. Specifically, increase the rebound damping forces of the two inner shock absorbers, that is, the side where the vibration acceleration is upward, to hold back the excessive inner lift trend of the vehicle; at the same time, increase the compression damping forces of the two outer shock absorbers, that is, the side where the vibration acceleration is downward, to hold back the excessive outer downward pressure trend of the vehicle. And, since the change amount of the rebound damping force of the single-solenoid valve shock absorber is greater than the compression damping force, therefore, for the adjustment of the compression damping force of the outer shock absorber, compared with the adjustment of the rebound damping force of the inner shock absorber, a weakening signal, such as -30%, needs to be applied to balance the body state of the whole vehicle, and at the same time, not completely weaken the roll state of the vehicle, giving more safety to the driver while not eliminating the roll feeling and maintaining the handling feedback of the vehicle.

[0034] As Figure 2 shown, the embodiment of the present specification also provides a vehicle shock absorber control device, including: A vibration acceleration acquisition module, configured to acquire the vibration accelerations of the two front wheels and the rear of the vehicle body, including the magnitude and direction of the vibration acceleration; A vehicle driving condition acquisition module, configured to acquire the driving condition of the vehicle based on the vibration accelerations of the two front wheels and the rear of the vehicle body, and the driving condition includes the speed bump condition, the pothole condition, the pitching condition, and the cornering condition; A damping force adjustment module, configured to adjust the damping forces of the four shock absorbers of the whole vehicle based on the driving condition of the vehicle and the vibration accelerations of the two front wheels and the rear of the vehicle body.

[0035] The specific working principle of the vehicle shock absorption control device in this embodiment is as described in the above method, and will not be elaborated here.

[0036] As Figure 3 shown, an embodiment of this specification also provides an electronic device, which may include: at least one processor 301, at least one network interface 304, a user interface 303, a memory 305, and at least one communication bus 302.

[0037] Among them, the communication bus 302 is used to realize the connection and communication between these components.

[0038] Among them, the user interface 303 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 303 may further include a standard wired interface and a wireless interface.

[0039] Among them, the network interface 304 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0040] Among them, the processor 301 may include one or more processing cores. The processor 301 connects various parts within the entire electronic device 300 through various interfaces and lines. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 305, and by calling the data stored in the memory 305, it executes various functions of the electronic device 300 and processes data. Optionally, the processor 301 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The processor 301 may integrate a central processing unit (CPU), a graphics processing unit (GPU), a modem, etc. in one or several combinations. Among them, the CPU mainly processes the operating system, user interface, application programs, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communication. It can be understood that the above modem may not be integrated into the processor 301 and may be implemented separately by a single chip.

[0041] Among them, the memory 305 may include a Random Access Memory (RAM), or may also include a Read-Only Memory. Optionally, the memory 305 includes a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 305 may include a program storage area and a data storage area. Among them, the program storage area can store instructions for implementing the operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-mentioned method embodiments, etc.; the data storage area can store the data involved in the above-mentioned method embodiments. Optionally, the memory 305 may also be at least one storage device located far from the aforementioned processor 301. As Figure 3 shown, the memory 305 as a computer storage medium may include an operating system, a network communication module, a user interface module, and program instructions.

[0042] In Figure 3 the electronic device 300 shown, the user interface 303 is mainly used to provide an input interface for the user to obtain the data input by the user; and the processor 301 can be used to call the vehicle shock absorption control application program stored in the memory 305 and specifically perform the following operations: Obtain the vibration accelerations of the two front wheels and the rear of the vehicle body, including the magnitude and direction of the vibration accelerations; Based on the vibration accelerations of the two front wheels and the rear of the vehicle body, obtain the driving conditions of the vehicle, and the driving conditions include speed bump conditions, pothole conditions, pitching conditions, and cornering conditions; Based on the driving conditions of the vehicle and the vibration accelerations of the two front wheels and the rear of the vehicle body, adjust the damping forces of the four shock absorbers of the whole vehicle.

[0043] The embodiments of this specification also provide a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the above method are implemented. Among them, the computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, microdrives, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic cards or optical cards, nano-systems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0044] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that this application is not limited by the described action sequence, because according to this application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0045] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0046] In the several embodiments provided by this application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some service interfaces. The indirect couplings or communication connections of the devices or units can be in electrical or other forms.

[0047] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0048] In addition, in each embodiment of this application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0049] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned memory includes: various media such as USB flash drives, read-only memories (ROM), random access memories (RAM), external hard drives, magnetic disks, or optical discs that can store program codes.

[0050] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program. This program can be stored in a computer-readable memory, and the memory can include: flash drives, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs, etc.

[0051] The above is only a preferred specific implementation manner of the present invention. This specific implementation manner is a realization method based on the overall concept of the present invention, and the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A vehicle vibration reduction control method, characterized in that: include: Obtain the vibration acceleration of the two front wheels and the rear of the vehicle body, including the magnitude and direction of the vibration acceleration; Based on the vibration acceleration of the two front wheels and the rear of the vehicle body, the driving conditions of the vehicle are obtained, including speed bump conditions, pothole conditions, pitch conditions and curve conditions; Based on the vehicle's driving conditions and the vibration acceleration of the two front wheels and the rear of the vehicle, the damping force of the four shock absorbers of the vehicle is adjusted.

2. A vehicle vibration reduction control method according to claim 1, characterized in that: The method of obtaining the driving condition of the vehicle based on the vibration acceleration of the two front wheels and the rear of the vehicle body includes: If the vibration acceleration of the two front wheels is directed upward and gradually increases, and the vibration acceleration of the rear of the vehicle body is directed downward and gradually increases, then the vehicle is determined to be in a speed bump condition or a pitch condition based on the magnitude of the vibration acceleration of the two front wheels; If the vibration acceleration of the two front wheels is directed downward and the vibration acceleration of the rear of the vehicle body is zero, it is determined that the vehicle is in a pothole condition; If the directions of the vibration acceleration of the two front wheels are respectively upward and downward, and both gradually increase, it is determined that the vehicle is in a curve condition.

3. A vehicle vibration reduction control method according to claim 1, characterized in that: The damping force of four shock absorbers of the vehicle is adjusted based on the driving condition of the vehicle and the vibration acceleration of the two front wheels and the rear of the vehicle body, including: The vehicle is under the speed bump condition: when the vibration acceleration of the two front wheels is in the upward direction and gradually increases, the damping force of the two front axle shock absorbers is controlled to decrease by a corresponding value according to the magnitude of the vibration acceleration; when the vibration acceleration of the two front wheels is in the downward direction and gradually increases, the damping force of the two front axle shock absorbers is controlled to increase by a corresponding value according to the magnitude of the vibration acceleration; a delay time is obtained according to the vehicle speed and the wheelbase of the front and rear wheels, and after the delay time, the damping force of the two rear axle shock absorbers is controlled accordingly to the front axle shock absorber; When the vibration acceleration of the rear of the vehicle body is directed downward and gradually increases, the damping force of the four shock absorbers of the whole vehicle is controlled to decrease by a corresponding value according to the magnitude of the vibration acceleration; when the vibration acceleration of the rear of the vehicle body is directed upward and gradually increases, the damping force of the four shock absorbers of the whole vehicle is controlled to increase by a corresponding value according to the magnitude of the vibration acceleration.

4. A vehicle vibration reduction control method according to claim 1, characterized in that: The damping force of four shock absorbers of the vehicle is adjusted based on the driving condition of the vehicle and the vibration acceleration of the two front wheels and the rear of the vehicle body, including: The vehicle is in a pothole condition: when the vibration acceleration of the two front wheels is directed downward, the damping force of the four shock absorbers of the whole vehicle is controlled to be reduced by a corresponding value according to the magnitude of the vibration acceleration; when the vibration acceleration of the two front wheels is directed upward, the damping force of the four shock absorbers of the whole vehicle is controlled to be restored to an initial value; a delay time is obtained according to the vehicle speed and the wheelbase of the front and rear wheels, and after the delay time, the damping force of the two rear axle shock absorbers is controlled accordingly to the front axle shock absorber.

5. The vehicle vibration reduction control method according to claim 1, characterized in that: The damping force of four shock absorbers of the vehicle is adjusted based on the driving condition of the vehicle and the vibration acceleration of the two front wheels and the rear of the vehicle body, including: The vehicle is in a pitching condition: when the vibration acceleration of the two front wheels is directed upward and gradually increases, the damping force of the two front axle shock absorbers is controlled to decrease by a corresponding value according to the magnitude of the vibration acceleration; when the vibration acceleration of the two front wheels is directed downward and gradually increases, the damping force of the two front axle shock absorbers is controlled to increase by a corresponding value according to the magnitude of the vibration acceleration; a delay time is obtained according to the vehicle speed and the wheelbase of the front and rear wheels, and after the delay time, the damping force of the two rear axle shock absorbers is controlled accordingly to the front axle shock absorber; When the vibration acceleration of the rear of the vehicle body is directed downward and gradually increases, the damping force of the four shock absorbers of the whole vehicle is controlled to increase by a corresponding value according to the magnitude of the vibration acceleration; when the vibration acceleration of the rear of the vehicle body is directed upward and gradually increases, the damping force of the four shock absorbers of the whole vehicle is controlled to increase by a corresponding value according to the magnitude of the vibration acceleration.

6. A vehicle vibration reduction control method according to claim 1, characterized in that: The damping force of four shock absorbers of the vehicle is adjusted based on the driving condition of the vehicle and the vibration acceleration of the two front wheels and the rear of the vehicle body, including: The vehicle is in a curve condition: when the directions of the vibration acceleration of the two front wheels are respectively upward and downward, and both gradually increase, the damping forces of the two front axle shock absorbers are respectively controlled to increase by corresponding values ​​according to the magnitudes of the vibration acceleration of the two front wheels.

7. A vehicle vibration reduction control method according to claim 1, characterized in that: The obtaining of the vibration acceleration of the two front wheels and the rear of the vehicle body includes: The direction of the vibration acceleration is solved as a positive or negative value, and the magnitude of the vibration acceleration is solved as a corresponding value according to the set unit value.

8. A vehicle vibration reduction control device, characterized in that: include: A vibration acceleration acquisition module is used to acquire the vibration acceleration of the two front wheels and the rear of the vehicle body, including the magnitude and direction of the vibration acceleration; The vehicle driving condition acquisition module is used to acquire the vehicle driving condition based on the vibration acceleration of the two front wheels and the rear of the vehicle body. The driving condition includes speed bump condition, pothole condition, pitch condition and curve condition. The damping force adjustment module is used to adjust the damping force of the four shock absorbers of the vehicle based on the vehicle's driving conditions and the vibration acceleration of the two front wheels and the rear of the vehicle body.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, wherein the computer-readable storage medium has instructions stored therein, and when the instructions are executed on a computer or a processor, the computer or the processor executes the steps of the method according to any one of claims 1 to 7.

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