Vehicle height adjusting method and device, vehicle and storage medium

Abstract

The invention relates to a vehicle height adjusting method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining the current pitching angle of the vehicle, and determining the current position of the mass center corresponding to the vehicle based on the pitching angle; under the condition that it is determined that the current position is not within the preset range, the first adjusting height of a front axle of the vehicle and the second adjusting height of a rear axle of the vehicle are determined based on the pitching angle; the height of a front axle of the vehicle is adjusted according to the first adjusting height, and the height of a rear axle of the vehicle is adjusted according to the second adjusting height. Therefore, the heights of the front axle and the rear axle of the vehicle can be efficiently and accurately adjusted, the running stability of the vehicle is improved, the safety risk caused by the unstable gravity center of the vehicle is reduced, and the user experience is improved.

Description

Technical Field

[0001] This application relates to the technical field of vehicle height adjustment, and particularly to a vehicle height adjustment method, device, vehicle, and storage medium. Background Art

[0002] Currently, in the field of vehicles, in order to improve the maneuverability and stability of vehicles, the application of air suspensions is becoming more and more widespread. The air suspension configuration can adjust the vehicle height to ensure the safety of the vehicle during driving.

[0003] In the related art, when adjusting the vehicle height, it is generally adjusted manually by the driver. This adjustment method is likely to cause the center of gravity of the adjusted vehicle to be too low or too high, resulting in safety risks such as chassis scraping during vehicle driving or reduced stability due to too high a center of gravity during high-speed turning of the vehicle, and there are potential safety hazards. Summary of the Invention

[0004] This application provides a vehicle height adjustment method, device, vehicle, and storage medium to solve the technical problem that the existing vehicle height adjustment method is likely to cause the center of gravity of the adjusted vehicle to be too low or too high, resulting in safety risks such as chassis scraping during vehicle driving or reduced stability due to too high a center of gravity during high-speed turning of the vehicle, and there are potential safety hazards.

[0005] In a first aspect, this application provides a vehicle height adjustment method, and the method includes:

[0006] Obtain the current pitch angle of the vehicle, and determine the current position of the center of mass corresponding to the vehicle based on the pitch angle;

[0007] In the case where it is determined that the current position is not within the preset range, determine a first adjustment height for the front axle of the vehicle and a second adjustment height for the rear axle of the vehicle based on the pitch angle;

[0008] Adjust the height of the front axle of the vehicle according to the first adjustment height, and adjust the height of the rear axle of the vehicle according to the second adjustment height.

[0009] As an optional implementation, the determining the current position of the center of mass corresponding to the vehicle based on the pitch angle includes:

[0010] Obtain the wheelbase between the front axle and the rear axle of the vehicle, the front axle load of the vehicle, and the rear axle load of the vehicle;

[0011] Determine the current horizontal distance of the center of mass corresponding to the vehicle from the front axle according to the pitch angle, the wheelbase, the front axle load, and the rear axle load;

[0012] Determine a first height value corresponding to the axis center of the front axle and a second height value corresponding to the axis center of the rear axle;

[0013] Determine a current height value of the vehicle's center of mass from the ground according to the pitch angle, the front axle load, the rear axle load, the first height value, and the second height value;

[0014] Determine the current position of the vehicle's center of mass according to the current horizontal distance and the current height value.

[0015] As an alternative implementation, the determining a first adjustment height for the front axle of the vehicle and a second adjustment height for the rear axle of the vehicle based on the pitch angle includes:

[0016] Determine the offset direction of the vehicle's center of mass according to the current position of the vehicle's center of mass;

[0017] When the offset direction indicates that the vehicle's center of mass moves rearward, determine a first adjustment height for the front axle of the vehicle and a second adjustment height for the rear axle of the vehicle from a first correspondence relationship among a preset pitch angle, an adjustment height for the front axle, and an adjustment height for the rear axle according to the pitch angle;

[0018] When the offset direction indicates that the vehicle's center of mass moves forward, determine a first adjustment height for the front axle of the vehicle and a second adjustment height for the rear axle of the vehicle from a second correspondence relationship among a preset pitch angle, an adjustment height for the front axle, and an adjustment height for the rear axle according to the pitch angle.

[0019] As an alternative implementation, the determining a first adjustment height for the front axle of the vehicle and a second adjustment height for the rear axle of the vehicle based on the pitch angle includes:

[0020] Determine a first initial adjustment height for the front axle of the vehicle and a second initial adjustment height for the rear axle of the vehicle according to the pitch angle;

[0021] Divide the front axle and the rear axle of the vehicle into a raised axle with an increased height and a lowered axle with a decreased height according to the first initial adjustment height and the second initial adjustment height;

[0022] Obtain the current variable load of the vehicle and determine a first adjustment coefficient for the raised axle and a second adjustment coefficient for the lowered axle according to the variable load.

[0023] Adjust the third initial adjustment height of the elevation axis according to the first adjustment coefficient to obtain the third adjustment height of the elevation axis; wherein, when the elevation axis is the front axle, the third initial adjustment height is the first initial adjustment height, and the third adjustment height is the first adjustment height; when the elevation axis is the rear axle, the third initial adjustment height is the second initial adjustment height, and the third adjustment height is the second adjustment height;

[0024] Adjust the fourth initial adjustment height of the lowering axis according to the second adjustment coefficient to obtain the fourth adjustment height of the lowering axis; wherein, when the elevation axis is the front axle, the fourth initial adjustment height is the first initial adjustment height, and the third adjustment height is the first adjustment height; when the elevation axis is the rear axle, the fourth initial adjustment height is the second initial adjustment height, and the fourth adjustment height is the second adjustment height.

[0025] As an alternative implementation, the obtaining the current variable load of the vehicle includes:

[0026] Determine the offset direction of the center of mass of the vehicle according to the current position of the center of mass corresponding to the vehicle;

[0027] When the offset direction indicates that the center of mass of the vehicle moves backward, obtain the first variable load of the rear row seats of the vehicle; determine the first variable load as the current variable load of the vehicle;

[0028] When the offset direction indicates that the center of mass of the vehicle moves forward, obtain the second variable load of the driver's seat, the co-driver's seat, and the trunk of the vehicle in total; determine the second variable load as the current variable load of the vehicle.

[0029] As an alternative implementation, the determining the first adjustment coefficient for the elevation axis and the second adjustment coefficient for the lowering axis according to the variable load includes:

[0030] According to the variable load, determine the first adjustment coefficient for the elevation axis and the second adjustment coefficient for the lowering axis corresponding to the variable load from the corresponding relationship between the preset variable load, the adjustment coefficient for the elevation axis, and the adjustment coefficient for the lowering axis.

[0031] As an alternative implementation, after determining the third adjustment height of the elevation axis and the fourth adjustment height of the lowering axis, it further includes:

[0032] Obtain the current steering angle of the vehicle and determine the road surface grade of the current driving road surface of the vehicle;

[0033] Determine a target adjustment height from a preset correspondence relationship among the steering angle, the road surface grade, and the adjustment height according to the steering angle and the road surface grade.

[0034] Adjust the third adjustment height and the fourth adjustment height according to the target adjustment height to obtain the adjusted third adjustment height and fourth adjustment height.

[0035] As an optional implementation manner, determining the road surface grade of the current driving road surface of the vehicle includes:

[0036] Obtain the wheel hop acceleration of each wheel of the vehicle during current driving to obtain the wheel hop accelerations corresponding to multiple wheels.

[0037] Perform band-pass filtering on the multiple wheel hop accelerations to obtain the processed multiple wheel hop accelerations.

[0038] Determine the average wheel hop acceleration of the processed multiple wheel hop accelerations.

[0039] Determine the road surface grade corresponding to the average wheel hop acceleration from a preset correspondence relationship between the road surface grade and the wheel hop acceleration range according to the average wheel hop acceleration.

[0040] In a second aspect, the present application provides a vehicle height adjustment device, and the device includes:

[0041] An acquisition module, configured to acquire the current pitch angle of the vehicle and determine the current position of the corresponding center of mass of the vehicle based on the pitch angle.

[0042] A determination module, configured to, when determining that the current position is not within a preset range, determine a first adjustment height for the front axle of the vehicle and a second adjustment height for the rear axle of the vehicle based on the pitch angle.

[0043] An adjustment module, configured to adjust the height of the front axle of the vehicle according to the first adjustment height and adjust the height of the rear axle of the vehicle according to the second adjustment height.

[0044] In a third aspect, the present application provides a vehicle, including: a processor and a memory, where the processor is configured to execute a vehicle height adjustment program stored in the memory to implement the vehicle height adjustment method according to any one of the first aspects.

[0045] In a fourth aspect, the present application provides a storage medium, where the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the vehicle height adjustment method according to any one of the first aspects.

[0046] The technical solution provided by the embodiment of the present application obtains the current pitch angle of the vehicle, determines the current position of the vehicle's corresponding center of mass based on the above pitch angle. When it is determined that the current position is not within the preset range, the first adjustment height of the vehicle's front axle and the second adjustment height of the vehicle's rear axle are determined based on the above pitch angle. The height of the vehicle's front axle is adjusted according to the above first adjustment height, and the height of the vehicle's rear axle is adjusted according to the second adjustment height. In this technical solution, when it is determined that the current position of the vehicle's center of mass is not within the preset range based on the pitch angle, it indicates that the vehicle has tilted forward or backward at this time. At this time, the adjustment heights of the vehicle's front axle and rear axle can be determined respectively according to the current pitch angle of the vehicle, so as to adjust the heights of the vehicle's front axle and rear axle even if, ensure that the center of mass of the vehicle is within the preset range, thereby ensuring that the vehicle can drive smoothly, realizing efficient and accurate adjustment of the heights of the vehicle's front and rear axles, improving the stability of vehicle operation, reducing the safety risks caused by unstable vehicle center of gravity, and enhancing the user experience. Description of the Drawings

[0047] The accompanying drawings here are incorporated into the specification and form a part of this specification, showing the embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0048] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for use in the embodiments or the prior art text. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0049] One or more embodiments are exemplarily illustrated by the pictures in the corresponding accompanying drawings. These exemplary illustrations do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, unless otherwise stated, and the drawings in the figures do not constitute a proportional limitation.

[0050] Figure 1 It is a flowchart of an embodiment of a vehicle height adjustment method provided by an embodiment of the present application;

[0051] Figure 2 It is a flowchart of an embodiment of another vehicle height adjustment method provided by an embodiment of the present application;

[0052] Figure 3 It is a flowchart of an embodiment of yet another vehicle height adjustment method provided by an embodiment of the present application;

[0053] Figure 4 It is a flowchart of an embodiment of still another vehicle height adjustment method provided by an embodiment of the present application;

[0054] Figure 5 This is a flowchart of an embodiment of another vehicle height adjustment method provided by an embodiment of the present application;

[0055] Figure 6 This is a block diagram of an embodiment of a vehicle height adjustment device provided by an embodiment of the present application;

[0056] Figure 7 This is a schematic structural diagram of a vehicle provided by an embodiment of the present application. Detailed implementation manners

[0057] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are only a part rather than all of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0058] The following disclosure provides many different embodiments or examples for implementing different structures of the present application. To simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, they are only examples and are not intended to limit the present application. In addition, the present application may repeat reference numerals and / or letters in different examples. Such repetition is for the purpose of simplification and clarity and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0059] To solve the technical problem in the prior art that the vehicle height adjustment method is likely to cause the center of gravity of the adjusted vehicle to be too low or too high, resulting in safety risks such as chassis scraping during vehicle driving or too high center of gravity during high-speed turning of the vehicle, and there are potential safety hazards, the present application provides a vehicle charging method, device, vehicle, and storage medium. When it is determined that the current position of the vehicle's center of mass is not within the preset range according to the pitch angle, it indicates that the vehicle has tilted forward or backward at this time. At this time, the adjustment heights for the front axle and rear axle of the vehicle can be determined respectively according to the current pitch angle of the vehicle, so as to adjust the heights of the front axle and rear axle of the vehicle, ensure that the center of mass of the vehicle is within the preset range, thereby ensuring that the vehicle can drive smoothly, achieving efficient and accurate adjustment of the heights of the front and rear axles of the vehicle, improving the stability of vehicle operation, reducing the safety risks caused by unstable vehicle center of gravity, and enhancing the user experience.

[0060] The vehicle height adjustment method provided by the present application will be further explained below with specific embodiments in conjunction with the accompanying drawings. The embodiments do not constitute a limitation to the embodiments of the present application.

[0061] SeeFigure 1 , which is a flowchart of an embodiment of a vehicle height adjustment method provided by an embodiment of the present application. As Figure 1 shown, this process may include the following steps:

[0062] Step 101: Obtain the current pitch angle of the vehicle, and determine the current position of the corresponding centroid of the vehicle based on the above pitch angle.

[0063] The above pitch angle refers to the angle of the vehicle tilting forward and backward. When the vehicle has a pitch angle, the ground clearance at the front and rear of its body is different. Therefore, this roll angle can be determined according to the distance between the front of the body and the ground, and the distance between the rear of the body and the ground.

[0064] The above centroid refers to the mass center of the vehicle body, that is, the center point of the vehicle body mass. The position of this centroid is not fixed and can change with the change of the vehicle load.

[0065] In some embodiments of the present application, the execution subject of the embodiments of the present application can be the controller of the vehicle. Based on this, since the position of the vehicle centroid can measure the stability of the vehicle, in order to ensure the stability of the vehicle during driving, the execution subject of the embodiments of the present application, that is, the controller of the vehicle, can obtain the current pitch angle of the vehicle and determine the current position of the corresponding centroid of the vehicle based on this pitch angle.

[0066] As an alternative implementation, an IMU (Inertial Measurement Unit) sensor can be installed in the vehicle. This IMU sensor can be used to detect the pitch angle during the operation of the vehicle. Based on this, the execution subject of the embodiments of the present application can call this IMU sensor to obtain the current pitch angle of the vehicle during the operation or stop of the vehicle.

[0067] As for how to specifically determine the current position of the corresponding centroid of the vehicle based on this pitch angle, it will be described in the following through Figure 2 the shown process and will not be elaborated here first.

[0068] Step 102: In the case where it is determined that the current position is not within the preset range, determine the first adjustment height for the front axle of the vehicle and the second adjustment height for the rear axle of the vehicle based on the above pitch angle.

[0069] Step 103: Adjust the height of the front axle of the vehicle according to the above first adjustment height, and adjust the height of the rear axle of the vehicle according to the second adjustment height.

[0070] The following is a unified description of Step 102 and Step 103:

[0071] The above preset range refers to the range to which the center of mass of the vehicle belongs when the vehicle is in a situation with relatively high stability. This range may include a horizontal distance range, or a horizontal distance range and a height range. The above horizontal distance range refers to the horizontal distance between the center of mass and the front axle, and the above height range may refer to the distance between the center of mass and the vehicle load-bearing surface (the vehicle load-bearing surface refers to the plane that bears the vehicle. For example, when the vehicle is traveling on the ground, the vehicle load-bearing surface can be the ground).

[0072] For example, the horizontal distance range of the preset range can be that the vertical distance between the center of mass position and the front axle of the vehicle is greater than a first distance threshold, and the distance from the rear axle of the vehicle is greater than a second distance threshold. The above first distance threshold and second distance threshold can be the same distance threshold or different distance thresholds. The height value range of the preset range can be that the height from the ground is greater than or equal to a preset height threshold.

[0073] The above front axle refers to a vehicle component located at the front of the vehicle.

[0074] The above rear axle refers to a vehicle component located at the rear of the vehicle.

[0075] The above first adjustment height refers to the height for adjusting the front axle of the vehicle. Optionally, it can be a positive value or a negative value. When the first adjustment height is a positive value, it can represent raising the height of the front axle of the vehicle; when the first adjustment height is a negative value, it can represent lowering the height of the rear axle of the vehicle.

[0076] Among them, when the first adjustment height is a positive value, it can also represent lowering the height of the front axle of the vehicle; when the first adjustment height is a negative value, it can also represent raising the height of the front axle of the vehicle. The embodiments of the present application do not limit this. In the present application, taking a positive value to represent raising the height of the front axle and a negative value to represent lowering the height of the front axle as an example for illustration.

[0077] The above second adjustment height refers to the height for adjusting the rear axle of the vehicle. Optionally, it can be a positive value or a negative value. When the second adjustment height is a positive value, it can represent raising the height of the rear axle of the vehicle; when the second adjustment height is a negative value, it can represent lowering the height of the rear axle of the vehicle.

[0078] Among them, when the second adjustment height is a positive value, it can also represent lowering the height of the rear axle of the vehicle; when the second adjustment height is a negative value, it can also represent raising the height of the rear axle of the vehicle. The embodiments of the present application do not limit this. In the present application, taking a positive value to represent raising the height of the rear axle and a negative value to represent lowering the height of the rear axle as an example for illustration.

[0079] In some embodiments of the present application, after determining the current position of the vehicle's center of mass, in order to determine the current stability of the vehicle, it can be determined whether the current position of the vehicle's center of mass is within the preset range.

[0080] Optionally, when it is determined that the current position of the vehicle's center of mass is within the above-mentioned preset range, it indicates that the vehicle is relatively stable at this time, so the vehicle height may not be adjusted.

[0081] Optionally, when it is determined that the current position of the vehicle's center of mass is not within the above-mentioned preset range (that is, the horizontal distance of the center of mass does not meet the preset horizontal distance range, or the horizontal distance of the center of mass does not meet the horizontal distance range and the height of the center of mass does not meet the preset height range), it indicates that the vehicle stability is relatively low at this time. Therefore, based on the above-mentioned pitch angle, the first adjustment height for adjusting the front axle of the vehicle and the second adjustment height for adjusting the rear axle of the vehicle can be determined.

[0082] After that, the height of the front axle of the vehicle can be adjusted according to the above-mentioned first adjustment height, and the height of the rear axle of the vehicle can be adjusted according to the second adjustment height. For example, when the first adjustment height is +3 cm and the second adjustment height is -2 cm, the height of the front axle of the vehicle can be increased by 3 cm, and the height of the rear axle of the vehicle can be decreased by 2 cm.

[0083] As for how to specifically determine the first adjustment height for the front axle of the vehicle and the second adjustment height for the rear axle of the vehicle based on the pitch angle, it can be described in the following through Figure 3 the shown process, which will not be elaborated here first.

[0084] The technical solution provided by the embodiment of the present application obtains the current pitch angle of the vehicle, determines the current position of the vehicle's corresponding center of mass based on the above-mentioned pitch angle. When it is determined that the current position is not within the preset range, based on the above-mentioned pitch angle, the first adjustment height for the front axle of the vehicle and the second adjustment height for the rear axle of the vehicle are determined, and the height of the front axle of the vehicle is adjusted according to the above-mentioned first adjustment height, and the height of the rear axle of the vehicle is adjusted according to the second adjustment height. This technical solution indicates that when it is determined that the current position of the vehicle's center of mass is not within the preset range according to the pitch angle, it means that the vehicle has tilted forward or backward at this time. At this time, the adjustment heights for the front axle and the rear axle of the vehicle can be determined respectively according to the current pitch angle of the vehicle, so as to adjust the heights of the front axle and the rear axle of the vehicle even if, ensure that the center of mass of the vehicle is within the preset range, thereby ensuring that the vehicle can drive smoothly, realizing efficient and accurate adjustment of the heights of the front and rear axles of the vehicle, improving the stability of vehicle operation, reducing the safety risks caused by unstable vehicle center of gravity, and enhancing the user experience.

[0085] See Figure 2 , which is a flowchart of an embodiment of another vehicle height adjustment method provided by the embodiment of the present application. Figure 2 The shown process is in Figure 1Based on the shown process, it describes how to determine the current position of the vehicle's corresponding center of mass based on the pitch angle. As Figure 2 shown, this process may include the following steps:

[0086] Step 201: Obtain the wheelbase between the front axle and the rear axle of the vehicle, the front axle load of the vehicle, and the rear axle load of the vehicle.

[0087] Step 202: Determine the current horizontal distance from the center of mass of the vehicle corresponding to the front axle based on the above-mentioned pitch angle, wheelbase, front axle load, and rear axle load.

[0088] The following is a unified description of Step 201 and Step 202:

[0089] The above-mentioned wheelbase refers to the shortest distance between the front axle and the rear axle.

[0090] The above-mentioned front axle load refers to the total mass of the entire vehicle distributed to the front axle of the vehicle. Among them, the total mass of the vehicle may include the axle load preset for each axle of the vehicle itself and the variable total load currently loaded on the vehicle.

[0091] The above-mentioned rear axle load refers to the total mass of the entire vehicle distributed to the rear axle of the vehicle. Among them, the total mass of the vehicle may include the axle load preset for each axle of the vehicle itself and the variable total load currently loaded on the vehicle.

[0092] The above-mentioned current horizontal distance refers to the distance in the horizontal direction between the center of mass of the vehicle and the front axle of the vehicle.

[0093] In practical applications, the wheelbase between the front axle and the rear axle of each vehicle is generally the wheelbase input during the vehicle design. Based on this, in some embodiments of the present application, the execution subject of the embodiments of the present application can directly obtain the preset wheelbase between the front axle and the rear axle of the vehicle from the storage medium recording the vehicle parameters.

[0094] In some embodiments of the present application, the execution subject of the embodiments of the present application can obtain the preset axle load for each axle and the variable load corresponding to each axle of the vehicle currently. Among them, multiple positions of the vehicle can correspond to a load sensor (for example, load sensors are respectively arranged at the driver's seat, co-driver's seat, rear row seats, and trunk. The load sensor can map the obtained load to the spring load on the corresponding four axles).

[0095] After that, for the front axle of the vehicle, add the axle load and variable load corresponding to this axle (the variable load measured by the load sensors corresponding to the driver's seat and co-driver's seat) to obtain the front axle load corresponding to this axle, and for the rear axle of the vehicle, add the axle load and variable load corresponding to this axle (the variable load measured by the load sensors corresponding to the rear row seats and trunk) to obtain the rear axle load corresponding to this axle.

[0096] After that, the current horizontal distance of the vehicle's center of mass from the front axle can be determined according to the above-mentioned pitch angle, wheelbase, front axle load, and rear axle load.

[0097] As an alternative implementation, the current horizontal distance of the vehicle's center of mass from the front axle of the vehicle can be determined by the preset formula shown in the following formula (1):

[0098]

[0099] Wherein, a(θ) is the current horizontal distance of the vehicle's center of mass from the front axle, θ is the above-mentioned pitch angle, L is the above-mentioned wheelbase, G 1 is the front axle load, and G2 is the rear axle load.

[0100] In an alternative implementation, the preset formula shown in formula (1) can be obtained through the following formula:

[0101]

[0102] Wherein, Σg i is the total mass of the vehicle.

[0103] The horizontal distance formula can be obtained through formula (2) as shown in the following formula (3):

[0104]

[0105] Based on the above formula (3), substituting the pitch angle of the vehicle into the above formula (3), the preset formula shown in formula (1) can be obtained.

[0106] Step 203: Determine the first height value corresponding to the axle center of the front axle and the second height value corresponding to the axle center of the rear axle.

[0107] Step 204: Determine the current height value of the vehicle's center of mass from the ground according to the pitch angle, front axle load, rear axle load, first height value, and second height value.

[0108] The following is a unified description of Step 203 and Step 204:

[0109] The above-mentioned axle center refers to the center point of the front axle or the rear axle.

[0110] The above-mentioned first height value refers to the height value of the axle center of the vehicle's front axle from the vehicle's bearing surface (such as the ground). Among them, the front axle of the vehicle can correspond to at least one air suspension or shock absorber spring. In this application, the first height value of the vehicle's front axle can be adjusted by adjusting the air suspension or shock absorber spring corresponding to the front axle.

[0111] The above-mentioned second height value refers to the height value of the axle center of the rear axle of the vehicle from the vehicle's load-bearing surface (such as the ground). Among them, the rear axle of the vehicle can correspond to at least one air suspension or shock absorber spring. In the present application, the second height value of the vehicle's rear axle can be adjusted by adjusting the air suspension or shock absorber spring corresponding to the rear axle of the vehicle.

[0112] The above-mentioned current height value refers to the height value of the center of mass of the vehicle from the vehicle's load-bearing surface (such as the ground).

[0113] In some embodiments of the present application, when determining the current height value of the center of mass of the vehicle from the ground, the execution subject of the embodiments of the present application can determine the first height value corresponding to the axle center of the front axle and the second height value corresponding to the axle center of the rear axle.

[0114] As an optional implementation manner, a height sensor can be installed corresponding to each wheel of the vehicle. The height sensor is a link structure. When the vehicle body height changes, it drives the link structure to rotate, and the change amount of the link angle is mapped to the change amount of the vehicle body height. Based on this, the execution subject of the embodiments of the present application can obtain the first initial height value of each wheel measured by the height sensor corresponding to each wheel.

[0115] After that, the first initial height values of the two wheels connected to the front axle can be averaged to obtain the first height value corresponding to the axle center of the front axle. And the first initial height values of the two vehicles connected to the rear axle can be averaged to obtain the second height value corresponding to the axle center of the rear axle.

[0116] As another optional implementation manner, a height sensor can be installed at the axle center corresponding to the front axle and the axle center corresponding to the rear axle of the vehicle. Based on this, the first height value corresponding to the axle center of the front axle and the second height value corresponding to the axle center of the rear axle can be measured by the above-installed height sensors.

[0117] Based on the above-determined first height value, front axle load, second height value, and rear axle load, the current height value of the center of mass of the vehicle from the ground can be determined according to the above pitch angle, first height value, front axle load, second height value, and rear axle load.

[0118] As an optional implementation manner, the front axle load, the cosine value of the pitch angle, and the first height value can be multiplied to obtain a first value, the rear axle load, the cosine value of the pitch angle, and the second height value can be multiplied to obtain a second value, the front axle load and the cosine value of the pitch angle can be multiplied to obtain a third value, and the rear axle load and the cosine value of the pitch angle can be multiplied to obtain a fourth value. After that, the first value and the second value can be added to obtain a fifth value, and the third value and the fourth value can be added to obtain a sixth value. Finally, the fifth value can be divided by the sixth value to obtain the current height value of the center of mass of the vehicle from the ground.

[0119] As an exemplary embodiment, the above-mentioned pitch angle, first height value, front axle load, second height value, and rear axle load can be calculated by the following formula (IV) to obtain the current height value of the vehicle's center of mass from the ground:

[0120]

[0121] Wherein, the above-mentioned G 1 is the above-mentioned front axle load, the above-mentioned θ is the pitch angle, and the above-mentioned h f is the above-mentioned first height value, the above-mentioned G 2 is the above-mentioned rear axle load, and the above-mentioned h r is the above-mentioned second height value.

[0122] Step 205: Determine the current position of the vehicle's center of mass according to the above-mentioned current horizontal distance and current height value.

[0123] In some embodiments of the present application, after determining the current horizontal distance between the vehicle's center of mass and the vehicle's front axle, and the current height value from the ground, the corresponding position of the above-mentioned current horizontal distance and current height value can be determined as the position of the vehicle's center of mass.

[0124] The technical solution provided by the embodiments of the present application obtains the wheelbase between the front axle and the rear axle of the vehicle, the front axle load of the vehicle, and the rear axle load of the vehicle. According to the above-mentioned pitch angle, wheelbase, front axle load, and rear axle load, determine the current horizontal distance of the vehicle's center of mass from the front axle, determine the first height value corresponding to the axle center of the front axle, and the second height value corresponding to the axle center of the rear axle. According to the pitch angle, front axle load, rear axle load, first height value, and second height value, determine the current height value of the vehicle's center of mass from the ground. According to the above-mentioned current horizontal distance and current height value, determine the current position of the vehicle's center of mass. This technical solution can more accurately determine the current horizontal distance of the vehicle's center of mass from the left wheel and the current height value from the ground by according to the height value and total axle load of the front axle in the vehicle, and the height value and total axle load of the rear axle, so as to determine the position of the vehicle's center of mass, and achieve the accurate determination of the current position of the vehicle's center of mass.

[0125] See Figure 3 , which is a flowchart of an embodiment of another vehicle height adjustment method provided by the embodiments of the present application. Figure 3 The process shown is based on the process shown in Figure 1 and describes specifically how to determine the first adjustment height of the vehicle's front axle and the second adjustment height of the vehicle's rear axle based on the pitch angle. As shown in Figure 3 , this process may include the following steps:

[0126] Step 301: Determine the offset direction of the vehicle's center of mass based on the current position of the vehicle's corresponding center of mass, and determine whether the offset direction indicates that the vehicle's center of mass moves backward. If so, execute Step 302; if not, execute Step 303.

[0127] Step 302: According to the pitch angle, determine the first adjustment height for the vehicle's front axle and the second adjustment height for the vehicle's rear axle from the first corresponding relationship among the preset pitch angle, the adjustment height for the front axle, and the adjustment height for the rear axle.

[0128] Step 303: When the offset direction indicates that the vehicle's center of mass moves forward, according to the pitch angle, determine the first adjustment height for the front axle and the second adjustment height for the rear axle from the second corresponding relationship among the preset pitch angle, the adjustment height for the front axle, and the adjustment height for the rear axle.

[0129] The following is a unified description of Steps 301 to 303:

[0130] In some embodiments of the present application, the execution subject of the embodiments of the present application can determine the current offset direction of the vehicle's center of mass based on the current position of the vehicle's center of mass, so as to determine the first adjustment height for the vehicle's front axle and the second adjustment height for the vehicle's rear axle in different ways for different offset directions.

[0131] As an optional implementation method, when it is determined that the distance between the current position of the vehicle's center of mass and the vehicle's front axle is less than half of the wheelbase of the vehicle's front axle and rear axle, it can be determined that the vehicle's center of mass moves forward (which can be a downhill state); when it is determined that the distance between the current position of the vehicle's center of mass and the vehicle's front axle is greater than half of the wheelbase, it can be determined that the vehicle's center of mass moves backward (which can be a climbing state).

[0132] Optionally, when it is determined that the above offset direction indicates that the vehicle's center of mass moves backward, according to the above pitch angle, determine the first adjustment height for the front axle and the second adjustment height for the rear axle from the first corresponding relationship among the preset pitch angle, the adjustment height for the vehicle's front axle, and the adjustment height for the vehicle's rear axle. Among them, the above first corresponding relationship is the corresponding relationship among the roll angle, the adjustment height for the front axle, and the adjustment height for the rear axle that is pre-stored when the vehicle's center of mass moves backward. Among them, in this first corresponding relationship, the pitch angle and the height length of the adjustment height for the front axle are in a direct proportional relationship, and the pitch angle and the height length of the adjustment height for the rear axle are also in a direct proportional relationship.

[0133] As an exemplary embodiment, the above first correspondence relationship may be a pre-stored table, such as Table 1 shown below. Based on this, the execution entity of the embodiment of the present application can query the above first correspondence relationship with the pitch angle as the keyword, and obtain the target correspondence relationship including the pitch angle. After that, the adjustment height of the front axle included in the target correspondence relationship can be determined as the first adjustment height of the front axle, and the adjustment height of the rear axle included in the target correspondence relationship can be determined as the second adjustment height of the rear axle of the vehicle. Among them, Table 1 can be as follows:

[0134] Table 1

[0135] Pitch angle / °C Adjustment height of the front axle / mm Adjustment height of the rear axle / mm 3 -3 +3 6 -4 +5 7 -5 +7 9 -7 +9 …… …… ……

[0136] Among them, the positive value in the above table represents upward adjustment, and the negative value in the above table represents downward adjustment.

[0137] Optionally, when it is determined that the above offset direction represents the forward movement of the vehicle's center of mass, the first adjustment height of the front axle and the second adjustment height of the rear axle can be determined from the second correspondence relationship among the preset pitch angle, the adjustment height of the front axle, and the adjustment height of the rear axle. Among them, the above second correspondence relationship is the pre-stored correspondence relationship among the pitch angle, the adjustment height of the front axle, and the adjustment height of the rear axle when the center of mass of the vehicle moves forward. Among them, in this second correspondence relationship, the pitch angle is in a direct proportional relationship with the height lengths of the adjustment height of the front axle and the adjustment height of the rear axle respectively.

[0138] As an exemplary embodiment, the above second correspondence relationship may be a pre-stored table, such as Table 2 shown below. Based on this, the execution entity of the embodiment of the present application can query the above second correspondence relationship with the pitch angle as the keyword, and obtain the target correspondence relationship including the pitch angle. After that, the adjustment height of the front axle included in the target correspondence relationship can be determined as the first adjustment height of the front axle, and the adjustment height of the rear axle included in the target correspondence relationship can be determined as the second adjustment height of the rear axle. Among them, Table 2 can be as follows:

[0139] Table 2

[0140] Pitch angle / °C Adjustment height of the front axle / mm Adjustment height of the rear axle / mm 3 +3 -3 6 +5 -4 7 +7 -5 9 +9 -7 …… …… ……

[0141] Among them, the positive value in the above table represents upward adjustment, and the negative value in the above table represents downward adjustment.

[0142] The technical solution provided by the embodiments of the present application determines the offset direction of the vehicle's center of mass according to the current position of the center of mass corresponding to the vehicle, and determines whether the offset direction indicates the rearward movement of the vehicle's center of mass. If so, according to the pitch angle, the first adjustment height of the vehicle's front axle and the second adjustment height of the vehicle's rear axle are determined from the first corresponding relationship among the preset pitch angle, the adjustment height of the front axle, and the adjustment height of the rear axle; if not, when the offset direction indicates the forward movement of the vehicle's center of mass, according to the pitch angle, the first adjustment height of the front axle and the second adjustment height of the rear axle are determined from the second corresponding relationship among the preset pitch angle, the adjustment height of the front axle, and the adjustment height of the rear axle. This technical solution, by presetting different corresponding relationships among the pitch angle, the adjustment height of the front axle, and the adjustment height of the rear axle when the vehicle's center of mass has different offset directions, can quickly determine the first adjustment height of the vehicle's front axle and the second adjustment height of the vehicle's rear axle after determining the pitch angle of the vehicle, realizing efficient and rapid adjustment of the vehicle's front axle and rear axle.

[0143] See Figure 4 , which is a flowchart of an embodiment of another vehicle height adjustment method provided by the embodiments of the present application. Figure 4 The process shown Figure 1 On the basis of the process shown, it describes how to specifically determine the first adjustment height of the vehicle's front axle and the second adjustment height of the vehicle's rear axle. As Figure 4 shown, the process may include the following steps:

[0144] Step 401: Determine the first initial adjustment height of the vehicle's front axle and the second initial adjustment height of the vehicle's rear axle according to the pitch angle.

[0145] The above first initial adjustment height is the adjustment height of the vehicle's front axle initially determined according to the pitch angle of the vehicle.

[0146] The above second initial adjustment height is the adjustment height of the vehicle's rear axle initially determined according to the pitch angle of the vehicle.

[0147] In some embodiments of the present application, the adjustment height of the vehicle's front axle (hereinafter referred to as the "first initial adjustment height" for ease of description) and the adjustment height of the vehicle's rear axle (hereinafter referred to as the "second initial adjustment height" for ease of description) may be determined first according to the pitch angle of the vehicle.

[0148] As an alternative implementation, when it is determined that the distance between the current position of the vehicle's center of mass and the vehicle's front axle is less than half of the wheelbase between the vehicle's front axle and rear axle, it can be determined that the vehicle's center of mass is shifted forward (which can be a downhill state); when it is determined that the distance between the current position of the vehicle's center of mass and the vehicle's front axle is greater than half of the wheelbase, it can be determined that the vehicle's center of mass is shifted backward (which can be an uphill state).

[0149] Optionally, when it is determined that the above-mentioned offset direction indicates that the vehicle's center of mass has shifted backward, the first adjustment height for the front axle and the second adjustment height for the rear axle can be determined from the first correspondence relationship among the preset pitch angle, the adjustment height for the vehicle's front axle, and the adjustment height for the vehicle's rear axle based on the above-mentioned pitch angle.

[0150] Optionally, when it is determined that the above-mentioned offset direction indicates that the vehicle's center of mass has shifted forward, the first adjustment height for the front axle and the second adjustment height for the rear axle can be determined from the second correspondence relationship among the preset pitch angle, the adjustment height for the front axle, and the adjustment height for the rear axle based on the above-mentioned pitch angle.

[0151] As for how to specifically determine the first initial adjustment height for the vehicle's front axle and the second initial adjustment height for the vehicle's rear axle, reference can be made to Figure 3 the process shown, which will not be elaborated here.

[0152] Step 402: According to the above-mentioned first initial adjustment height and second initial adjustment height, the vehicle's front axle and rear axle are classified into a raised axle with an increased height and a lowered axle with a decreased height.

[0153] Step 403: Obtain the current variable load of the vehicle, and determine the first adjustment coefficient for the raised axle and the second adjustment coefficient for the lowered axle based on the variable load.

[0154] The following provides a unified description of Step 402 and Step 403:

[0155] The above-mentioned raised axle refers to the axle that undergoes a raising adjustment, that is, the corresponding adjustment height is used to indicate that the raised axle is adjusted upward, for example, the value of the adjustment height is positive.

[0156] The above-mentioned lowered axle refers to the axle that undergoes a lowering adjustment, that is, the corresponding adjustment height is used to indicate that the lowered axle is adjusted downward, for example, the value of the adjustment height is negative.

[0157] The above-mentioned variable load refers to the load that can be changed within the vehicle, that is, the cargo within the vehicle.

[0158] In some embodiments of the present application, considering variable load factors such as passengers and cargo, the chassis of the vehicle is too low. Therefore, the height adjustment values of the front axle and the rear axle of the vehicle can be weighted in combination with the variable load value of the vehicle.

[0159] In this regard, after the execution entity of the embodiment of the present application determines the first initial adjustment height of the front axle of the vehicle and the second initial adjustment height of the rear axle of the vehicle, the front axle and the rear axle can be classified into a raising axle and a lowering axle according to the first initial adjustment height and the second initial adjustment height.

[0160] Based on this, the execution entity of the embodiment of the present application can obtain the current variable load of the vehicle, and determine a first adjustment coefficient for the raising axle and a second adjustment coefficient for the lowering axle according to the variable load.

[0161] As an alternative implementation, the current variable load of the vehicle can be obtained according to the current offset direction of the center of mass of the vehicle.

[0162] As an exemplary implementation, load sensors can be arranged at multiple positions of the vehicle (such as the driver's seat, the passenger seat, the rear row seats, and the trunk), and the current variable load of the vehicle can be obtained through the load sensors.

[0163] After that, the offset direction of the center of mass of the vehicle can be determined according to the current position of the corresponding center of mass of the vehicle.

[0164] Optionally, when it is determined that the offset direction indicates that the center of mass has moved backward, it means that the vehicle is in a climbing state. Therefore, the current variable load of the vehicle can be obtained through the load sensor in the rear row seats, that is, the first variable load of the rear row seats of the vehicle is obtained, and the first variable load is determined as the current variable load of the vehicle. The above first variable load is the total load of the rear row seats.

[0165] Optionally, when it is determined that the offset direction indicates that the center of mass has moved forward, it means that the vehicle is in a downhill state. Therefore, the current variable load of the vehicle can be obtained through the load sensors of the driver's seat, the passenger seat, and the trunk, that is, the second variable load of the driver's seat, the passenger seat, and the trunk of the vehicle is obtained, and the second variable load is determined as the current variable load of the vehicle. The above second variable load is the total load of the driver's seat, the passenger seat, and the trunk.

[0166] As an alternative implementation, when determining the first adjustment coefficient and the second adjustment coefficient, according to the above-mentioned variable load, the first adjustment coefficient for the lifting shaft and the second adjustment coefficient for the lowering shaft corresponding to the variable load can be determined from the preset corresponding relationship between the variable load, the adjustment coefficient for the lifting shaft, and the adjustment coefficient for the lowering shaft. Among them, in the above-mentioned corresponding relationship, when the variable load is greater than the preset load threshold (for example, 50 kg), the above-mentioned variable load is proportional to the adjustment coefficient for the lifting shaft and inversely proportional to the adjustment coefficient for the lowering shaft.

[0167] As an exemplary implementation, the above-mentioned corresponding relationship can be a preset table, which can include the corresponding relationship among the preset variable load range, the adjustment coefficient for the lifting shaft, and the adjustment coefficient for the lowering shaft, such as Table 3 below. Based on this, the execution entity of the embodiment of the present application can determine the target variable load range to which the variable load belongs according to the above-mentioned variable load and the table. After that, using the target variable load range as a keyword, the above-mentioned table can be searched to obtain the target corresponding relationship. Then, the adjustment coefficient for the lifting shaft included in the target corresponding relationship can be determined as the first adjustment coefficient, and the adjustment coefficient for the lowering shaft included in the target corresponding relationship can be determined as the second adjustment coefficient. Among them, Table 3 can be shown as follows:

[0168] Table 3

[0169]

[0170]

[0171] Step 404: Adjust the third initial adjustment height of the lifting shaft according to the above-mentioned first adjustment coefficient to obtain the third adjustment height of the lifting shaft; where, when the above-mentioned lifting shaft is the front shaft, the above-mentioned third initial adjustment height is the above-mentioned first initial adjustment height, and the above-mentioned third adjustment height is the first adjustment height; when the above-mentioned lifting shaft is the rear shaft, the above-mentioned third initial adjustment height is the second initial adjustment height, and the above-mentioned third adjustment height is the second adjustment height.

[0172] Step 405: Adjust the fourth initial adjustment height of the lowering shaft according to the second adjustment coefficient to obtain the fourth adjustment height of the lowering shaft; where, when the above-mentioned lowering shaft is the front shaft, the above-mentioned fourth initial adjustment height is the above-mentioned first initial adjustment height, and the above-mentioned fourth adjustment height is the above-mentioned first adjustment height; when the above-mentioned lowering shaft is the rear shaft, the above-mentioned fourth initial adjustment height is the above-mentioned second initial adjustment height, and the above-mentioned fourth adjustment height is the above-mentioned second adjustment height.

[0173] The following is a unified description of Step 404 and Step 405:

[0174] In some embodiments of the present application, after determining the first adjustment coefficient for the elevation axis, the initial adjustment height of the elevation axis (for ease of description, hereinafter referred to as the "third initial adjustment height") can be adjusted according to the first adjustment coefficient to obtain the adjustment height of the elevation axis (for ease of distinction, hereinafter referred to as the "third adjustment height"). Among them, when the elevation axis is the front axle, the above-mentioned third adjustment height obtained can be the first adjustment height corresponding to the front axle; when the elevation axis is the rear axle, the above-mentioned third adjustment height obtained can be the second adjustment height corresponding to the rear axle.

[0175] As an alternative implementation, the third initial adjustment height can be multiplied by the first adjustment coefficient to obtain the third adjustment height.

[0176] In some embodiments of the present application, after determining the second adjustment coefficient for the elevation axis, the initial adjustment height of the elevation axis (for ease of description, hereinafter referred to as the "fourth initial adjustment height") can be adjusted according to the second adjustment coefficient to obtain the adjustment height of the elevation axis (for ease of distinction, hereinafter referred to as the "fourth adjustment height"). Among them, when the elevation axis is the front axle, the above-mentioned fourth adjustment height obtained can be the first adjustment height corresponding to the front axle; when the elevation axis is the rear axle, the above-mentioned fourth adjustment height obtained can be the second adjustment height corresponding to the rear axle.

[0177] As an alternative implementation, the fourth initial adjustment height and the second adjustment coefficient can be multiplied to obtain the fourth adjustment height.

[0178] The technical solution provided by the embodiments of the present application, after determining the initial adjustment height for adjusting the front axle and the rear axle, can further determine the adjustment coefficient for the initial adjustment height corresponding to the front axle and the adjustment coefficient for the initial adjustment height corresponding to the rear axle according to the variable load factors of the vehicle, so as to further adjust the initial adjustment heights of the front axle and the rear axle respectively, thereby improving the accuracy and stability of the vehicle height adjustment.

[0179] See Figure 5 , which is a flowchart of an embodiment of another vehicle height adjustment method provided by the embodiments of the present application. Figure 5 The process shown in Figure 4 On the basis of the process shown, after determining the third adjustment height for the elevation wheel and the fourth adjustment height for the lowering wheel, the third adjustment height and the fourth adjustment height can be adjusted again. As Figure 5 shown, the process may include the following steps:

[0180] Step 501, obtain the current steering angle of the vehicle and determine the road surface grade of the road surface on which the vehicle is currently traveling.

[0181] The above-mentioned steering angle refers to the steering angle corresponding to the vehicle when it steers, such as the angle of the steering wheel rotation. The steering angle can be the steering angle when the vehicle turns left or the steering angle when the vehicle turns right. The embodiments of the present application do not limit this.

[0182] The above-mentioned road surface grade is used to characterize the roughness of the road surface on which the vehicle is currently traveling. Optionally, the higher the road surface grade, the greater the roughness of the road surface is characterized. For example, as shown in Table 4 below:

[0183] Table 4

[0184]

[0185]

[0186] In some embodiments of the present application, in order to prevent the vehicle from causing a safety accident due to excessive adjustment of the vehicle height when steering, the execution entity of the embodiments of the present application, after Figure 4 determining the third adjustment height of the current lift axle and the fourth adjustment height of the lower axle through the process shown, can obtain the current steering angle of the vehicle and the road surface grade of the road surface on which the vehicle is currently traveling.

[0187] As an optional implementation manner, when obtaining the current steering angle of the vehicle, the current steering angle of the vehicle's steering controller (such as the steering wheel) can be directly obtained.

[0188] As an exemplary implementation manner, the wheel hop acceleration of each wheel of the vehicle currently traveling can be obtained to obtain the wheel hop accelerations corresponding to multiple wheels. The above-mentioned wheel hop acceleration refers to the acceleration when the wheel bounces while traveling on the road surface.

[0189] As an implementation manner, a height sensor can be set for each wheel. The sensor is a link structure. The change in the body height drives the link structure to rotate, and the change in the link angle is mapped to the change in the body height. Based on this, the wheel hop acceleration corresponding to each vehicle can be measured by the height sensor corresponding to each wheel.

[0190] After that, the multiple wheel hop accelerations can be subjected to band-pass filtering processing to obtain the processed multiple wheel hop accelerations, and the average wheel hop acceleration of the processed multiple wheel hop accelerations can be determined. Among them, by performing band-pass filtering processing on the multiple wheel hop accelerations, the suddenly increased wheel hop accelerations caused by the wheels rolling over abrupt obstacles (such as stones) can be filtered out, so that the obtained wheel hop acceleration can better reflect the current road conditions.

[0191] Finally, based on the above average wheel-hop acceleration, the road surface grade corresponding to the average wheel-hop acceleration can be determined from the pre-set correspondence between the road surface grade and the wheel-hop acceleration range. In the embodiments of the present application, the correspondence between the road surface grade and the wheel-hop acceleration range can be pre-set. Based on this, the current road surface grade can be determined according to the above average wheel-hop acceleration and the above correspondence. In the above correspondence, the average wheel-hop acceleration may be in a proportional relationship with the road surface grade, that is, the greater the average wheel-hop acceleration, the higher the road surface grade and the greater the roughness of the road surface.

[0192] Step 502: Determine the target adjustment height from the pre-set correspondence between the steering angle, the road surface grade, and the adjustment height according to the above steering angle and the road surface grade.

[0193] Step 503: Adjust the third adjustment height and the fourth adjustment height according to the above target adjustment height to obtain the adjusted third adjustment height and the fourth adjustment height.

[0194] The following is a unified description of Step 502 and Step 503:

[0195] In some embodiments of the present application, in order to improve the safety of adjusting the height of the vehicle, the execution subject of the embodiments of the present application can, according to the determined steering angle and the road surface grade, Figure 4 re-adjust the third adjustment height of the front axle and the fourth adjustment height of the rear axle determined through the shown process. The adjustment principle is as follows: the greater the steering angle, the lower the suspension height to ensure safety during steering by reducing the chassis height; the higher the bumpy road surface grade, the higher the suspension height to ensure the passability of the vehicle.

[0196] As an optional implementation manner, the correspondence between the steering angle, the road surface grade, and the adjustment height can be pre-set. Based on this, the target adjustment height can be determined from the pre-set correspondence between the steering angle, the road surface grade, and the adjustment height according to the above steering angle and the road surface grade, and the third adjustment height and the fourth adjustment height can be adjusted according to the target adjustment height to obtain the adjusted third adjustment height and the fourth adjustment height, so as to adjust the lift axle according to the adjusted third adjustment height and adjust the lowering axle according to the adjusted fourth adjustment height.

[0197] As an exemplary embodiment, the above correspondence relationship may be a preset table, which may include the correspondence relationship among a preset steering angle range, a road surface grade, and an adjustment height. Based on this, the execution entity of the embodiment of the present application may first determine the target steering angle range to which the steering angle belongs according to the steering angle and the correspondence relationship. After that, the target correspondence relationship including the target steering angle range and the road surface grade may be searched from the above table by using the target steering angle range and the road surface grade as keywords, and the adjustment height included in the target correspondence relationship may be determined as the target adjustment height. The above table may be as shown in Table 5 below:

[0198] Table 5

[0199]

[0200]

[0201] As an exemplary embodiment, the above third adjustment height and fourth adjustment height may be respectively added to the above target adjustment height to obtain an adjusted third adjustment height and an adjusted fourth adjustment height.

[0202] The technical solution provided by the embodiment of the present application obtains the current steering angle of the vehicle and determines the road surface grade of the road surface on which the vehicle is currently traveling. According to the above steering angle and road surface grade, the target adjustment height is determined from the correspondence relationship among the preset steering angle, road surface grade, and adjustment height. According to the above target adjustment height, the above third adjustment height and fourth adjustment height are adjusted to obtain an adjusted third adjustment height and an adjusted fourth adjustment height. This technical solution can prevent safety accidents caused by excessive adjustment of the vehicle height when the vehicle turns or travels on a road surface with a high roughness by re-adjusting the third adjustment height of the raising shaft and the fourth adjustment height of the lowering shaft according to the current steering angle and road surface grade of the vehicle, and realizes improving the safety and stability of the vehicle height adjustment.

[0203] See Figure 6 , which is a block diagram of an embodiment of a vehicle height adjustment device provided by the embodiment of the present application. As Figure 6 shown, the device may include:

[0204] An acquisition module 61, configured to acquire the current pitch angle of the vehicle and determine the current position of the corresponding centroid of the vehicle based on the pitch angle;

[0205] A determination module 62, configured to determine the first adjustment height of the front axle of the vehicle and the second adjustment height of the rear axle of the vehicle based on the pitch angle when it is determined that the current position is not within the preset range;

[0206] An adjustment module 63 is configured to adjust the height of the front axle of the vehicle according to the first adjustment height and adjust the height of the rear axle of the vehicle according to the second adjustment height.

[0207] As Figure 7 shown, it is a schematic structural diagram of a vehicle provided by an embodiment of the present application, including a processor 71, a communication interface 72, a memory 73, and a communication bus 74. Among them, the processor 71, the communication interface 72, and the memory 73 communicate with each other through the communication bus 74.

[0208] The memory 73 is used to store a computer program.

[0209] In an embodiment of the present application, when the processor 71 is used to execute the program stored on the memory 73, it implements the vehicle height adjustment method provided by any one of the foregoing method embodiments, including:

[0210] Obtain the current pitch angle of the vehicle, and determine the current position of the center of mass of the vehicle based on the pitch angle.

[0211] When it is determined that the current position is not within the preset range, determine a first adjustment height for the front axle of the vehicle and a second adjustment height for the rear axle of the vehicle based on the pitch angle.

[0212] Adjust the height of the front axle of the vehicle according to the first adjustment height, and adjust the height of the rear axle of the vehicle according to the second adjustment height.

[0213] The embodiment of the present application also provides a storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the steps of the vehicle height adjustment method provided by any one of the foregoing method embodiments.

[0214] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0215] Through the text of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the related technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0216] It should be understood that the terms used herein are only for the purpose of specific example embodiments of the text and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" as used herein may also include the plural forms. The terms "comprising", "including", "containing", and "having" are inclusive and thus specify the presence of the stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations in the text herein are not to be construed as necessarily requiring them to be executed in the specific order stated in the text or description, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0217] The above are only specific embodiments of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features claimed herein.

Claims

1. A vehicle height adjustment method, characterized in that: The method comprises: Obtaining a current pitch angle of the vehicle, and determining a current position of a corresponding center of mass of the vehicle based on the pitch angle; In a case where it is determined that the current position is not within a preset range, determining a first adjustment height for a front axle of the vehicle and a second adjustment height for a rear axle of the vehicle based on the pitch angle; The front axle height of the vehicle is adjusted according to the first adjustment height, and the rear axle height of the vehicle is adjusted according to the second adjustment height.

2. The method according to claim 1, characterized in that: The determining, based on the pitch angle, a current position of the center of mass of the vehicle, comprises: Obtaining the wheelbase between the front axle and the rear axle of the vehicle, the front axle load of the vehicle, and the rear axle load of the vehicle; Determine a current horizontal distance between the center of mass of the vehicle and the front axle according to the pitch angle, the wheelbase, the front axle load, and the rear axle load; Determining a first height value corresponding to the axis center of the front axle and a second height value corresponding to the axis center of the rear axle; Determine a current height value of the center of mass of the vehicle from the ground according to the pitch angle, the front axle load, the rear axle load, the first height value, and the second height value; The current position of the vehicle corresponding to the center of mass is determined according to the current horizontal distance and the current height value.

3. The method according to claim 1, characterized in that The determining, based on the pitch angle, a first adjustment height of the front axle of the vehicle and a second adjustment height of the rear axle of the vehicle comprises: Determining a displacement direction of the center of mass of the vehicle according to the current position of the center of mass of the vehicle; In a case where the offset direction represents a rearward shift of the center of mass of the vehicle, determining, according to the pitch angle, a first adjustment height for the front axle of the vehicle and a second adjustment height for the rear axle of the vehicle from a first correspondence between a preset pitch angle, an adjustment height for the front axle, and an adjustment height for the rear axle; When the offset direction represents the forward movement of the center of mass of the vehicle, according to the pitch angle, a first adjustment height for the front axle of the vehicle and a second adjustment height for the rear axle of the vehicle are determined from a second correspondence between a preset pitch angle, an adjustment height for the front axle, and an adjustment height for the rear axle.

4. The method according to claim 1, characterized in that The determining, based on the pitch angle, a first adjustment height of the front axle of the vehicle and a second adjustment height of the rear axle of the vehicle comprises: Determining a first initial adjustment height for a front axle of the vehicle and a second initial adjustment height for a rear axle of the vehicle according to the pitch angle; According to the first initial adjustment height and the second initial adjustment height, the front axle and the rear axle of the vehicle are distinguished into a raised axle whose height is raised and a lowered axle whose height is lowered; Acquiring a current variable load of the vehicle, and determining a first adjustment coefficient for the lifting shaft and a second adjustment coefficient for the lowering shaft according to the variable load; The third initial adjustment height of the lifting shaft is adjusted according to the first adjustment coefficient to obtain the third adjustment height of the lifting shaft; wherein, when the lifting shaft is the front shaft, the third initial adjustment height is the first initial adjustment height, and the third adjustment height is the first adjustment height; when the lifting shaft is the rear shaft, the third initial adjustment height is the second initial adjustment height, and the third adjustment height is the second adjustment height; The fourth initial adjustment height of the lowered shaft is adjusted according to the second adjustment coefficient to obtain the fourth adjustment height of the lowered shaft; wherein, when the raised shaft is the front axle, the fourth initial adjustment height is the first initial adjustment height, and the third adjustment height is the first adjustment height; when the raised shaft is the rear axle, the fourth initial adjustment height is the second initial adjustment height, and the fourth adjustment height is the second adjustment height.

5. The method according to claim 4, characterized in that The obtaining of the current variable load of the vehicle comprises: Determining a displacement direction of the center of mass of the vehicle according to the current position of the center of mass of the vehicle; In the case where the offset direction represents the rearward movement of the center of mass of the vehicle, obtaining a first variable load of a rear seat of the vehicle; determining the first variable load as a current variable load of the vehicle; When the offset direction represents the forward movement of the center of mass of the vehicle, a total second variable load of the main driver's seat, the co-driver's seat, and the trunk of the vehicle is obtained; and the second variable load is determined as the current variable load of the vehicle.

6. The method according to claim 4, characterized in that Determining a first adjustment coefficient for the raising shaft and a second adjustment coefficient for the lowering shaft according to the variable load includes: According to the variable load, the first adjustment coefficient for the raising axis and the second adjustment coefficient for the lowering axis corresponding to the variable load are determined from the corresponding relationship among the preset variable load, the adjustment coefficient for the raising axis and the adjustment coefficient for the lowering axis.

7. The method according to claim 4, characterized in that After determining the third adjustment height of the raising shaft and the fourth adjustment height of the lowering shaft, the method further includes: Obtaining a current steering angle of the vehicle, and determining a road surface grade of a road surface on which the vehicle is currently traveling; According to the steering angle and the road surface grade, determining a target adjustment height from a preset correspondence relationship among the steering angle, the road surface grade, and the adjustment height; According to the target adjustment height, the third adjustment height and the fourth adjustment height are adjusted to obtain the adjusted third adjustment height and fourth adjustment height.

8. The method according to claim 7, characterized in that Determining the road surface grade of the road surface on which the vehicle is currently traveling includes: Obtaining the wheel hop acceleration of each wheel of the vehicle currently traveling, and obtaining the wheel hop accelerations corresponding to the multiple wheels; performing bandpass filtering on the plurality of wheel hop accelerations to obtain a plurality of processed wheel hop accelerations; determining an average wheel hop acceleration of the processed plurality of wheel hop accelerations; According to the average wheel hop acceleration, the road surface grade corresponding to the average wheel hop acceleration is determined from a preset correspondence relationship between the road surface grade and the wheel hop acceleration range.

9. A vehicle height adjustment device, characterized in that: The device comprises: An acquisition module, used to acquire a current pitch angle of the vehicle, and determine a current position of a corresponding center of mass of the vehicle based on the pitch angle; a determination module, configured to determine, when it is determined that the current position is not within a preset range, a first adjustment height for a front axle of the vehicle and a second adjustment height for a rear axle of the vehicle based on the pitch angle; An adjustment module is used to adjust the front axle height of the vehicle according to the first adjustment height, and to adjust the rear axle height of the vehicle according to the second adjustment height.

10. A vehicle, characterized in that: include: A processor and a memory, wherein the processor is used to execute a vehicle height adjustment program stored in the memory to implement the vehicle height adjustment method according to any one of claims 1 to 8.

11. A storage medium, characterized in that: The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the vehicle height adjustment method according to any one of claims 1 to 8.

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