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 roll angle of the vehicle, and determining the current position of the mass center corresponding to the vehicle based on the roll angle; under the condition that it is determined that the current position is not within the preset range, the first adjusting height of a left side wheel of the vehicle and the second adjusting height of a right side wheel of the vehicle are determined based on the roll angle; adjusting the height of the left wheel of the vehicle according to the first adjusting height, and adjusting the height of the right wheel of the vehicle according to the second adjusting height. Therefore, the height 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 vehicles, 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 vehicle turning, 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 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 reduced stability due to too high a center of gravity during vehicle turning, 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 roll angle of the vehicle, and determine the current position of the center of mass corresponding to the vehicle based on the roll 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 left wheels of the vehicle and a second adjustment height for the right wheels of the vehicle based on the roll angle;

[0008] Adjust the height of the left wheels of the vehicle according to the first adjustment height, and adjust the height of the right wheels of the vehicle according to the second adjustment height.

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

[0010] Obtain the wheelbase between the left wheels and the right wheels of the vehicle;

[0011] Determine the current horizontal distance between the center of mass corresponding to the vehicle and the left wheels of the vehicle according to the roll angle and the wheelbase;

[0012] Determine a first height value and a total left axle load of the left wheels of the vehicle, and a second height value and a total right axle load of the right wheels of the vehicle;

[0013] Determine a current height value of the vehicle's corresponding center of mass from the ground according to the roll angle, the first height value, the total left axle load, the second height value, and the total right axle load;

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

[0015] As an optional implementation manner, the determining the first height value and the total left axle load of the left wheels of the vehicle, and the second height value and the total right axle load of the right wheels of the vehicle includes:

[0016] Determine a first initial height value and a first axle load corresponding to each wheel on the left side of the vehicle, and a second initial height value and a second axle load corresponding to each wheel on the right side of the vehicle;

[0017] Determine a first average height value corresponding to the multiple first initial height values, and determine the first average height value as the first height value;

[0018] Determine a first total axle load corresponding to the multiple first axle loads, and determine the first total axle load as the total left axle load;

[0019] Determine a second average height value corresponding to the multiple second initial height values, and determine the second average height value as the second height value;

[0020] Determine a second total axle load corresponding to the multiple second axle loads, and determine the second total axle load as the total right axle load.

[0021] As an optional implementation manner, the determining a first adjustment height for the left wheels of the vehicle and a second adjustment height for the right wheels of the vehicle based on the roll angle includes:

[0022] Determine the current roll direction of the vehicle according to the current position of the vehicle's corresponding center of mass;

[0023] When the roll direction indicates that the vehicle is rolling to the left, determine a first adjustment height for the left wheels of the vehicle and a second adjustment height for the right wheels of the vehicle from a first correspondence relationship among a preset roll angle, an adjustment height for the left wheels of the vehicle, and an adjustment height for the right wheels of the vehicle according to the roll angle;

[0024] When the vehicle's right roll is characterized in the roll direction, according to the roll angle, determine the first adjustment height for the left wheels of the vehicle and the second adjustment height for the right wheels of the vehicle from the second correspondence among the preset roll angle, the adjustment height for the left wheels of the vehicle, and the adjustment height for the right wheels of the vehicle.

[0025] As an alternative implementation, the determining the first adjustment height for the left wheels of the vehicle and the second adjustment height for the right wheels of the vehicle based on the roll angle includes:

[0026] According to the roll angle, determine the first initial adjustment height for the left wheels of the vehicle and the second initial adjustment height for the right wheels of the vehicle;

[0027] According to the first initial adjustment height and the second initial adjustment height, classify the left wheels of the vehicle and the right wheels of the vehicle into raised wheels with increased height and lowered wheels with decreased height;

[0028] Obtain the variable load difference between the current roll side of the vehicle and the other side, and according to the variable load difference, determine the first adjustment coefficient for the raised wheels and the second adjustment coefficient for the lowered wheels; wherein, the roll side is either the side of the left wheels of the vehicle or the side of the right wheels of the vehicle;

[0029] According to the first adjustment coefficient, adjust the third initial adjustment height of the raised wheels to obtain the third adjustment height of the raised wheels; wherein, when the raised wheels are the left wheels of the vehicle, the third initial adjustment height is the first initial adjustment height, and the third adjustment height is the first adjustment height; when the raised wheels are the right wheels of the vehicle, the third initial adjustment height is the second initial adjustment height, and the third adjustment height is the second adjustment height;

[0030] According to the second adjustment coefficient, adjust the fourth initial adjustment height of the lowered wheels to obtain the fourth adjustment height of the lowered wheels; wherein, when the lowered wheels are the left wheels of the vehicle, the fourth initial adjustment height is the first initial adjustment height, and the fourth adjustment height is the first adjustment height; when the lowered wheels are the right wheels of the vehicle, the fourth initial adjustment height is the second initial adjustment height, and the fourth adjustment height is the second adjustment height.

[0031] As an alternative implementation, the obtaining the variable load difference between the current roll side of the vehicle and the other side includes:

[0032] Obtain the first total variable load corresponding to the left wheels of the vehicle and the second total variable load corresponding to the right wheels of the vehicle;

[0033] Determine the current roll direction of the vehicle according to the current position of the vehicle's corresponding center of mass;

[0034] When the roll direction indicates that the vehicle is rolling to the left, subtract the second total variable load from the first total variable load to obtain the variable load difference;

[0035] When the roll direction indicates that the vehicle is rolling to the right, subtract the first total variable load from the second total variable load to obtain the variable load difference.

[0036] As an alternative implementation, the determining the first adjustment coefficient for the raised wheel and the second adjustment coefficient for the lowered wheel according to the variable load difference includes:

[0037] According to the variable load difference, determine the first adjustment coefficient for the raised wheel and the second adjustment coefficient for the lowered wheel corresponding to the variable load difference from the corresponding relationship among the preset variable load difference, the adjustment coefficient for the raised wheel, and the adjustment coefficient for the lowered wheel.

[0038] As an alternative implementation, after determining the third adjustment height for the raised wheel and the fourth adjustment height for the lowered wheel, it further includes:

[0039] Obtain the current steering of the vehicle and the corresponding steering angle;

[0040] Adjust the third adjustment height and the fourth adjustment height according to the steering and the steering angle to obtain the adjusted third adjustment height and fourth adjustment height.

[0041] As an alternative implementation, the adjusting the third adjustment height and the fourth adjustment height according to the steering and the steering angle to obtain the adjusted third adjustment height and fourth adjustment height includes:

[0042] Determine the current roll direction of the vehicle according to the current position of the vehicle's corresponding center of mass;

[0043] Determine the positive or negative sign of the steering angle according to the steering and the roll direction;

[0044] Determine the third adjustment coefficient for the raised wheel and the fourth adjustment coefficient for the lowered wheel from the corresponding relationship among the preset steering angle, the adjustment coefficient for the raised wheel, and the adjustment coefficient for the lowered wheel according to the positive or negative sign and the steering angle;

[0045] Adjust the third adjustment height according to the third adjustment coefficient to obtain the adjusted third adjustment height for the lifting wheel;

[0046] Adjust the fourth adjustment height according to the fourth adjustment coefficient to obtain the adjusted fourth adjustment height for the lowering wheel.

[0047] As an optional implementation manner, after determining the third adjustment height for the lifting wheel and the fourth adjustment height for the lowering wheel, it further includes:

[0048] Obtain the current vehicle speed of the vehicle;

[0049] According to the vehicle speed, determine the target adjustment coefficient corresponding to the vehicle speed from the corresponding relationship between the preset vehicle speed and the adjustment coefficient;

[0050] Adjust the third adjustment height and the fourth adjustment height respectively according to the target adjustment coefficient to obtain the adjusted third adjustment height for the lifting wheel and the adjusted fourth adjustment height for the lowering wheel.

[0051] In a second aspect, the present application provides a vehicle height adjustment device, and the device includes:

[0052] An acquisition module, configured to acquire the current roll angle of the vehicle and determine the current position of the vehicle's corresponding center of mass based on the roll angle;

[0053] A determination module, configured to determine the first adjustment height for the left wheels of the vehicle and the second adjustment height for the right wheels of the vehicle based on the roll angle when it is determined that the current position is not within the preset range;

[0054] An adjustment module, configured to adjust the height of the left wheels of the vehicle according to the first adjustment height and adjust the height of the right wheels of the vehicle according to the second adjustment height.

[0055] In a third aspect, the present application provides a vehicle, including: a processor and a memory, and 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.

[0056] In a fourth aspect, the present application provides a storage medium, and 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.

[0057] The technical solution provided by the embodiment of the present application obtains the current roll angle of the vehicle, determines the current position of the vehicle's corresponding center of mass based on the above roll angle, and when it is determined that the current position is not within the preset range, determines the first adjustment height for the left wheels of the vehicle and the second adjustment height for the right wheels of the vehicle based on the above roll angle, adjusts the height of the left wheels of the vehicle according to the above first adjustment height, and adjusts the height of the right wheels of the vehicle according to the second adjustment height. This technical solution, when it is determined that the current position of the vehicle's center of mass is not within the preset range, indicates that the vehicle is rolling. At this time, the adjustment heights for the left wheels and the right wheels of the vehicle can be determined respectively according to the current roll angle of the vehicle, and the left wheels and the right wheels of the vehicle are adjusted accordingly. The adjustment heights of the left wheels and the right wheels of the vehicle determined according to the roll angle can more accurately make the center of mass of the vehicle within the preset range, realizing efficient and accurate adjustment of the vehicle's height, improving the stability of vehicle operation, reducing the safety risks caused by unstable vehicle center of gravity, and enhancing the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0059] In order 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.

[0060] 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 are represented as similar elements, unless otherwise stated, and the drawings in the figures do not constitute a proportional limitation.

[0061] Figure 1 It is a flowchart of an embodiment of a vehicle height adjustment method provided by an embodiment of the present application;

[0062] Figure 2 It is a flowchart of an embodiment of another vehicle height adjustment method provided by an embodiment of the present application;

[0063] Figure 3 It is a flowchart of an embodiment of yet another vehicle height adjustment method provided by an embodiment of the present application;

[0064] Figure 4 It is a flowchart of an embodiment of still another vehicle height adjustment method provided by an embodiment of the present application;

[0065] Figure 5 Flowchart of an embodiment of another vehicle height adjustment method provided by an embodiment of the present application;

[0066] Figure 6 Flowchart of an embodiment of another vehicle height adjustment method provided by an embodiment of the present application;

[0067] Figure 7 Block diagram of an embodiment of a vehicle height adjustment device provided by an embodiment of the present application;

[0068] Figure 8 Schematic structural diagram of a vehicle provided by an embodiment of the present application. Detailed implementation manners

[0069] 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.

[0070] 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, 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.

[0071] 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 height adjustment 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, it indicates that the vehicle is rolling. At this time, the adjustment heights for the left wheels and right wheels of the vehicle can be determined respectively according to the current roll angle of the vehicle, and the left wheels and right wheels of the vehicle are adjusted accordingly. The adjustment heights of the left wheels and right wheels of the vehicle determined according to the roll angle can more accurately make the center of mass of the vehicle within the preset range, achieving efficient and accurate adjustment of the vehicle height, improving the stability of vehicle operation, reducing the safety risks caused by unstable vehicle center of gravity, and enhancing the user experience.

[0072] The following further explains the vehicle height adjustment method provided by the present application with specific embodiments in conjunction with the accompanying drawings. The embodiments do not constitute a limitation to the embodiments of the present application.

[0073] Refer to Figure 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, the process may include the following steps:

[0074] Step 101: Obtain the current roll angle of the vehicle, and determine the current position of the corresponding center of mass of the vehicle based on the above roll angle.

[0075] The above roll angle refers to the angle of the vehicle's left and right tilt. When the vehicle has a roll angle, the ground clearance on its left and right sides is different. Therefore, the roll angle can be determined according to the distance between the left side of the vehicle body and the ground, and the distance between the right side of the vehicle body and the ground.

[0076] The above center of mass refers to the mass center of the vehicle body, that is, the center point of the vehicle body mass. The position of this center of mass is not fixed and can change with the change of the vehicle load.

[0077] In some embodiments of the present application, the execution subject of the embodiments of the present application can be the vehicle controller. Based on this, since the position of the vehicle center of mass 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 can obtain the current roll angle of the vehicle and determine the current position of the corresponding center of mass of the vehicle based on this roll angle.

[0078] As an optional implementation method, an IMU (Inertial Measurement Unit) sensor can be installed in the vehicle. This IMU sensor can be used to detect the roll angle during the vehicle operation. Based on this, the execution subject of the embodiments of the present application can call this IMU sensor to obtain the current roll angle of the vehicle during the vehicle operation or when it stops running.

[0079] As for how to specifically determine the current position of the vehicle corresponding center of mass based on this roll angle, it can be explained through the Figure 2 shown process below and will not be elaborated here first.

[0080] 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 left wheels of the vehicle and the second adjustment height for the right wheels of the vehicle based on the above roll angle.

[0081] Step 103: Adjust the height of the left wheels of the vehicle according to the above first adjustment height, and adjust the height of the right wheels of the vehicle according to the second adjustment height.

[0082] The following provides a unified description of steps 102 and 103:

[0083] The above-mentioned 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. For example, the horizontal distance range of the preset range may be that the vertical distance from the center of mass position to one side of the left wheel of the vehicle is greater than a first distance threshold, and the distance to one side of the right wheel is greater than a second distance threshold. The above-mentioned first distance threshold and second distance threshold may be the same distance threshold or different distance thresholds. The height value range of the preset range may be that the height from the ground is greater than or equal to a preset height threshold.

[0084] The above-mentioned left wheel refers to the tire located on the left side of the vehicle, which may include the tire located at the left front of the vehicle (i.e., close to the left side of the vehicle head) and the tire located at the left rear of the vehicle (i.e., close to the left side of the vehicle tail).

[0085] The above-mentioned right wheel refers to the tire located on the right side of the vehicle, which may include the tire located at the right front of the vehicle (i.e., close to the right side of the vehicle head) and the tire located at the right rear of the vehicle (i.e., close to the right side of the vehicle tail).

[0086] The above-mentioned first adjustment height refers to the height for adjusting the left wheel of the vehicle. Optionally, it may be a positive value or a negative value. When the first adjustment height is a positive value, it may indicate that the height of the left wheel of the vehicle is increased; when the first adjustment height is a negative value, it may indicate that the height of the left wheel of the vehicle is decreased.

[0087] Among them, when the first adjustment height is a positive value, it may also indicate that the height of the left wheel of the vehicle is decreased; when the first adjustment height is a negative value, it may also indicate that the height of the left wheel of the vehicle is increased. The embodiments of the present application do not limit this. In the present application, an example is given where a positive value represents an increase in the height of the left wheel, and a negative value represents a decrease in the height of the left wheel.

[0088] The above-mentioned second adjustment height refers to the height for adjusting the right wheel of the vehicle. Optionally, it may be a positive value or a negative value. When the second adjustment height is a positive value, it may indicate that the height of the right wheel of the vehicle is increased; when the second adjustment height is a negative value, it may indicate that the height of the right wheel of the vehicle is decreased.

[0089] Among them, when the second adjustment height is a positive value, it may also indicate that the height of the right wheel of the vehicle is decreased; when the second adjustment height is a negative value, it may also indicate that the height of the right wheel of the vehicle is increased. The embodiments of the present application do not limit this. In the present application, an example is given where a positive value represents an increase in the height of the right wheel, and a negative value represents a decrease in the height of the right wheel.

[0090] 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 is possible to determine whether the current position of the vehicle's center of mass is within a preset range.

[0091] 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. Therefore, the vehicle height can be not adjusted.

[0092] 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 roll angle, the first adjustment height for adjusting the left wheels of the vehicle and the second adjustment height for adjusting the right wheels of the vehicle can be determined.

[0093] After that, the height of the left wheels of the vehicle can be adjusted according to the above-mentioned first adjustment height, and the height of the right wheels 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 all the wheels on the left side of the vehicle can be increased by 3 cm, and the height of all the wheels on the right side of the vehicle can be decreased by 2 cm.

[0094] As for how to specifically determine the first adjustment height for the left wheels of the vehicle and the second adjustment height for the right wheels of the vehicle based on the roll angle, it can be described in the following through Figure 3 the shown process, which will not be elaborated here in detail.

[0095] The technical solution provided by the embodiments of the present application obtains the current roll angle of the vehicle, determines the current position of the corresponding center of mass of the vehicle based on the above-mentioned roll angle. When it is determined that the current position is not within the preset range, based on the above-mentioned roll angle, the first adjustment height for the left wheels of the vehicle and the second adjustment height for the right wheels of the vehicle are determined, and the height of the left wheels of the vehicle is adjusted according to the above-mentioned first adjustment height, and the height of the right wheels of the vehicle is adjusted according to the second adjustment height. This technical solution, when it is determined that the current position of the vehicle's center of mass is not within the preset range, indicates that the vehicle is rolling. At this time, the adjustment heights for the left wheels and the right wheels of the vehicle can be respectively determined according to the current roll angle of the vehicle, and the left wheels and the right wheels of the vehicle are adjusted accordingly. The adjustment heights of the left wheels and the right wheels of the vehicle determined according to the roll angle can more accurately make the center of mass of the vehicle within the preset range, realizing efficient and accurate adjustment of the vehicle height, improving the stability of vehicle operation, reducing the safety risks caused by unstable vehicle center of gravity, and enhancing the user experience.

[0096] SeeFigure 2 , which is a flowchart of another embodiment of the vehicle height adjustment method provided by the embodiments of the present application. Figure 2 The shown process is Figure 1 Based on the shown process, it describes how to determine the current position of the vehicle's corresponding center of mass based on the roll angle. As Figure 2 shown, this process may include the following steps:

[0097] Step 201, obtain the wheelbase between the left wheel and the right wheel of the vehicle.

[0098] Step 202, according to the above roll angle and wheelbase, determine the current horizontal distance between the vehicle's corresponding center of mass and the left wheel of the vehicle.

[0099] The following is a unified description of Step 201 and Step 202:

[0100] The above wheelbase refers to the distance measured on the support surface between the tire symmetry planes of the left and right wheels on the same axis when the vehicle is driving straight.

[0101] The above current horizontal distance refers to the distance in the horizontal direction between the vehicle's center of mass and the left wheel of the vehicle, which is generally the distance between the intersection point of the vehicle's center of mass transverse position and the left plane in the vehicle's longitudinal symmetry plane.

[0102] In practical applications, the wheelbase 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 pre-set wheelbase between the left wheel and the right wheel of the vehicle from the storage medium recording the vehicle parameters.

[0103] After that, the current horizontal distance between the vehicle's corresponding center of mass and the left wheel of the vehicle can be determined according to the above roll angle and wheelbase.

[0104] As an alternative implementation, the above wheelbase can be divided by the cosine value of the above roll angle to obtain the current horizontal distance between the vehicle's center of mass and the left wheel of the vehicle.

[0105] As an exemplary embodiment, the current horizontal distance between the vehicle's center of mass and the left wheel of the vehicle can be determined by the following formula (1):

[0106]

[0107] Wherein, b above is the current horizontal distance between the vehicle's center of mass and the left wheel of the vehicle, θ above is the above roll angle, and w above is the above wheelbase.

[0108] Step 203, determine the first height value and the total left axle load of the left wheel of the vehicle, and the second height value and the total right axle load of the right wheel of the vehicle.

[0109] Step 204: Determine the current height value of the vehicle's center of mass from the ground based on the above roll angle, first height value, total left axle load, second height value, and total right axle load.

[0110] The following provides a unified description of Steps 203 and 204:

[0111] The above first height value refers to the height value of the left wheels of the vehicle. Each vehicle may include multiple left wheels, and then this first height value can be the average height value of multiple left wheels. Among them, each wheel can correspond to an air suspension or a shock absorber spring. In this application, the first height value of the left wheels of the vehicle can be adjusted by adjusting the air suspension or shock absorber spring corresponding to each wheel.

[0112] The above total left axle load refers to the total mass of the entire vehicle distributed to the left axle of the vehicle. Among them, the total mass of the vehicle can include the axle load of each axle preset in the vehicle itself and the variable total load currently loaded on the vehicle. Each vehicle may include two or more left axles, and each left axle can correspond to an axle load plus a variable load. The total left axle load is the total axle load corresponding to all left axles.

[0113] The above second height value refers to the height value of the right wheels of the vehicle. Each vehicle may include multiple right wheels, and then this second height value can be the average height value of multiple right wheels. Among them, each wheel can correspond to an air suspension or a shock absorber spring. In this application, the second height value of the right wheels of the vehicle can be adjusted by adjusting the air suspension or shock absorber spring corresponding to each right wheel.

[0114] The above total right axle load refers to the total mass of the entire vehicle distributed to the right axle of the vehicle. Among them, the total mass of the vehicle can include the axle load of each axle preset in the vehicle itself and the variable total load currently loaded on the vehicle. Each vehicle may include two or more right axles, and each right axle can correspond to an axle load plus a variable load. Each vehicle may include two or more right axles, and each right axle can correspond to an axle load and a variable load. The total right axle load is the total axle load corresponding to all right axles.

[0115] In some embodiments of this application, when determining the current height value of the vehicle's center of mass from the ground, the execution entity of the embodiments of this application can determine the first height value and total left axle load of the left wheels of the vehicle, as well as the second height value and total right axle load of the right wheels of the vehicle.

[0116] As an alternative implementation, the first initial height value and first axle load corresponding to each wheel located on the left side of the vehicle, and the second initial height value and second axle load corresponding to each wheel located on the right side of the vehicle can be determined. Among them, the above first axle load refers to the total mass corresponding to each wheel among the wheels located on the left side of the vehicle, which can include the initial axle load and the variable load of the vehicle.

[0117] As an exemplary embodiment, a height sensor may be correspondingly installed for each wheel of the vehicle. The height sensor has a link structure. When the vehicle body height changes, the link structure rotates, and the change amount of the link angle is mapped to the change amount of the vehicle body height. Based on this, the execution entity of the embodiment of the present application can obtain the first initial height value of each wheel measured by the height sensor corresponding to each wheel.

[0118] As an exemplary embodiment, the execution entity of the embodiment of the present application can obtain the axle load of each axle set in advance, and the variable load of each axle corresponding to the vehicle currently. Among them, a load sensor may correspond to multiple positions of the vehicle (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 amount to the spring load on the four axles corresponding to the springs). After that, for each axle located on the left side of the vehicle, the axle load and the variable load corresponding to the axle are added to obtain the first axle load corresponding to the axle, and for each axle located on the right side of the vehicle, the axle load and the variable load corresponding to the axle are added to obtain the second axle load corresponding to the axle.

[0119] After that, the first average height value corresponding to multiple first initial height values can be determined, that is, the average value of multiple first initial height values is calculated, and the above first average height value is determined as the first height value. And the first total axle load corresponding to multiple first axle loads is determined, that is, multiple first axle loads are added to obtain the first total axle load, and the first total axle load is determined as the left total axle load.

[0120] Correspondingly, the second average height value corresponding to multiple second initial height values can be determined, that is, the average value of multiple second height values is calculated, and the above second average height value is determined as the second height value. And the second total axle load corresponding to multiple second axle loads is determined, that is, multiple second axle loads are added to obtain the second total axle load, and the second total axle load is determined as the right total axle load.

[0121] Based on the first height value, the left total axle load, the second height value, and the right total axle load determined above, the current height value of the vehicle's center of mass from the ground can be determined according to the above roll angle, the first height value, the left total axle load, the second height value, and the right total axle load.

[0122] As an alternative implementation, the total axle load on the left side, the cosine value of the roll angle, and the first height value can be multiplied to obtain a first value. The total axle load on the right side, the cosine value of the roll angle, and the second height value can be multiplied to obtain a second value. The total axle load on the left side and the cosine value of the roll angle can be multiplied to obtain a third value, and the total axle load on the right side and the cosine value of the roll angle can be multiplied to obtain a fourth value. Thereafter, 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 vehicle's center of mass from the ground.

[0123] As an exemplary implementation, the roll angle, the first height value, the total axle load on the left side, the second height value, and the total axle load on the right side can be calculated through the following formula (2) to obtain the current height value of the corresponding center of mass of the vehicle from the ground:

[0124]

[0125] Wherein, the above-mentioned G L is the total axle load on the left side, the above-mentioned θ is the roll angle, and the above-mentioned h L is the first height value, the above-mentioned G R is the total axle load on the right side, and the above-mentioned h R is the second height value.

[0126] Step 205: Determine the current position of the corresponding center of mass of the vehicle according to the above-mentioned current horizontal distance and current height value.

[0127] In some embodiments of the present application, after determining the current horizontal distance between the corresponding center of mass of the vehicle and the left wheel of the vehicle, and the current height value from the ground, the position corresponding to the current horizontal distance and the current height value can be determined as the position of the corresponding center of mass of the vehicle.

[0128] The technical solution provided by the embodiments of the present application obtains the wheelbase between the left wheel and the right wheel of the vehicle, determines the current horizontal distance between the corresponding center of mass of the vehicle and the left wheel of the vehicle according to the above-mentioned roll angle and wheelbase, determines the first height value and the total axle load on the left wheel of the vehicle, and the second height value and the total axle load on the right wheel of the vehicle. According to the above-mentioned roll angle, the first height value, the total axle load on the left side, the second height value, and the total axle load on the right side, the current height value of the corresponding center of mass of the vehicle from the ground is determined, and the current position of the corresponding center of mass of the vehicle is determined according to the above-mentioned current horizontal distance and current height value. This technical solution can more accurately determine the current horizontal distance between the vehicle's center of mass and the left wheel and the current height value from the ground according to the height value and total axle load of the left wheel in the vehicle and the height value and total axle load of the right wheel, so as to determine the position of the vehicle's center of mass and achieve accurate determination of the current position of the vehicle's center of mass.

[0129] SeeFigure 3 , which is a flowchart of another embodiment of the vehicle height adjustment method provided by the embodiments of the present application. Figure 3 The process shown Figure 1 On the basis of the process shown, it describes how to determine the first adjustment height for the left wheels of the vehicle and the second adjustment height for the right wheels of the vehicle based on the roll angle. As Figure 3 shown, the process may include the following steps:

[0130] Step 301: According to the current position of the vehicle's corresponding center of mass, determine the current roll direction of the vehicle, and determine whether the roll direction indicates that the vehicle is tilted to the left. If so, execute Step 302; if not, execute Step 303.

[0131] Step 302: According to the roll angle, determine the first adjustment height for the left wheels of the vehicle and the second adjustment height for the right wheels of the vehicle from the first corresponding relationship among the preset roll angle, the adjustment height for the left wheels of the vehicle, and the adjustment height for the right wheels of the vehicle.

[0132] Step 303: In the case where the roll direction indicates that the vehicle is tilted to the right, according to the roll angle, determine the first adjustment height for the left wheels of the vehicle and the second adjustment height for the right wheels of the vehicle from the second corresponding relationship among the preset roll angle, the adjustment height for the left wheels of the vehicle, and the adjustment height for the right wheels of the vehicle.

[0133] The following is a unified description of Steps 301 to 303:

[0134] The above roll direction refers to the direction corresponding to the side where the vehicle tilts, which may include the vehicle tilting to the left and tilting to the right. Among them, tilting to the left means tilting to the left side of the vehicle body with the vehicle's front as the reference, and tilting to the right means tilting to the right side of the vehicle body with the vehicle's front as the reference.

[0135] In some embodiments of the present application, the execution subject of the embodiments of the present application may determine the current roll direction of the vehicle according to the current position of the vehicle's center of mass, so as to determine the first adjustment height for the left wheels of the vehicle and the second adjustment height for the right wheels of the vehicle in different ways for different roll directions.

[0136] As an optional implementation manner, when it is determined that the distance between the current position of the vehicle's center of mass and the left wheels of the vehicle is less than half of the vehicle's wheelbase, it can be determined that the vehicle is currently in a left-tilt state; when it is determined that the distance between the current position of the vehicle's center of mass and the left wheels of the vehicle is greater than half of the vehicle's wheelbase, it can be determined that the vehicle is currently in a right-tilt state.

[0137] Optionally, when it is determined that the roll direction indicates that the vehicle leans to the left, the first adjustment height for the left wheels of the vehicle and the second adjustment height for the right wheels of the vehicle can be determined from the first correspondence relationship among the preset roll angle, the adjustment height for the left wheels of the vehicle, and the adjustment height for the right wheels of the vehicle based on the above roll angle. Among them, the above first correspondence relationship is the pre-stored correspondence relationship among the roll angle, the adjustment height for the left wheels of the vehicle, and the adjustment height for the right wheels of the vehicle when the vehicle leans to the left. In this first correspondence relationship, the roll angle is in a direct proportional relationship with the height lengths of the adjustment height for the left wheels of the vehicle and the adjustment height for the right wheels of the vehicle.

[0138] As an exemplary implementation, the above first correspondence relationship can be a pre-stored table, such as Table 1 below. Based on this, the execution entity of the embodiment of the present application can query the above first correspondence relationship with the roll angle as the keyword to obtain the target correspondence relationship including the roll angle. Then, the adjustment height for the left wheels of the vehicle included in the target correspondence relationship can be determined as the first adjustment height for the left wheels of the vehicle, and the adjustment height for the right wheels of the vehicle included in the target correspondence relationship can be determined as the second adjustment height for the right wheels of the vehicle. Among them, Table 1 can be as follows:

[0139] Table 1

[0140]

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

[0142] Optionally, when it is determined that the roll direction indicates that the vehicle leans to the right, the first adjustment height for the left wheels of the vehicle and the second adjustment height for the right wheels of the vehicle can be determined from the second correspondence relationship among the preset roll angle, the adjustment height for the left wheels of the vehicle, and the adjustment height for the right wheels of the vehicle based on the above roll angle. Among them, the above second correspondence relationship is the pre-stored correspondence relationship among the roll angle, the adjustment height for the left wheels of the vehicle, and the adjustment height for the right wheels of the vehicle when the vehicle leans to the right. In this second correspondence relationship, the roll angle is in a direct proportional relationship with the height lengths of the adjustment height for the left wheels of the vehicle and the adjustment height for the right wheels of the vehicle.

[0143] As an exemplary embodiment, the above second corresponding relationship may be a pre-stored table, such as Table 2 shown below. Based on this, the execution subject of the embodiment of the present application can query the above second corresponding relationship with the roll angle as the keyword to obtain the target corresponding relationship including the roll angle. Then, the adjustment height for the left wheel of the vehicle included in the target corresponding relationship can be determined as the first adjustment height for the left wheel of the vehicle, and the adjustment height for the right wheel of the vehicle included in the target corresponding relationship can be determined as the second adjustment height for the right wheel of the vehicle. Among them, Table 2 may be as follows:

[0144] Table 2

[0145]

[0146] Among them, the positive value in the above table represents upward adjustment, and the negative value in the above table represents downward adjustment.

[0147] The technical solution provided by the embodiment of the present application determines the current roll direction of the vehicle according to the current position of the corresponding center of mass of the vehicle. When determining whether the roll direction represents the left tilt of the vehicle, according to the roll angle, the first adjustment height for the left wheel of the vehicle and the second adjustment height for the right wheel of the vehicle are determined from the first corresponding relationship among the preset roll angle, the adjustment height for the left wheel of the vehicle, and the adjustment height for the right wheel of the vehicle; when the roll direction represents the right tilt of the vehicle, according to the roll angle, the first adjustment height for the left wheel of the vehicle and the second adjustment height for the right wheel of the vehicle are determined from the second corresponding relationship among the preset roll angle, the adjustment height for the left wheel of the vehicle, and the adjustment height for the right wheel of the vehicle. This technical solution, by presetting different corresponding relationships among the roll angle, the adjustment height for the left wheel of the vehicle, and the adjustment height for the right wheel of the vehicle when the vehicle has different roll directions, can quickly determine the first adjustment height for the left wheel of the vehicle and the second adjustment height for the right wheel of the vehicle after determining the roll angle of the vehicle, realizing the efficient and rapid adjustment of the heights of the left and right wheels of the vehicle.

[0148] See Figure 4 , which is the flowchart of the embodiment of another vehicle height adjustment method provided by the embodiment 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 for the left wheel of the vehicle and the second adjustment height for the right wheel of the vehicle. As Figure 4 shown, the process may include the following steps:

[0149] Step 401: Determine the first initial adjustment height for the left wheel of the vehicle and the second initial adjustment height for the right wheel of the vehicle according to the roll angle.

[0150] The above first initial adjustment height is the adjustment height for the left wheels of the vehicle initially determined according to the roll angle of the vehicle.

[0151] The above second initial adjustment height is the adjustment height for the right wheels of the vehicle initially determined according to the roll angle of the vehicle.

[0152] In some embodiments of the present application, the adjustment height for the left wheels of the vehicle (hereinafter referred to as "the first initial adjustment height" for convenience of description) and the adjustment height for the right wheels of the vehicle (hereinafter referred to as "the second initial adjustment height" for convenience of description) can be determined first according to the roll angle of the vehicle.

[0153] As an optional implementation manner, the current roll direction of the vehicle can be determined first according to the current position of the vehicle's center of mass. Among them, when it is determined that the distance between the current position of the vehicle's center of mass and the left wheels of the vehicle is less than half of the vehicle's wheelbase, it can be determined that the vehicle is currently in a left-leaning state; when it is determined that the distance between the current position of the vehicle's center of mass and the left wheels of the vehicle is greater than half of the vehicle's wheelbase, it can be determined that the vehicle is currently in a right-leaning state.

[0154] Optionally, when it is determined that the above roll direction indicates that the vehicle is left-leaning, the first initial adjustment height for the left wheels of the vehicle and the second initial adjustment height for the right wheels of the vehicle can be determined from the first correspondence relationship among the preset roll angle, the adjustment height for the left wheels of the vehicle, and the adjustment height for the right wheels of the vehicle according to the above roll angle.

[0155] Optionally, when it is determined that the above roll direction indicates that the vehicle is right-leaning, the first initial adjustment height for the left wheels of the vehicle and the second initial adjustment height for the right wheels of the vehicle can be determined from the second correspondence relationship among the preset roll angle, the adjustment height for the left wheels of the vehicle, and the adjustment height for the right wheels of the vehicle according to the above roll angle.

[0156] As for how to specifically determine the first initial adjustment height for the left wheels of the vehicle and the second initial adjustment height for the right wheels of the vehicle, reference can be made to Figure 3 the shown process, which will not be elaborated here.

[0157] Step 402: According to the above first initial adjustment height and second initial adjustment height, the left wheels and right wheels of the vehicle are divided into raised wheels with increased height and lowered wheels with decreased height.

[0158] Step 403: Obtain the variable load difference between the current tilt direction of the vehicle and the other direction, and determine the first adjustment coefficient for the raised wheels and the second adjustment coefficient for the lowered wheels according to the above variable load difference; wherein, the above roll direction is one side of the left wheels or the right wheels of the vehicle.

[0159] The following provides a unified description of steps 402 and 403:

[0160] The above-mentioned raising wheel refers to the wheel for raising adjustment, that is, the corresponding adjustment height is used to indicate raising the raising wheel upwards. For example, the value of the adjustment height is a positive value.

[0161] The above-mentioned lowering wheel refers to the wheel for lowering adjustment, that is, the corresponding adjustment height is used to indicate lowering the lowering wheel downwards. For example, the value of the adjustment height is a negative value.

[0162] The above-mentioned roll side refers to the side to which the vehicle leans when it rolls. For example, when the vehicle rolls to the left, the roll side is the left side of the vehicle; when the vehicle rolls to the right, the roll side is the right side of the vehicle.

[0163] The above-mentioned variable load difference refers to the difference between the variable load corresponding to the roll side and the variable load of the other side. The variable load refers to the load that can be changed in the vehicle, that is, the cargo in the vehicle.

[0164] In some embodiments of the present application, considering variable load factors such as passengers and cargo, uneven load distribution may exacerbate vehicle roll. Therefore, in combination with the variable load value of the vehicle, based on the load difference between the left and right sides of the vehicle, the height adjustment values of the left and right sides are weighted. In this regard, after the execution entity of the embodiment of the present application determines the first initial adjustment height for the left wheels of the vehicle and the second initial adjustment height for the right wheels of the vehicle, the above-mentioned left wheels and right wheels of the vehicle can be classified into raising wheels and lowering wheels according to the above first initial adjustment height and second initial adjustment height.

[0165] Based on this, the execution entity of the embodiment of the present application can obtain the variable load difference between the current roll side of the vehicle and the other side, and determine the first adjustment coefficient for the raising wheel and the second adjustment coefficient for the lowering wheel according to the variable load difference. The above roll side can be the side of the left wheels of the vehicle or the side of the right wheels of the vehicle.

[0166] As an optional implementation manner, when obtaining the variable load difference between the current roll side of the vehicle and the other side, the first total variable load corresponding to the left wheels of the vehicle and the second total variable load corresponding to the right wheels of the vehicle can be obtained. The above first total variable load refers to the total variable load carried on the left side of the vehicle, and the above second total variable load refers to the total variable load carried on the right side of the vehicle.

[0167] As an exemplary implementation manner, load sensors are provided at multiple positions of the vehicle (such as the driver's seat, passenger seat, rear seat, and trunk). Through the load sensors, the first total variable load carried on the left side of the vehicle and the second total variable load carried on the right side of the vehicle can be obtained.

[0168] After that, according to the current position of the vehicle's corresponding center of mass, the current roll direction of the vehicle can be determined. Optionally, when it is determined that the roll direction indicates the left side of the vehicle, the first total variable load can be subtracted from the second total variable load to obtain a variable load difference. Optionally, when it is determined that the roll direction indicates the right roll of the vehicle, the second total variable load can be subtracted from the first total variable load to obtain the variable load difference.

[0169] As an optional implementation manner, when determining the first adjustment coefficient and the second adjustment coefficient, according to the variable load difference, the first adjustment coefficient for the raising wheel and the second adjustment coefficient for the lowering wheel corresponding to the variable load difference can be determined from the corresponding relationship between the preset variable load difference, the adjustment coefficient for the raising wheel, and the adjustment coefficient for the lowering wheel. Among them, in the above corresponding relationship, when the variable load difference is greater than a preset difference threshold (for example, -120 kg), the variable load difference is proportional to the adjustment coefficient for the raising wheel and inversely proportional to the adjustment coefficient for the lowering wheel.

[0170] As an exemplary implementation manner, the above corresponding relationship can be a preset table, which can include the corresponding relationship among the preset variable load difference range, the adjustment coefficient for the raising wheel, and the adjustment coefficient for the lowering wheel, such as Table 3 below. Based on this, the execution subject of the embodiment of the present application can determine the target variable load difference range to which the variable load difference belongs according to the variable load difference and the table. After that, using the target variable load difference range as a keyword, the above table can be searched to obtain the target corresponding relationship. After that, the adjustment coefficient for the raising wheel included in the target corresponding relationship can be determined as the first adjustment coefficient, and the adjustment coefficient for the lowering wheel included in the target corresponding relationship can be determined as the second adjustment coefficient. Among them, Table 3 can be as follows:

[0171] Table 3

[0172]

[0173] Step 404: Adjust the third initial adjustment height of the raising wheel according to the first adjustment coefficient to obtain the third adjustment height of the raising wheel. Among them, when the raising wheel is the left wheel of the vehicle, the third initial adjustment height is the first initial adjustment height, and the third adjustment height is the first adjustment height. When the raising wheel is the right wheel of the vehicle, the third initial adjustment height is the second initial adjustment height, and the third adjustment height is the second adjustment height.

[0174] Step 405: Adjust the fourth initial adjustment height of the lowering wheel according to the second adjustment coefficient to obtain the fourth adjustment height of the lowering wheel. Wherein, when the lowering wheel is the left wheel of the vehicle, the fourth initial adjustment height is the first initial adjustment height, and the fourth adjustment height is the first adjustment height; when the lowering wheel is the right wheel of the vehicle, the fourth initial adjustment height is the second initial adjustment height, and the fourth adjustment height is the second adjustment height.

[0175] The following is a unified description of steps 404 and 405:

[0176] In some embodiments of the present application, after determining the first adjustment coefficient for the raising wheel, the initial adjustment height of the raising wheel (for the convenience 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 raising wheel (for the convenience of distinction, hereinafter referred to as the "third adjustment height"). Among them, when the raising wheel is the left wheel, the obtained third adjustment height can be the first adjustment height corresponding to the left wheel, and when the raising wheel is the right wheel, the obtained third adjustment height can be the second adjustment height corresponding to the right wheel.

[0177] As an optional implementation manner, the third initial adjustment height can be multiplied by the first adjustment coefficient to obtain the third adjustment height.

[0178] In some embodiments of the present application, after determining the second adjustment coefficient for the raising wheel, the initial adjustment height of the raising wheel (for the convenience 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 raising wheel (for the convenience of distinction, hereinafter referred to as the "fourth adjustment height"). Among them, when the raising wheel is the left wheel, the obtained fourth adjustment height can be the first adjustment height corresponding to the left wheel, and when the raising wheel is the right wheel, the obtained fourth adjustment height can be the second adjustment height corresponding to the right wheel.

[0179] As an optional implementation manner, the fourth initial adjustment height and the second adjustment coefficient can be multiplied to obtain the fourth adjustment height.

[0180] The technical solution provided by the embodiments of the present application, after determining the initial adjustment heights for adjusting the left wheel and the right wheel of the vehicle, can further determine the adjustment coefficients for the initial adjustment height corresponding to the left wheel and the adjustment coefficient for the initial adjustment height corresponding to the right wheel according to the variable load factor of the vehicle, so as to further adjust the initial adjustment heights of the left wheel and the right wheel respectively, thereby improving the accuracy and stability of the vehicle height adjustment.

[0181] See Figure 5, is a flowchart of an embodiment of another vehicle height adjustment method provided by an embodiment of the present application. Figure 5 The process shown Figure 4 On the basis of the process shown, after determining the third adjustment height of the raising wheel and the fourth adjustment height of the lowering wheel, the third adjustment height and the fourth adjustment height can be adjusted again. As Figure 5 shown, this process may include the following steps:

[0182] Step 501, obtain the current steering of the vehicle and the corresponding steering angle.

[0183] Step 502, adjust the third adjustment height and the fourth adjustment height according to the above steering and steering angle to obtain the adjusted third adjustment height and fourth adjustment height.

[0184] The following is a unified description of step 501 and step 502:

[0185] The above steering refers to the steering when the vehicle is running currently, such as the steering of the steering wheel, which may include left turn and right turn.

[0186] The above steering angle refers to the steering angle corresponding when the vehicle is steering, such as the angle of rotation of the steering wheel.

[0187] In some embodiments of the present application, in order to prevent safety accidents caused by excessive adjustment of the vehicle height when the vehicle is steering, the execution subject of the embodiment of the present application, after Figure 4 determining the third adjustment height of the current raising wheel and the fourth adjustment height of the lowering wheel through the process shown, can obtain the current steering of the vehicle and the corresponding steering angle. After that, the third adjustment height and the fourth adjustment height can be adjusted again according to the above steering and steering angle to obtain the adjusted third adjustment height and fourth adjustment height, so as to adjust the raising wheel through the adjusted third adjustment height and adjust the lowering wheel through the adjusted fourth adjustment height, making the vehicle more stable.

[0188] As an optional implementation manner, when obtaining the current steering of the vehicle and the corresponding steering angle, the current steering and steering angle of the vehicle's steering controller (such as the steering wheel) can be obtained.

[0189] As an optional implementation manner, when adjusting the third adjustment height and the fourth adjustment height according to the above steering and steering angle, the adjustment can be performed in the following manner:

[0190] First, determine the roll direction of the vehicle according to the current position of the vehicle's corresponding center of mass. As for how to determine the roll direction specifically, reference can be made to Figure 3 the process shown, which will not be elaborated here.

[0191] After that, the positive and negative signs of the steering angle can be determined according to the above-mentioned steering and roll directions. Among them, the positive direction of the steering angle can be determined based on the current roll direction of the vehicle. For example, when the vehicle rolls to the left, a left turn of the vehicle is defined as positive; when the vehicle rolls to the right, a right turn of the vehicle is defined as positive. The positive direction of the steering angle can also be determined based on the current steering of the vehicle. For example, when the vehicle turns left, a left turn of the vehicle is defined as positive; when the vehicle turns right, a right turn of the vehicle is defined as positive. The embodiments of the present application do not limit this.

[0192] As an alternative implementation, when the positive direction of the steering angle is determined based on the roll direction of the vehicle, if the steering of the vehicle is the same as the roll direction of the vehicle, the steering angle is a positive sign; if the steering of the vehicle is different from the roll direction of the vehicle, the steering angle is a negative sign. For example, when the vehicle rolls to the left, if the vehicle turns left, the obtained steering angle is positive at this time; if the vehicle turns right, the obtained steering angle is negative at this time.

[0193] As another alternative implementation, when the positive direction of the steering angle is determined based on the steering of the vehicle, if the roll direction of the vehicle is the same as the steering, the steering angle is a positive sign; if the roll direction of the vehicle is different from the steering, the steering angle is a negative sign. For example, when the vehicle turns left, if the roll direction of the vehicle is a left roll, the obtained steering angle is positive at this time; if the roll direction of the vehicle is a right roll, the steering angle at this time is negative.

[0194] After that, according to the above positive and negative signs and the steering angle, the third adjustment coefficient for the raised wheel and the fourth adjustment coefficient for the lowered wheel can be determined from the corresponding relationship among the preset steering angle, the adjustment coefficient for the raised wheel, and the adjustment coefficient for the lowered wheel.

[0195] As an alternative implementation, the above corresponding relationship can be a pre-set table, which can include the corresponding relationship among the steering angle range, the adjustment coefficient for the raised wheel, and the adjustment coefficient for the lowered wheel. Based on this, the execution entity of the embodiment of the present application can determine the target steering angle range to which the current steering angle belongs according to the above-mentioned steering angle with the positive and negative signs calibrated and the above table, and use the target steering angle range as a keyword to search the table, obtain the target corresponding relationship from the table, and determine the adjustment coefficient for the raised wheel included in the target corresponding relationship as the third adjustment coefficient, and determine the adjustment coefficient for the lowered wheel included in the target corresponding relationship as the fourth adjustment coefficient. Among them, the above table can be shown as Table 4 below:

[0196] Table 4

[0197] Steering angle / ° Adjustment coefficient for the raising wheel Adjustment coefficient for the lowering wheel ＜-180° 0 0 -180°～-60° 0.9 1.1 -60°～0 0.9 0 0～45° 0 0 45°～90° 1.1 1.1 90°～180° 1.2 1.2 ＞180° 1.4 1.4

[0198] Finally, the third adjustment height can be adjusted according to the above third adjustment coefficient to obtain the adjusted third adjustment height for the lifting wheel, and the fourth adjustment height can be adjusted according to the fourth adjustment coefficient to obtain the adjusted fourth adjustment height for the lowering wheel.

[0199] As an optional implementation, the third adjustment coefficient can be multiplied by the third adjustment height to obtain the adjusted third adjustment height, and the fourth adjustment coefficient can be multiplied by the fourth adjustment height to obtain the adjusted fourth adjustment height.

[0200] The technical solution provided by the embodiments of the present application adjusts the third adjustment height and the fourth adjustment height according to the current steering and the corresponding steering angle of the vehicle, and obtains the adjusted third adjustment height and the fourth adjustment height. This technical solution can prevent the vehicle from being over-adjusted in height during steering, which may easily lead to safety accidents, and improves the safety and stability of vehicle height adjustment by re-adjusting the third adjustment height of the lifting wheel and the fourth adjustment height of the lowering wheel according to the current steering and steering angle of the vehicle.

[0201] See Figure 6 , which is a flowchart of an embodiment of another vehicle height adjustment method provided by the embodiments of the present application. Figure 6 The process shown Figure 4 or Figure 5 On the basis of the process shown, it describes re-adjusting the third adjustment height of the lifting wheel and the fourth adjustment height of the lowering wheel according to the current vehicle speed of the vehicle. As Figure 6 shown, the process may include the following steps:

[0202] Step 601: Obtain the current vehicle speed of the vehicle.

[0203] Step 602: Determine the target adjustment coefficient corresponding to the vehicle speed from the corresponding relationship between the preset vehicle speed and the adjustment coefficient according to the above vehicle speed.

[0204] Step 603: Adjust the third adjustment height and the fourth adjustment height respectively according to the above target adjustment coefficient to obtain the adjusted third adjustment height for the lifting wheel and the adjusted fourth adjustment height for the lowering wheel.

[0205] The following is a unified description of steps 601 to 603:

[0206] The above vehicle speed refers to the current driving speed of the vehicle.

[0207] In the embodiments of the present application, in order to prevent the vehicle from reducing stability and causing safety accidents when the vehicle speed is too fast during the adjustment of the vehicle height, the execution subject of the embodiments of the present application, when passing through Figure 4Or Figure 5 After obtaining the third adjustment height of the lifting wheel and the fourth adjustment height of the lowering wheel through the process shown, the current vehicle speed can be further obtained, and based on the vehicle speed, the target adjustment coefficients for the third adjustment height and the fourth adjustment height can be determined.

[0208] As an alternative implementation, the execution entity of the embodiment of the present application can call a speed sensor pre-installed in the vehicle to obtain the current vehicle speed.

[0209] As an alternative implementation, the corresponding relationship between the vehicle speed and the adjustment coefficient can be preset in the present application. Among them, in this corresponding relationship, the vehicle speed and the adjustment coefficient can be in an inverse proportion relationship, that is, the higher the vehicle speed, the smaller the adjustment coefficient. When the vehicle speed is greater than the preset threshold, the adjustment can be prohibited.

[0210] Based on this, the execution entity of the embodiment of the present application can determine the target adjustment coefficient corresponding to the vehicle speed from the corresponding relationship between the above vehicle speed and the adjustment coefficient according to the above vehicle speed.

[0211] As an exemplary implementation, this corresponding relationship can be a table, and this table can record the corresponding relationship between different vehicle speed ranges and the adjustment coefficient. Based on this, the execution entity of the embodiment of the present application can determine the target vehicle speed range to which the current vehicle speed belongs according to the above vehicle speed and the table, and search the above table with the above target vehicle speed range as the keyword to obtain the target corresponding relationship including the above target vehicle speed range. After that, the adjustment coefficient included in the target corresponding relationship can be determined as the target adjustment coefficient. Among them, the table can be as shown in Table 5 below:

[0212]

[0213] After that, the third adjustment height and the fourth adjustment height can be adjusted respectively according to the target adjustment coefficient to obtain the adjusted third adjustment height of the lifting wheel and the adjusted fourth adjustment height of the lowering wheel.

[0214] The technical solution provided by the embodiment of the present application, by obtaining the current vehicle speed of the vehicle, determining the target adjustment coefficient corresponding to the vehicle speed from the preset corresponding relationship between the vehicle speed and the adjustment coefficient according to the above vehicle speed, and adjusting the third adjustment height and the fourth adjustment height respectively according to the above target adjustment coefficient, obtains the adjusted third adjustment height of the lifting wheel and the adjusted fourth adjustment height of the lowering wheel. This technical solution can further adjust the determined third adjustment height of the lifting wheel and the fourth adjustment height of the lowering wheel through the current vehicle speed of the vehicle, so as to prevent the vehicle from reducing stability and causing safety accidents when adjusting the height of the vehicle, and realizes the improvement of the safety and stability of adjusting the height of the vehicle.

[0215] See Figure 7 , which is a block diagram of an embodiment of a vehicle height adjustment device provided by an embodiment of the present application. As Figure 7 shown, the device may include:

[0216] An acquisition module 71, configured to acquire the current roll angle of the vehicle and determine the current position of the centroid corresponding to the vehicle based on the roll angle;

[0217] A determination module 72, configured to determine a first adjustment height for the left wheels of the vehicle and a second adjustment height for the right wheels of the vehicle based on the roll angle when it is determined that the current position is not within a preset range;

[0218] An adjustment module 73, configured to adjust the height of the left wheels of the vehicle according to the first adjustment height and adjust the height of the right wheels of the vehicle according to the second adjustment height.

[0219] As Figure 8 shown, it is a schematic structural diagram of a vehicle provided by an embodiment of the present application, including a processor 81, a communication interface 82, a memory 83, and a communication bus 84. Among them, the processor 81, the communication interface 82, and the memory 83 complete mutual communication through the communication bus 84,

[0220] The memory 83 is used to store a computer program;

[0221] In an embodiment of the present application, when the processor 81 is used to execute the program stored on the memory 83, it implements the vehicle height adjustment method provided by any one of the foregoing method embodiments, including:

[0222] Acquire the current roll angle of the vehicle and determine the current position of the centroid corresponding to the vehicle based on the roll angle;

[0223] When it is determined that the current position is not within a preset range, determine a first adjustment height for the left wheels of the vehicle and a second adjustment height for the right wheels of the vehicle based on the roll angle;

[0224] Adjust the height of the left wheels of the vehicle according to the first adjustment height and adjust the height of the right wheels of the vehicle according to the second adjustment height.

[0225] An 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.

[0226] The device embodiments of the above text 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 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.

[0227] 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 above technical solution, in essence, or the part that makes contributions 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 for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0228] It should be understood that the terms used in the text are only for the purpose of specific example embodiments of the text and are not intended to be restrictive. Unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" as used in the text may also represent the plural form. 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 exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or their combinations. The method steps, processes, and operations in the text of the text are not to be construed as necessarily requiring them to be executed in the specific order stated or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps can be used.

[0229] The above description is only the specific embodiments of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application will not be limited to these embodiments shown in the text, but will conform to the widest 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 roll angle of the vehicle, and determining a current position of a corresponding center of mass of the vehicle based on the roll angle; In the case where it is determined that the current position is not within the preset range, determining a first adjustment height for the left wheel of the vehicle and a second adjustment height for the right wheel of the vehicle based on the roll angle; The height of the left wheel of the vehicle is adjusted according to the first adjustment height, and the height of the right wheel 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 roll angle, a current position of the vehicle corresponding to the center of mass, comprises: Obtaining the wheelbase between the left wheel of the vehicle and the right wheel of the vehicle; Determine the current horizontal distance between the corresponding center of mass of the vehicle and the left wheel of the vehicle according to the roll angle and the wheelbase; Determining a first height value and a left total axle load of a left wheel of the vehicle, and a second height value and a right total axle load of a right wheel of the vehicle; Determine a current height value of the corresponding center of mass of the vehicle from the ground according to the roll angle, the first height value, the left total axle load, the second height value, and the right total axle load; 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 2, characterized in that The determining of the first height value and the left total axle load of the left wheel of the vehicle, and the second height value and the right total axle load of the right wheel of the vehicle comprises: Determine a first initial height value and a first axle load corresponding to each wheel located on the left side of the vehicle, and a second initial height value and a second axle load corresponding to each wheel located on the right side of the vehicle; Determine a first average height value corresponding to a plurality of the first initial height values, and determine the first average height value as the first height value; Determine a first total axle load corresponding to a plurality of the first axle loads, and determine the first total axle load as the left total axle load; Determine a second average height value corresponding to a plurality of the second initial height values, and determine the second average height value as the second height value; A second total axle load corresponding to a plurality of the second axle loads is determined, and the second total axle load is determined as the right total axle load.

4. The method according to claim 1, characterized in that: The method of determining a first adjustment height of a left wheel of the vehicle and a second adjustment height of a right wheel of the vehicle based on the roll angle includes: Determining a current roll direction of the vehicle according to the current position of the center of mass of the vehicle; In the case where the roll direction indicates that the vehicle is leaning to the left, according to the roll angle, a first adjustment height for the left wheel of the vehicle and a second adjustment height for the right wheel of the vehicle are determined from a first correspondence between a preset roll angle, an adjustment height for the left wheel of the vehicle, and an adjustment height for the right wheel of the vehicle; When the roll direction indicates that the vehicle is leaning to the right, according to the roll angle, a first adjustment height for the left wheel of the vehicle and a second adjustment height for the right wheel of the vehicle are determined from a second corresponding relationship among a preset roll angle, an adjustment height for the left wheel of the vehicle, and an adjustment height for the right wheel of the vehicle.

5. The method according to claim 1, characterized in that The method of determining a first adjustment height of a left wheel of the vehicle and a second adjustment height of a right wheel of the vehicle based on the roll angle includes: Determining a first initial adjustment height for a left wheel of the vehicle and a second initial adjustment height for a right wheel of the vehicle according to the roll angle; According to the first initial adjustment height and the second initial adjustment height, the left side wheel of the vehicle and the right side wheel of the vehicle are distinguished as a raised wheel with a raised height and a lowered wheel with a lowered height; Obtaining a variable load difference between the current rolling side of the vehicle and the other side, and determining a first adjustment coefficient for the raised wheel and a second adjustment coefficient for the lowered wheel according to the variable load difference; wherein the rolling side is the left wheel side of the vehicle or the right wheel side of the vehicle; According to the first adjustment coefficient, the third initial adjustment height of the lifting wheel is adjusted to obtain the third adjustment height of the lifting wheel; wherein, when the lifting wheel is the left wheel of the vehicle, the third initial adjustment height is the first initial adjustment height, and the third adjustment height is the first adjustment height; when the lifting wheel is the right wheel of the vehicle, the third initial adjustment height is the second initial adjustment height, and the third adjustment height is the second adjustment height; According to the second adjustment coefficient, the fourth initial adjustment height of the lowering wheel is adjusted to obtain the fourth adjustment height of the lowering wheel; wherein, when the lowering wheel is the left side wheel of the vehicle, the fourth initial adjustment height is the first initial adjustment height, and the fourth adjustment height is the first adjustment height; when the lowering wheel is the right side wheel of the vehicle, the fourth initial adjustment height is the second initial adjustment height, and the fourth adjustment height is the second adjustment height.

6. The method according to claim 5, characterized in that The step of obtaining a variable load difference between the current roll side of the vehicle and the other side includes: Acquire a first total variable load corresponding to the left wheel of the vehicle and a second total variable load corresponding to the right wheel of the vehicle; Determining a current roll direction of the vehicle according to the current position of the center of mass of the vehicle; When the roll direction indicates that the vehicle is tilted to the left, subtracting the second total variable load from the first total variable load to obtain the variable load difference; When the roll direction indicates that the vehicle is tilted to the right, the variable load difference is obtained by subtracting the first total variable load from the second total variable load.

7. The method according to claim 5, characterized in that Determining a first adjustment coefficient for the raising wheel and a second adjustment coefficient for the lowering wheel according to the variable load difference includes: According to the variable load difference, the first adjustment coefficient for the raising wheel and the second adjustment coefficient for the lowering wheel corresponding to the variable load difference are determined from the corresponding relationship among the preset variable load difference, the adjustment coefficient for the raising wheel, and the adjustment coefficient for the lowering wheel.

8. The method according to claim 5, characterized in that After determining the third adjustment height of the raising wheel and the fourth adjustment height of the lowering wheel, the method further includes: Obtaining the current steering direction and corresponding steering angle of the vehicle; The third adjustment height and the fourth adjustment height are adjusted according to the steering and the steering angle to obtain the adjusted third adjustment height and fourth adjustment height.

9. The method according to claim 8, characterized in that The step of adjusting the third adjustment height and the fourth adjustment height according to the steering and the steering angle to obtain the adjusted third adjustment height and fourth adjustment height comprises: Determining a roll direction of the vehicle according to the current position of the center of mass of the vehicle; Determining the sign of the steering angle according to the steering and the roll direction; Determining, according to the positive and negative signs and the steering angle, a third adjustment coefficient for the raising wheel and a fourth adjustment coefficient for the lowering wheel from a correspondence among a preset steering angle, an adjustment coefficient for the raising wheel, and an adjustment coefficient for the lowering wheel; Adjusting the third adjustment height according to the third adjustment coefficient to obtain an adjusted third adjustment height of the lifting wheel; The fourth adjustment height is adjusted according to the fourth adjustment coefficient to obtain an adjusted fourth adjustment height of the lowering wheel.

10. The method according to claim 5 or 8, characterized in that: After determining the third adjustment height of the raising wheel and the fourth adjustment height of the lowering wheel, the method further includes: Obtaining the current speed of the vehicle; According to the vehicle speed, determining a target adjustment coefficient corresponding to the vehicle speed from a preset correspondence relationship between the vehicle speed and the adjustment coefficient; The third adjustment height and the fourth adjustment height are adjusted respectively according to the target adjustment coefficient to obtain the adjusted third adjustment height of the raising wheel and the adjusted fourth adjustment height of the lowering wheel.

11. A vehicle height adjustment device, characterized in that: The device comprises: An acquisition module, used to acquire a current roll angle of the vehicle, and determine a current position of a corresponding center of mass of the vehicle based on the roll 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 the left wheel of the vehicle and a second adjustment height for the right wheel of the vehicle based on the roll angle; An adjustment module is used to adjust the height of the left wheel of the vehicle according to the first adjustment height, and to adjust the height of the right wheel of the vehicle according to the second adjustment height.

12. 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 10.

13. 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 10.

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