Vehicle damping control method, device and electronic equipment

Abstract

The application discloses a vehicle damping control method, device and electronic equipment, and belongs to the technical field of vehicle damping control.The method comprises the following steps: acquiring vibration accelerations of two front wheels and a tail of a vehicle body, including the size and direction of the vibration accelerations; acquiring a driving condition of the vehicle based on the vibration accelerations of the two front wheels and the tail of the vehicle body, wherein the driving condition comprises a deceleration strip condition, a pothole condition, a pitch condition and a curve condition; and adjusting damping forces of four dampers of the vehicle based on the driving condition of the vehicle and the vibration accelerations of the two front wheels and the tail of the vehicle body.The application can automatically and intelligently process data and output control instructions according to a road input condition, can send corresponding control parameters and make electromagnetic valves on actuators act, can generate required damping forces to adjust the driving and riding characteristics of the vehicle, and can effectively and accurately reach a control expected value after specific calibration, so that the cost is reduced and the intelligent driving and riding experience of the vehicle is improved.

Description

TECHNICAL FIELD

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

[0002] At present, the semi-active suspension system with adjustable damping force has been used in more and more vehicles, which generally adjusts the damping force of the electric control shock absorber in real time to improve the body stability of the vehicle when passing various road conditions. The PID controller is often used in the control of the semi-active suspension of the automobile, which has simple control principle, strong practicability and good control effect.

[0003] However, the vehicle has four suspensions in total, and the existing semi-active suspension system often monitors the vibration condition of each suspension and controls the damping force of the shock absorber on each suspension by PID, so that on the one hand, the requirement for computing power is high, resulting in increased cost, and on the other hand, due to the hysteresis of the damping force adjustment, the damping effect needs to be improved. SUMMARY

[0004] The purpose of the present application is to solve the problems existing in the prior art, and to provide a vehicle damping control method, device and electronic equipment, which can effectively reduce the cost and guarantee the damping effect.

[0005] The purpose of the present application is achieved by the following technical solutions:

[0006] A vehicle damping control method, comprising:

[0007] Obtaining the vibration acceleration of two front wheels and the tail of the vehicle body, including the size and direction of the vibration acceleration;

[0008] Based on the vibration acceleration of the two front wheels and the tail of the vehicle body, obtaining the driving condition of the vehicle, including the deceleration zone condition, the pit condition, the pitch condition and the curve condition;

[0009] Based on the driving condition of the vehicle and the vibration acceleration of the two front wheels and the tail of the vehicle body, adjusting the damping force of the four shock absorbers of the vehicle.

[0010] As a preferred, the obtaining of the driving condition of the vehicle based on the vibration acceleration of the two front wheels and the tail of the vehicle body comprises:

[0011] If the directions of the vibration accelerations of the two front wheels are upward and gradually increase, and the direction of the vibration acceleration of the tail of the vehicle body is downward and gradually increases, then according to the size of the vibration acceleration of the two front wheels, it is determined that the vehicle is in the deceleration zone condition or the pitch condition;

[0012] If the directions of the vibration accelerations of the two front wheels are downward, and the vibration acceleration of the rear of the vehicle body is zero, it is determined that the vehicle is in a pothole working condition;

[0013] If the directions of the vibration accelerations of the two front wheels are upward and downward respectively, and both gradually increase, it is determined that the vehicle is in a curve working condition.

[0014] Preferably, the damping forces of the four shock absorbers of the vehicle are adjusted based on the driving working condition of the vehicle and the vibration accelerations of the two front wheels and the rear of the vehicle body, including:

[0015] When the vehicle is in a deceleration strip working condition: when the directions of the vibration accelerations of the two front wheels are upward and gradually increase, the damping forces of the two front axle shock absorbers are controlled to decrease by corresponding values according to the sizes of the vibration accelerations; when the directions of the vibration accelerations of the two front wheels are downward and gradually increase, the damping forces of the two front axle shock absorbers are controlled to increase by corresponding values according to the sizes of the vibration accelerations; a delay time is obtained according to the vehicle speed and the front and rear wheel track distances, and the damping forces of the two rear axle shock absorbers are controlled according to the corresponding control of the front axle shock absorbers after the delay time.

[0016] When the directions of the vibration accelerations of the two front wheels are upward and gradually increase, the damping forces of the two front axle shock absorbers are controlled to decrease by corresponding values according to the sizes of the vibration accelerations; when the directions of the vibration accelerations of the two front wheels are downward and gradually increase, the damping forces of the two front axle shock absorbers are controlled to increase by corresponding values according to the sizes of the vibration accelerations.

[0017] Preferably, the damping forces of the four shock absorbers of the vehicle are adjusted based on the driving working condition of the vehicle and the vibration accelerations of the two front wheels and the rear of the vehicle body, including:

[0018] When the vehicle is in a pothole working condition: when the directions of the vibration accelerations of the two front wheels are downward, the damping forces of the four shock absorbers of the vehicle are controlled to decrease by corresponding values according to the sizes of the vibration accelerations; when the directions of the vibration accelerations of the two front wheels are upward, the damping forces of the four shock absorbers of the vehicle are controlled to return to initial values; a delay time is obtained according to the vehicle speed and the front and rear wheel track distances, and the damping forces of the two rear axle shock absorbers are controlled according to the corresponding control of the front axle shock absorbers after the delay time.

[0019] Preferably, the damping forces of the four shock absorbers of the vehicle are adjusted based on the driving working condition of the vehicle and the vibration accelerations of the two front wheels and the rear of the vehicle body, including:

[0020] When the vibration acceleration of the two front wheels is gradually increasing in the upward direction, 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; when the vibration acceleration of the two front wheels is gradually increasing in the downward direction, 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; and the delay time is obtained according to the vehicle speed and the front and rear wheel track, and the damping force of the two rear axle shock absorbers is controlled according to the corresponding control of the front axle shock absorbers after the delay time.

[0021] When the vibration acceleration of the two front wheels is gradually increasing in the upward direction, 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; when the vibration acceleration of the two front wheels is gradually increasing in the downward direction, 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; and the delay time is obtained according to the vehicle speed and the front and rear wheel track, and the damping force of the two rear axle shock absorbers is controlled according to the corresponding control of the front axle shock absorbers after the delay time.

[0022] As a preferred embodiment, the damping force of the 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, and the adjustment includes:

[0023] When the vibration acceleration of the two front wheels is gradually increasing in the upward direction, 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; when the vibration acceleration of the two front wheels is gradually increasing in the downward direction, 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; and the delay time is obtained according to the vehicle speed and the front and rear wheel track, and the damping force of the two rear axle shock absorbers is controlled according to the corresponding control of the front axle shock absorbers after the delay time.

[0024] As a preferred embodiment, the vibration acceleration of the two front wheels and the rear of the vehicle is obtained by:

[0025] The direction of the vibration acceleration is calculated as a positive or negative value, and the magnitude of the vibration acceleration is calculated as a corresponding value according to a set unit value.

[0026] The present specification also provides a vehicle damping control device, which includes:

[0027] A vibration acceleration obtaining module is configured to obtain the vibration acceleration of the two front wheels and the rear of the vehicle, including the magnitude and direction of the vibration acceleration.

[0028] A vehicle driving condition obtaining module is configured to obtain the driving condition of the vehicle based on the vibration acceleration of the two front wheels and the rear of the vehicle, and the driving condition includes the deceleration zone condition, the pothole condition, the pitch condition and the curve condition.

[0029] A damping force adjusting module is configured to adjust the damping force of the four shock absorbers of the vehicle based on the driving condition of the vehicle and the vibration acceleration of the two front wheels and the rear of the vehicle.

[0030] The present specification also provides an electronic device, which includes a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the steps of the above method.

[0031] The embodiment of the present specification also provides a computer readable storage medium, which stores a computer program, and the computer readable storage medium stores instructions, when the instructions are run on a computer or a processor, the computer or the processor executes the steps of the method as described above.

[0032] The advantage of the present application is that the driving condition of the vehicle is obtained only by monitoring the vibration acceleration of the two front wheels and the tail of the vehicle body, so that the damping force of the four shock absorbers of the vehicle is effectively adjusted based on the driving condition and the vibration acceleration of the vehicle, which not only reduces the cost, but also guarantees the damping effect. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 A flow chart of a vehicle damping control method provided by the embodiment of the present specification is provided.

[0034] Figure 2 A structural schematic diagram of a vehicle damping control device provided by the embodiment of the present specification is provided.

[0035] Figure 3 A structural schematic diagram of an electronic device provided by the embodiment of the present specification is provided. DETAILED DESCRIPTION

[0036] The present application will be further described in detail below with reference to the drawings and specific embodiments.

[0037] As shown in the drawings, the embodiment of the present specification provides a vehicle damping control method, which comprises: Figure 1

[0038] Step 102, obtaining the vibration acceleration of the two front wheels and the tail of the vehicle body, including the size and direction of the vibration acceleration.

[0039] Specifically, the vibration acceleration is obtained by a vibration acceleration sensor, the sensor for obtaining the front wheel vibration acceleration is arranged outside the cylinder of the front axle shock absorber, and the sensor for obtaining the vibration acceleration of the tail of the vehicle body is arranged at the middle position of the tail of the vehicle body. Moreover, according to the different vibration acceleration received by the front wheels and the tail of the vehicle body, the vibration acceleration sensor with a range of 13g is used on the two front axle shock absorbers, and the vibration acceleration sensor with a range of 1.3g is used on the tail of the vehicle body. In addition, the four shock absorbers of the vehicle all use single electromagnetic valve shock absorbers, that is, the size of the damping force of the shock absorber can be directly controlled by controlling the opening of the electromagnetic valve.

[0040] ​In order to reduce the requirement for computing power and thus reduce the cost, the embodiment stores the correspondence between the input value (vibration acceleration) and the output value (damper damping force adjustment value) in a table based on the conventional PID control algorithm, that is, in actual use, the corresponding damping force adjustment value can be found in the table according to the vibration acceleration to control the damper of the vehicle. In order 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 divided into equal parts, and the parts are used as input values in the table. Taking a 13g vibration acceleration sensor on the front axle damper as an example, the 13g range is 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 a positive or negative value, for example, the upward vibration acceleration is positive and the downward vibration acceleration is negative, so each table stores 41 input values: -20, -19, -18…-1, 0, 1, 2, 3…20. If the vibration acceleration obtained by the vibration acceleration sensor is downward 2.5g, it is calculated as -3, and the corresponding damper damping force adjustment value is queried in the table with -3 as the input value. Of course, since each input value in the table corresponds to an actual input value in an interval, 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 according to the test results in 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 of the interval is used as the output value of the interval.

[0041] Step 104, based on the vibration accelerations of the two front wheels and the tail of the vehicle body, the driving condition of the vehicle is obtained, including the deceleration strip condition, the pothole condition, the pitch condition and the curve condition:

[0042] If the directions of the vibration accelerations of the two front wheels are upward and gradually increase, and the direction of the vibration acceleration of the tail of the vehicle body is downward and gradually increases, the size of the vibration acceleration of the two front wheels is determined to determine that the vehicle is in the deceleration strip condition or the pitch condition; wherein the vibration acceleration of the front wheel is relatively larger in the deceleration strip condition, and the vibration acceleration of the front wheel is relatively smaller in the pitch condition, so the two conditions can be distinguished by setting the vibration acceleration size interval.

[0043] Specifically, the vehicle is in the deceleration strip working condition: first, the front wheels contact the deceleration strip and climb to the top and then fall 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 positive and the downward acceleration value as negative. The acceleration value gradually increases from 0, and when the wheel reaches the top of the deceleration strip, the acceleration value is still positive but stops increasing and starts to show the characteristics of falling back. When the wheel starts to fall back to the flat road from the deceleration strip, the positive value of the wheel acceleration sensor gradually decreases to negative, while the negative value continues to increase. When the wheel completes the deceleration strip working condition and falls back to the flat road, the negative value of the wheel acceleration sensor reaches the top and then instantaneously returns to zero.

[0044] When the front wheel passes through the deceleration strip working condition, the rear body acceleration sensor detects the rear body movement as follows: first, there is a tail sinking and gradually increasing working condition, that is, the acceleration is downward and gradually increases; then, after reaching the lowest point, the rear body gradually returns to the flat and then continues to tilt to a maximum value, and then instantaneously returns to zero.

[0045] When the vehicle is in the deceleration strip working condition: when the vehicle passes through some hump bridges or wavy road surfaces, it will appear a following jump and a downward rammer. At this moment, the wheel acceleration sensor arranged on the front reduction detects a flat rising positive value and then randomly appears a gradually decreasing negative value. At the same time, the acceleration sensor arranged behind the vehicle body detects a downward negative value opposite to the wheel acceleration, which then returns to zero until a positive value appears and reaches the maximum and then returns to zero.

[0046] If the directions of the vibration accelerations of the two front wheels are downward, and the vibration acceleration of the tail of the vehicle body is zero, it is determined that the vehicle is in the pit working condition. When the front wheel falls into the pit, the wheel acceleration sensor arranged on the front reduction detects a very large downward impact value. Then, due to the inertia factor, the vehicle body temporarily remains stationary. At the next moment, when the wheel jumps out of the pit, the vehicle body starts to descend due to inertia. At this moment, the upward impact force of the wheel and the downward impact force of the vehicle body are superimposed, which is very obvious in the sense.

[0047] If the directions of the vibration accelerations of the two front wheels are upward and downward respectively, and both gradually increase, it is determined that the vehicle is in the curve working condition. In the process of the vehicle passing through the curve, the inside of the vehicle body is lifted, and the outside of the vehicle body is lowered. The two wheel acceleration sensors arranged on the front reduction can detect that the inside wheel negative value gradually increases (the inside wheel has a strong downward pulling force), and the outside wheel positive value gradually increases (the outside wheel has a strong upward pulling force).

[0048] Step 106, based on the driving conditions of the vehicle and the vibration acceleration of the two front wheels and the tail of the vehicle body, the damping force of the four shock absorbers of the whole vehicle is adjusted, and the control logic under four working conditions is introduced respectively below. It is to be explained that the increase and decrease of the damping force are adjusted on the basis of the initial state.

[0049] When the vibration acceleration of the two front wheels is upward and gradually increases, according to the size of the vibration acceleration, the damping force of the two front axle shock absorbers is reduced by a corresponding value, so that the suspension spring can linearly and slowly absorb the impact vibration. When the vibration acceleration of the two front wheels is downward and gradually increases, according to the size of the vibration acceleration, the damping force of the two front axle shock absorbers is increased by a corresponding value, so that the suspension spring can linearly and slowly release the energy of impact absorption. According to the delay time obtained by the vehicle speed and the front and rear wheelbase, the damping force of the two rear axle shock absorbers is controlled after the delay time, and the damping force of the two rear axle shock absorbers is adjusted according to the test results in the calibration process, that is, the difference between the front and rear wheels in the vibration is considered. For example, the vibration of the rear wheel is generally larger, so the damping force adjustment value of the front axle shock absorber is weighted by about 10% and output to the rear axle shock absorber. In this way, the damping force adjustment action of the rear axle shock absorber does not need to be made after monitoring the rear wheel vibration acceleration, which can effectively ensure the timeliness of the adjustment action and protect the damping effect.

[0050] When the vibration acceleration of the tail of the vehicle body is downward and gradually increases, according to the size of the vibration acceleration, the damping force of the four shock absorbers of the whole vehicle is reduced by a corresponding value, so as to improve the smoothness of the body falling. When the vibration acceleration of the tail of the vehicle body is upward and gradually increases, according to the size of the vibration acceleration, the damping force of the four shock absorbers of the whole vehicle is increased by a corresponding value. Of course, according to the difference of the vibration acceleration in the process of the body falling and lifting, the adjustment value of the damping force can be weighted by a corresponding proportion.

[0051] When the vibration acceleration of the two front wheels is downward, according to the size of the vibration acceleration, the damping force of the four shock absorbers of the whole vehicle is reduced by a corresponding value to cope with the impact force of the front wheel out of the pit and the rear wheel into the pit. When the vibration acceleration of the two front wheels is upward, that is, the front wheel out of the pit, the damping force of the four shock absorbers of the whole vehicle is restored to the initial value. Similarly, according to the delay time obtained by the vehicle speed and the front and rear wheelbase, the damping force of the two rear axle shock absorbers is controlled after the delay time, and the damping force of the two rear axle shock absorbers is controlled according to the front axle shock absorber.

[0052] When the vibration acceleration of the two front wheels is gradually increasing in the upward direction, the damping force of the two front axle shock absorbers is reduced by a corresponding value according to the size of the vibration acceleration; when the vibration acceleration of the two front wheels is gradually increasing in the downward direction, the damping force of the two front axle shock absorbers is increased by a corresponding value according to the size of the vibration acceleration; and when the vibration acceleration of the two front wheels is 0, the damping force of the two front axle shock absorbers returns to the initial state. Similarly, the delay time is obtained according to the vehicle speed and the front and rear wheel track, and the damping force of the two rear axle shock absorbers is controlled according to the front axle shock absorbers after the delay time.

[0053] When the vibration acceleration of the two front wheels is gradually increasing in the upward direction, the damping force of the two front axle shock absorbers is reduced by a corresponding value according to the size of the vibration acceleration; when the vibration acceleration of the two front wheels is gradually increasing in the downward direction, the damping force of the two front axle shock absorbers is increased by a corresponding value according to the size of the vibration acceleration; and when the vibration acceleration of the two front wheels is 0, the damping force of the two front axle shock absorbers returns to the initial state. Similarly, the delay time is obtained according to the vehicle speed and the front and rear wheel track, and the damping force of the two rear axle shock absorbers is controlled according to the front axle shock absorbers after the delay time.

[0054] When the vibration acceleration of the two front wheels is gradually increasing in the upward direction, the damping force of the two front axle shock absorbers is reduced by a corresponding value according to the size of the vibration acceleration; when the vibration acceleration of the two front wheels is gradually increasing in the downward direction, the damping force of the two front axle shock absorbers is increased by a corresponding value according to the size of the vibration acceleration; and when the vibration acceleration of the two front wheels is 0, the damping force of the two front axle shock absorbers returns to the initial state. Similarly, the delay time is obtained according to the vehicle speed and the front and rear wheel track, and the damping force of the two rear axle shock absorbers is controlled according to the front axle shock absorbers after the delay time.

[0055] As shown in Figure 2 The vehicle damping control device provided by the embodiment of the present specification comprises:

[0056] The vibration acceleration acquisition module is configured to acquire the vibration acceleration of the two front wheels and the tail of the vehicle body, including the size and direction of the vibration acceleration.

[0057] The vehicle driving condition acquisition module is configured to acquire the driving condition of the vehicle based on the vibration acceleration of the two front wheels and the tail of the vehicle body, and the driving condition comprises a deceleration zone condition, a pothole condition, a pitch condition and a curve condition.

[0058] The damping force adjusting module is used for adjusting the damping force of four shock absorbers of the vehicle based on the driving condition of the vehicle and the vibration acceleration of the two front wheels and the tail of the vehicle body.

[0059] The specific working principle of the vehicle damping control device of the embodiment is described in the above method, and will not be repeated here.

[0060] As shown in the above Figure 3 The embodiment of the present specification also provides an electronic device, which can 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.

[0061] The communication bus 302 is used to realize the connection and communication between the components.

[0062] The user interface 303 can include a display screen (Display) and a camera (Camera). Optionally, the user interface 303 can also include a standard wired interface and a wireless interface.

[0063] The network interface 304 can optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0064] The processor 301 can include one or more processing cores. The processor 301 connects various parts in the entire electronic device 300 through various interfaces and lines, executes various functions of the electronic device 300 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 305, and calling data stored in the memory 305. Optionally, the processor 301 can be realized in at least one of the hardware forms of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 301 can integrate a combination of one or several of central processing unit (Central Processing Unit, CPU), graphics processing unit (Graphics Processing Unit, GPU), and modem. Among them, the CPU mainly processes the operating system, user interface, and application program; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; and the modem is used for processing wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 301, but can be realized by a separate chip.

[0065] The memory 305 may include random access memory (RAM) or read-only memory. Optionally, the memory 305 may include a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 305 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 305 may also be at least one storage device located remotely from the aforementioned processor 301. Figure 3 As shown, the memory 305, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and program instructions.

[0066] exist Figure 3 In the illustrated electronic device 300, the user interface 303 is mainly used to provide an input interface for the user and to acquire user input data; while the processor 301 can be used to call the vehicle vibration damping control application stored in the memory 305 and specifically perform the following operations:

[0067] Obtain the vibration acceleration of the two front wheels and the rear of the vehicle, including the magnitude and direction of the vibration acceleration;

[0068] Based on the vibration acceleration of the two front wheels and the rear of the vehicle, the driving conditions of the vehicle are obtained, including speed bump conditions, pothole conditions, pitch conditions and cornering conditions.

[0069] The damping force of the four shock absorbers of the vehicle is adjusted based on the vehicle's driving conditions and the vibration acceleration of the two front wheels and the rear of the vehicle.

[0070] This specification also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method. 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, as well as magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0071] It should be noted that, for the foregoing method embodiments, the sequences of the described actions are not necessarily required to achieve the objects of the application, and certain steps can be performed in other sequences or even concurrently. Additionally, the described embodiments are merely provided as examples, and not all of the actions described are necessarily required to achieve desired results.

[0072] In the above embodiments, the description of each embodiment is focused on different aspects, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0073] In several embodiments provided in the present application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, another division manner can be adopted. For example, a plurality of units or components can be combined or integrated into another system, or some features can be omitted or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some service interfaces, devices or units, and can be electrical or other forms.

[0074] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e. can be located in one place or distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0075] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0076] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable memory. Based on such understanding, the technical solutions of the present application essentially or the part of the prior art that contributes to the present application or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a memory and includes a plurality of 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 method described in the various embodiments of the present application. The aforementioned memory includes: a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0077] A person 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 performed by a program instructing relevant hardware, and the program can be stored in a computer readable memory, which can include a flash disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0078] The above is only a preferred specific embodiment of the present application, which is an implementation based on the overall concept of the present application, and the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application 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, 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, the vehicle's driving conditions are obtained, including: If the vibration acceleration of the two front wheels is upward and gradually increases in magnitude, while the vibration acceleration of the rear of the vehicle is downward and gradually increases in magnitude, then the vehicle is determined to be in a speed bump condition or a pitching condition based on the magnitude of the vibration acceleration of the two front wheels. If the vibration acceleration of the two front wheels is downward, and the vibration acceleration of the rear of the vehicle is zero, then the vehicle is determined to be in a dented condition. If the vibration acceleration of the two front wheels is directed upward and downward respectively, and both gradually increase, then the vehicle is determined to be in a curve condition. 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 is adjusted, including: When the vehicle is encountering a speed bump: when the vibration acceleration of the two front wheels is upward and gradually increases, the damping force of the two front axle shock absorbers is reduced accordingly based on the magnitude of the vibration acceleration; when the vibration acceleration of the two front wheels is downward and gradually increases, the damping force of the two front axle shock absorbers is increased accordingly based on the magnitude of the vibration acceleration; a delay time is obtained based on the vehicle speed and the wheelbase, and after the delay time, the damping force of the two rear axle shock absorbers is controlled in the same way as the front axle shock absorbers; When the vibration acceleration at the rear of the vehicle body is downward and gradually increases, the damping force of the four shock absorbers of the vehicle is reduced accordingly based on the magnitude of the vibration acceleration; when the vibration acceleration at the rear of the vehicle body is upward and gradually increases, the damping force of the four shock absorbers of the vehicle is increased accordingly based on the magnitude of the vibration acceleration. When the vehicle is in a ditch: when the vibration acceleration of the two front wheels is downward, the damping force of the four shock absorbers is reduced by a corresponding value according to the magnitude of the vibration acceleration; when the vibration acceleration of the two front wheels is upward, the damping force of the four shock absorbers is restored to its initial value; based on the vehicle speed and the wheelbase, a delay time is obtained, and after the delay time, the damping force of the two rear axle shock absorbers is controlled in the same way as the front axle shock absorbers.

2. The vehicle vibration reduction control method according to claim 1, characterized in that, The adjustment of 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, includes: When the vehicle is in a pitching condition: when the vibration acceleration of the two front wheels is upward and gradually increases, the damping force of the two front axle shock absorbers is reduced accordingly based on the magnitude of the vibration acceleration; when the vibration acceleration of the two front wheels is downward and gradually increases, the damping force of the two front axle shock absorbers is increased accordingly based on the magnitude of the vibration acceleration; a delay time is obtained based on the vehicle speed and the wheelbase, and after the delay time, the damping force of the two rear axle shock absorbers is controlled in the same way as the front axle shock absorbers; When the vibration acceleration at the rear of the vehicle body is downward and gradually increases, the damping force of the four shock absorbers of the vehicle is increased accordingly based on the magnitude of the vibration acceleration; when the vibration acceleration at the rear of the vehicle body is upward and gradually increases, the damping force of the four shock absorbers of the vehicle is increased accordingly based on the magnitude of the vibration acceleration.

3. The vehicle vibration reduction control method according to claim 1, characterized in that, The adjustment of 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, includes: When the vehicle is in a curve: when the vibration acceleration of the two front wheels is in the direction of upward and downward respectively, and both gradually increase, the damping force of the two front axle shock absorbers is increased accordingly based on the magnitude of the vibration acceleration of the two front wheels.

4. The vehicle vibration reduction control method according to claim 1, characterized in that, The acquisition of vibration accelerations of the two front wheels and the rear of the vehicle includes: The direction of the vibration acceleration is calculated as positive or negative, and the magnitude of the vibration acceleration is calculated as the corresponding value according to the set unit value.

5. A vehicle vibration damping control device, characterized in that, include: The vibration acceleration acquisition module is used to acquire the vibration acceleration of the two front wheels and the rear of the vehicle, including the magnitude and direction of the vibration acceleration. The vehicle driving condition acquisition module is used to acquire the vehicle's driving conditions based on the vibration acceleration of the two front wheels and the rear of the vehicle, including: If the vibration acceleration of the two front wheels is upward and gradually increases in magnitude, while the vibration acceleration of the rear of the vehicle is downward and gradually increases in magnitude, then the vehicle is determined to be in a speed bump condition or a pitching condition based on the magnitude of the vibration acceleration of the two front wheels. If the vibration acceleration of the two front wheels is downward, and the vibration acceleration of the rear of the vehicle is zero, then the vehicle is determined to be in a dented condition. If the vibration acceleration of the two front wheels is directed upward and downward respectively, and both gradually increase, then the vehicle is determined to be in a 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. This includes: When the vehicle is encountering a speed bump: when the vibration acceleration of the two front wheels is upward and gradually increases, the damping force of the two front axle shock absorbers is reduced accordingly based on the magnitude of the vibration acceleration; when the vibration acceleration of the two front wheels is downward and gradually increases, the damping force of the two front axle shock absorbers is increased accordingly based on the magnitude of the vibration acceleration; a delay time is obtained based on the vehicle speed and the wheelbase, and after the delay time, the damping force of the two rear axle shock absorbers is controlled in the same way as the front axle shock absorbers; When the vibration acceleration at the rear of the vehicle body is downward and gradually increases, the damping force of the four shock absorbers of the vehicle is reduced accordingly based on the magnitude of the vibration acceleration; when the vibration acceleration at the rear of the vehicle body is upward and gradually increases, the damping force of the four shock absorbers of the vehicle is increased accordingly based on the magnitude of the vibration acceleration. When the vehicle is in a ditch: when the vibration acceleration of the two front wheels is downward, the damping force of the four shock absorbers is reduced by a corresponding value according to the magnitude of the vibration acceleration; when the vibration acceleration of the two front wheels is upward, the damping force of the four shock absorbers is restored to its initial value; based on the vehicle speed and the wheelbase, a delay time is obtained, and after the delay time, the damping force of the two rear axle shock absorbers is controlled in the same way as the front axle shock absorbers.

6. 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, it implements the steps of the method as described in any one of claims 1-4.

7. A computer-readable storage medium having a computer program stored thereon, the computer-readable storage medium storing instructions that, when executed on a computer or processor, cause the computer or processor to perform the steps of the method as claimed in any one of claims 1-4.

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