Suspension control device capable of controlling suspension according to steering mode and method thereof

Abstract

The present invention relates to a suspension control apparatus capable of controlling a suspension according to a steering mode and a method thereof. The setting of the suspension is controlled according to the steering mode of a vehicle; according to the present invention, the orientation of the vehicle is determined to easily secure the field of view of the driver, thereby determining the roll angle or pitch angle of the vehicle to control the suspension and thereby secure the field of view of the driver, thereby eliminating the feeling of discomfort to the driver due to a steering mode different from the prior art. Moreover, the driver can grasp the driving condition which changes according to the driving mode through the visual angle, so that the riding feeling of the driver can be improved.

Description

Technical Field

[0001] The present invention relates to a suspension control of a vehicle, and more particularly, to a technology for controlling a suspension according to a steering mode of a vehicle capable of four-wheel drive and steering. Background Art

[0002] A suspension (suspension device) is a device that connects a vehicle body and wheels, and is a necessary device for absorbing road surface impacts while ensuring tire grip. Since it absorbs the impacts generated while traveling on the road surface before transmitting them to the vehicle body or passengers, it plays a role in reducing the fatigue of the vehicle body, improving durability, and maintaining the riding comfort of passengers.

[0003] Recently, attempts have been made to integrate chassis components related to the drive, steering, and braking of such suspensions into a single component. That is, instead of connecting each wheel with an axle, each wheel can be independently driven and steered, so that different actions from conventional vehicles can be achieved.

[0004] Figure 7 An example of the steering mode of such a vehicle capable of four-wheel independent drive and steering is shown.

[0005] Figure 7 (a) of shows front-wheel steering such as a conventional vehicle, and (b) shows rear-wheel steering.

[0006] Figure 7 (c) of shows four-wheel steering in which the front wheels and the rear wheels steer in opposite directions, and (d) shows diagonal steering in which the front wheels and the rear wheels steer in the same direction.

[0007] Figure 7 (e) of shows a crab movement in which the vehicle moves completely sideways, and (f) shows pivot steering in which the vehicle can turn in place.

[0008] In various steering modes of such a vehicle, different from the conventional steering of the prior art, that is, the steering in which the heading angle of the vehicle and the moving direction do not have much difference, the driver will experience a situation where the angle formed by the heading angle of the vehicle and the moving direction is large. That is, experiencing a situation where the angle formed by the driver's line of sight and the moving direction of the vehicle is large, so the driver may feel uneasy.

[0009] In order to solve the problems caused by the use of such steering modes not used in the prior art, the inventors of the present invention have been working hard on research. After a lot of efforts, the present invention, a suspension and its control method, has finally been completed, which can ensure more driver's field of view in steering modes where the gap between the moving direction of the vehicle and the heading angle of the vehicle is large, such as diagonal steering or crab steering modes, and thus can eliminate the driver's sense of uneasiness. Summary of the Invention

[0010] (Problems to be Solved)

[0011] An object of the present invention is to provide a suspension and a control method thereof applicable to various steering modes in a vehicle capable of performing various modes of steering.

[0012] Another object of the present invention is to control the suspension according to various steering modes to ensure a wider field of view for the driver.

[0013] On the other hand, for other objects not explicitly stated in the present invention, additional considerations can be made within the scope that can be easily inferred from the following detailed description and its effects.

[0014] (Means for Solving the Problems)

[0015] The suspension control device according to the present invention includes: a steering mode determination unit that determines a steering mode based on the steering angles of the respective wheels of the vehicle; a vehicle posture determination unit that determines the posture of the vehicle according to the steering mode; and a suspension setting unit that controls the setting of the suspension of each wheel according to the determined vehicle posture.

[0016] The vehicle posture determination unit determines the moving direction of the vehicle by the steering mode and the steering angle, and determines the posture of the vehicle to ensure a wider field of view for the driver based on the determined moving direction of the vehicle.

[0017] The vehicle posture determination unit determines the posture of the vehicle only when the moving speed of the vehicle is below a preset reference speed to ensure a wider field of view for the driver.

[0018] The vehicle posture determination unit determines the roll angle, pitch angle, or yaw angle of the vehicle according to the determined posture of the vehicle.

[0019] The suspension setting unit sets the suspension of the vehicle according to the determined roll angle, pitch angle, or yaw angle of the vehicle.

[0020] The vehicle posture determination unit determines a roll angle to tilt the vehicle in the moving direction of the vehicle when the steering mode is a crab steering mode; the suspension setting unit sets the suspension of the vehicle according to the determined roll angle.

[0021] The vehicle posture determination unit determines a roll angle and a pitch angle to tilt the vehicle in the moving direction of the vehicle when the steering mode is a diagonal steering mode; the suspension setting unit sets the suspension of the vehicle according to the determined roll angle and pitch angle.

[0022] The vehicle posture determination unit causes the vehicle to tilt more in the moving direction of the vehicle as the distance from the parking position is greater when the vehicle is moving in a parking mode.

[0023] The vehicle posture determination unit is configured such that, when the vehicle moves in a parking mode and an obstacle is sensed in the moving direction of the vehicle, the closer the vehicle gets to the obstacle, the smaller the degree of tilting of the vehicle in the moving direction of the vehicle becomes.

[0024] The vehicle posture determination unit is configured such that the faster the vehicle speed, the greater the degree of tilting of the vehicle in the moving direction of the vehicle.

[0025] A suspension control method according to another embodiment of the present invention includes the following steps:

[0026] Judging a steering mode based on the steering angles of the respective wheels of the vehicle; determining the posture of the vehicle according to the steering mode; and controlling the settings of the suspensions of the respective wheels according to the determined vehicle posture.

[0027] (Effects of the Invention)

[0028] According to the present invention, by controlling the suspension according to the steering mode, there is an effect of ensuring the driver's field of vision.

[0029] In addition, by controlling the suspension according to the traveling direction of the vehicle, there is also an effect that the driver can indirectly receive information on the traveling state of the vehicle.

[0030] In addition, there is an advantage that the stability of the vehicle can be improved even during crab steering or diagonal steering, which are non-conventional driving modes of the vehicle.

[0031] On the other hand, even if effects not explicitly mentioned herein are considered, the effects and potential effects described in the following description expected by the technical features of the present invention are regarded as the same as those described in the specification of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic block diagram of a suspension control device according to any preferred embodiment of the present invention.

[0033] Figure 2 is a schematic structural diagram of a vehicle controlled by a suspension control device according to any preferred embodiment of the present invention.

[0034] Figure 3 is an example showing suspension control according to the present invention in a diagonal steering mode.

[0035] Figure 4 is an example showing suspension control according to the present invention in a crab steering mode.

[0036] Figure 5 is a graph showing a change in roll angle during parking by suspension control according to the present invention.

[0037] Figure 6 is a schematic flowchart of a suspension control method according to another preferred embodiment of the present invention.

[0038] Figure 7 shows the steering modes of a four-wheel drive and steering vehicle according to the prior art.

[0039] The accompanying drawings are provided as reference examples for understanding the technical idea of the present invention, and the scope of rights of the present invention should not be limited thereby. Detailed Description of the Invention

[0040] The above objects, means, and effects of the present invention will become more apparent through the accompanying drawings and the following detailed description, and thus those having ordinary knowledge in the technical field to which the present invention pertains can easily implement the present invention. In addition, in the description of the present invention, when it is determined that the specific description of related well-known technologies may unnecessarily obscure the gist of the present invention, such detailed description is omitted.

[0041] The terms used in this specification are for describing embodiments and are not intended to limit the present invention. In this specification, for a sentence in the singular form, unless otherwise specifically mentioned in the sentence, it also includes the plural form according to the context. In this specification, for terms such as "comprising", "having", "configured", or "equipped", the presence or addition of one or more other components other than the mentioned components is not excluded.

[0042] In this specification, terms such as "or" and "at least one" may represent one or a combination of two or more of the plurality of words listed together. For example, "A or B" and "at least one of A and B" may include only one of A or B, or may include both A and B.

[0043] In this specification, the information presented, such as the description of "for example" and the cited characteristics, variables, or values, may not be exactly consistent because of variations including, for example, tolerances, measurement errors, limitations in measurement accuracy, and other factors generally known, and should not limit the implementation forms of the invention according to various embodiments of the present invention.

[0044] In this specification, when it is described that a certain component is "connected" or "contacted" to another component, it should be understood that it may be directly connected or contacted to the other component, but there may also be other components in between. On the contrary, when it is described that a certain component is "directly connected" or "directly contacted" to another component, it should be understood that there are no other components in between.

[0045] In this specification, when it is described that a certain component "is located" or "contacts" "on" another component, it should be understood that it may be in direct contact or connection with the other component, but there may also be other components in between. On the contrary, when it is described that a certain component "is directly located" or "directly contacts" another component, it can be understood that there are no other components in between. The same interpretation can also be applied to other expressions for explaining the relationship between components, such as "between..." and "directly between...".

[0046] Terms such as "first", "second", etc. can be used to describe multiple components, and the components should not be limited to these terms. These terms are interpreted as being for the purpose of defining the order of each component and are only used to distinguish one component from another. For example, the "first component" can be named the "second component", and similarly, the "second component" can also be named the "first component".

[0047] Unless otherwise defined, all terms used in this specification can be commonly understood by those with ordinary knowledge in the technical field to which the present invention belongs. In addition, for terms defined in a dictionary that are commonly used, unless there is a clear and specific definition, they should not be interpreted ideally or excessively.

[0048] Hereinafter, a preferred embodiment according to the present invention will be described in detail with reference to the accompanying drawings.

[0049] Figure 1 is a schematic block diagram of a suspension control device according to any preferred embodiment of the present invention.

[0050] The suspension control device 100 according to the present invention may include: a steering mode determination unit 110, a vehicle posture determination unit 120, and a suspension setting unit 130.

[0051] For this purpose, the suspension control device 100 may include a control unit (not shown), and the control unit includes one or more processors and a memory.

[0052] The memory stores various information required for controlling the suspension. The stored information in the memory may include: the steering angle or steering mode, information for the control actions of the suspension control device 100, information for signal processing or analysis in the suspension control device 100, program information related to the control method, etc., but is not limited thereto.

[0053] For example, according to the type, the memory may include a hard disk type, a magnetic media type, a CD-ROM (compact disc read only memory), an optical media type, a magneto-optical media type, a multimedia card micro type, a flash memory type, a read only memory type, or a random access memory type, etc., but not limited thereto. Additionally, according to the use / location, the memory may be a cache, a buffer, a main memory, an auxiliary memory, or another configured storage system, but not limited thereto.

[0054] The control unit can execute various control actions of the suspension control device 100. That is, the control unit determines the steering mode of the vehicle based on the steering angle of the vehicle, and accordingly can control the suspension. For example, the control unit may include a hardware processor or a software process executed by the processor, etc., but not limited thereto.

[0055] The steering mode determination unit 110 determines the steering mode based on the steering angles of the respective wheels of the vehicle.

[0056] As Figure 6 shown, in a vehicle with four independently driven and steered wheels, various steering modes can be set according to the steering of each wheel.

[0057] Therefore, by using a steering angle sensor (not shown) etc. to grasp the steering angles of the respective wheels, the steering mode of the vehicle can be determined.

[0058] For example, when all four wheels of the vehicle form the same predetermined angle with the heading angle of the vehicle, the steering mode of the vehicle can be determined as the diagonal steering mode. In particular, when all four wheels of the vehicle form a right angle with the heading angle of the vehicle, it can be determined as the crab steering mode or the lateral steering mode.

[0059] In the diagonal steering mode, crab steering mode, or lateral steering mode as described above, the angle formed by the heading angle and the moving direction of the vehicle is large, so it may make the driver feel uneasy or the riding comfort may also deteriorate.

[0060] Therefore, the suspension control device 100 according to the present invention determines the posture of the vehicle based on the steering mode of the vehicle, and accordingly controls the suspensions of the respective wheels.

[0061] Based on the steering mode determined by the steering mode determination unit 110, the vehicle posture determination unit 120 determines the posture of the vehicle.

[0062] For example, the more the driver ensures the road surface view in the moving direction during vehicle movement, the higher the evaluation of the riding comfort and driving feeling. Therefore, the posture of the vehicle is adjusted in the direction that can ensure more road surface view according to the steering mode.

[0063] Finally, the suspension setting unit 130 controls the suspensions of the vehicle for each wheel and can set the determined vehicle posture. For example, the height, damping, etc. of the suspension are adjusted to control the vehicle to adopt a pre-determined posture.

[0064] Figure 2 It is a schematic structural diagram of a vehicle for explaining the control of the suspension of the vehicle according to the steering mode.

[0065] The vehicle 1 may include four wheels 10, 20, 30, 40 and four suspensions 11, 21, 31, 41 respectively connected to the four wheels.

[0066] Figure 2 Fig. (a) shows the schematic positions of the wheels and suspensions when viewed from the rear of the vehicle, showing that the left front wheel 10 and the right front wheel 20 are located on the left and right respectively.

[0067] Figure 2 Fig. (b) shows the schematic positions of the wheels and suspensions when viewed from the left side of the vehicle, showing the left front wheel 10 and the suspension 11 connected to the left front wheel 10 and the left rear wheel 30 and the suspension 31 connected to the left rear wheel 30.

[0068] The vehicle posture determination unit 120 can judge the moving direction of the vehicle through the steering angles of the respective wheels and the steering mode, and can determine the posture of the vehicle to ensure more driver's line of sight to the road surface according to the judged moving direction of the vehicle.

[0069] For example, when the vehicle is moving in the forward direction, the posture of the vehicle can be determined and the pitch angle of the vehicle can be adjusted to a forward-tilted posture.

[0070] For this purpose, based on the steering mode and the moving direction of the vehicle, the vehicle posture determination unit 120 can determine the roll angle, pitch angle or yaw angle of the vehicle.

[0071] Based on the determined vehicle posture, the suspension setting unit 130 adjusts the height and damping of the suspension, etc., and further controls the vehicle to achieve the desired posture. That is, in order to form the roll angle, pitch angle or yaw angle of the vehicle 1 determined by the vehicle posture determination unit 120, the height or damping of the suspension is set, etc.

[0072] At this time, the vehicle posture determination unit 120 and the suspension setting unit 130 can control the vehicle posture only when the moving speed of the vehicle 1 is below a preset reference speed. For example, only when driving diagonally at low speed or performing crab walking to stop, the vehicle posture is controlled by setting the suspension, and when driving forward at high speed, the vehicle posture is not controlled. This is because there is no need to tilt the vehicle posture in the moving direction during normal driving.

[0073] Figure 3 and Figure 4 It is a schematic structural diagram of a vehicle for explaining the setting of the vehicle suspension in the diagonal steering mode or crab steering mode.

[0074] As Figure 3 shown in (a), when all the wheels 10, 20, 30, 40 of the vehicle 1 face the front left, the yaw angle of the vehicle 1 remains unchanged while the vehicle moves forward to the left. That is, since the vehicle moves in a direction different from the line of sight while the driver is looking ahead, it may make the driver feel uneasy.

[0075] Therefore, the vehicle posture determination unit 120 determines the posture of the vehicle 1 and tilts the vehicle to the front left to ensure more driver's vision of the road surface in the front left.

[0076] In Figure 3 (b), it can be confirmed that the vehicle 1 tilts to the left, that is, the driving direction of the vehicle. That is, the horizontal axis 3 in the left-right direction of the vehicle forms a predetermined angle with the axis 2 parallel to the ground, which means that the roll angle of the vehicle has a predetermined value rather than 0 degrees.

[0077] In Figure 3 (c), it can be confirmed that the vehicle 1 tilts forward, that is, the driving direction of the vehicle. That is, the horizontal axis 4 in the front-rear direction of the vehicle forms a predetermined angle with the axis 2 parallel to the ground, which means that the pitch angle of the vehicle has a predetermined value rather than 0 degrees.

[0078] Thus, if the posture of the vehicle 1 driving diagonally is determined, that is, the roll angle and pitch angle, the suspension setting unit 130 controls the suspensions 11, 21, 31, 41 to form the determined roll angle and pitch angle.

[0079] Specifically, to tilt the vehicle to the left, the height of the suspension 11 connected to the left wheel 10 can be lowered, or conversely, the height of the suspension 21 connected to the right wheel 20 can be increased.

[0080] In this way, the suspensions 11, 21, 31, and 41 of the vehicle 1 are controlled to tilt the vehicle 1 diagonally forward to the left, thereby ensuring a wider field of view for the driver.

[0081] Figure 4 (a) of shows the arrangement of the wheels 10, 20, 30, and 40 when the vehicle is in the crab-steering mode. All four wheels 10, 20, 30, and 40 are perpendicular to the heading angle of the vehicle 1, and thus the vehicle 1 can move completely laterally.

[0082] If the steering angle information and driving information of the wheels 10, 20, 30, and 40, that is, the steering mode, are known, the moving direction of the vehicle 1 can be determined. As Figure 4 shown, when the vehicle moves completely laterally to the left, the vehicle posture determination unit 120 does not adjust the front-rear tilt of the vehicle 1, that is, the pitch angle, but only adjusts the roll angle of the vehicle 1 toward the left, that is, determines the posture of the vehicle according to the moving direction of the vehicle 1. Then, based on the determined roll angle, the suspension setting unit 130 controls the suspension 11.

[0083] As Figure 3 and 4 The examples of diagonal driving or crab driving as shown can be applied when the vehicle is traveling at a low speed, that is, when parking. For this purpose, the vehicle posture determination unit 120 or the suspension setting unit can be set to determine the posture of the vehicle only when the speed of the vehicle is below a preset speed while knowing the speed of the vehicle.

[0084] Figure 5 is a graph showing an example of the relationship between the distance from the parking position and the roll angle when the vehicle is parking.

[0085] When the vehicle starts parking in the lateral (crab) steering mode, the closer it gets to the target parking position, the smaller the roll angle becomes. When the vehicle reaches the parking position, that is, the target parking point, the target roll angle also converges to 0.

[0086] When parking, usually the closer the vehicle gets to the parking position, the slower the speed of the vehicle 1 is reduced for fine control. Therefore, the vehicle posture determination unit 120 is such that when the vehicle is far from the parking position, the inclination of the vehicle is increased, and then the closer the vehicle gets to the parking position, the inclination can be gradually reduced, and when the vehicle 1 is at the parking position, the inclination, that is, the roll angle can be made 0 degrees.

[0087] At this time, when an obstacle is detected after the vehicle 1 moves in a diagonal steering mode or a crab steering mode for parking, the closer the vehicle gets to the obstacle, the more sharply the roll angle or pitch angle of the vehicle can be decreased. Therefore, the degree to which the vehicle 1 can be tilted becomes smaller, and the driver can grasp the problem of the driving environment, that is, the obstacle, through vision or other senses.

[0088] In addition, the faster the vehicle speed, the smaller the driver's field of vision. Therefore, in order to ensure the field of vision, the vehicle posture determination unit 120 can be set such that the faster the vehicle speed, the larger the angle at which the vehicle 1 is tilted in the moving direction of the vehicle 1. That is, the roll angle of the vehicle can be increased in proportion to the vehicle speed.

[0089] In this way, in order to ensure the driver's field of vision according to various steering modes of the vehicle, the height or damping of the suspension is controlled, and further, the uneasiness brought to the driver due to inconsistent sightlines can be reduced, and the psychological sense of security can be obtained by ensuring the sightline.

[0090] Figure 6 It is a flowchart of a suspension control method according to another preferred embodiment of the present invention.

[0091] The suspension control method according to the present invention can be implemented by a suspension control device or a control unit, and the suspension control device or the control unit includes one or more processors and a memory.

[0092] As described above, the suspension control method according to the present invention is to judge the steering mode (S110), determine the posture of the vehicle (S120), and then set the suspension according to the determined posture of the vehicle (S130).

[0093] In the step of judging the steering mode, as described above, it is judged whether all four wheels are steered, and the steering mode is judged according to the steering angles of the respective wheels that have been grasped. By grasping the steering of all the wheels, the driving direction can be judged in the same way as the above description.

[0094] In the step of determining the vehicle posture, the vehicle posture is determined according to the moving direction of the vehicle grasped through the steering mode and the steering angle, and the roll angle or pitch angle of the vehicle is determined so that the vehicle can be tilted in the moving direction. In the subsequent step, the suspension will be controlled based on this determination.

[0095] In particular, for a diagonal steering mode or a crab steering mode, the vehicle posture can also be determined and the suspension can be set only when the vehicle is moving slowly, which is the same as the above description.

[0096] In addition, when the vehicle is moving in a parking mode, the closer it gets to the parking point, the slower the moving speed of the vehicle can be, or the roll angle or pitch angle of the vehicle can also be made smaller.

[0097] As described above, the suspension control device and method according to the present invention ensure a wider driver's field of view in the direction of vehicle travel according to the steering mode, thereby having the effects of eliminating the driver's sense of uneasiness and improving the riding comfort.

[0098] Specific embodiments have been described in the detailed description of the present invention, but various modifications can of course be made within the scope not exceeding the present invention. Therefore, the scope of the present invention is not limited to the described embodiments, but should be defined by the claims and equivalents thereof.

Claims

1. A suspension control device, comprising one or more processors and a memory, comprising: A steering mode determination unit, which determines a steering mode according to a steering angle of each wheel of the vehicle; a vehicle posture determination unit that determines a vehicle posture according to the steering pattern; and The suspension setting unit controls the setting of the suspension of each wheel according to the determined vehicle posture.

2. The suspension control device according to claim 1, characterized in that: The vehicle posture determination unit determines the moving direction of the vehicle based on the steering pattern and the steering angle, and determines the vehicle posture so as to ensure a wider field of view for the driver in the determined moving direction of the vehicle.

3. The suspension control device according to claim 2, characterized in that: The vehicle posture determination unit determines the vehicle posture only when the moving speed of the vehicle is equal to or less than a preset reference speed so as to ensure a wider field of view for the driver.

4. The suspension control device according to claim 2, characterized in that: The vehicle posture determination unit determines a roll angle, a pitch angle, or a yaw angle of the vehicle based on the determined vehicle posture.

5. The suspension control device according to claim 4, characterized in that: The suspension setting unit sets a suspension of the vehicle according to the determined roll angle, pitch angle, or yaw angle of the vehicle.

6. The suspension control device according to claim 1, characterized in that: The vehicle posture determination unit determines a roll angle so that the vehicle tilts in a moving direction of the vehicle when the steering mode is a crab steering mode; The suspension setting unit sets a suspension of the vehicle according to the determined roll angle.

7. The suspension control device according to claim 1, characterized in that: The vehicle posture determination unit determines a roll angle and a pitch angle so that the vehicle is tilted in the moving direction of the vehicle when the steering mode is the diagonal steering mode; The suspension setting unit sets a suspension of the vehicle based on the determined roll angle and pitch angle.

8. The suspension control device according to claim 6 or 7, characterized in that: The vehicle posture determination unit is configured to tilt the vehicle in a moving direction of the vehicle to a greater degree as the vehicle is farther from a parking position when the vehicle is moving in a parking mode.

9. The suspension control device according to claim 8, characterized in that: The vehicle posture determination unit is configured to gradually reduce the degree of inclination of the vehicle in the moving direction of the vehicle as the vehicle approaches the obstacle when the vehicle moves in the parking mode.

10. The suspension control device according to claim 6 or 7, characterized in that: The vehicle posture determination unit tilts the vehicle more toward the moving direction of the vehicle as the speed of the vehicle increases.

11. A suspension control method, executed by a suspension control device including one or more processors and a memory, comprising the following steps: Determining the steering mode by the steering angle of each wheel of the vehicle; determining a posture of the vehicle according to the steering pattern; and The setting of the suspension of each wheel is controlled according to the determined vehicle posture.

12. The suspension control method according to claim 11, characterized in that: The step of determining the vehicle posture is to judge the moving direction of the vehicle through the steering mode and the steering angle, and to determine the vehicle posture so as to ensure more driver's field of view with the judged moving direction of the vehicle.

13. The suspension control method according to claim 12, characterized in that: The step of determining the vehicle posture is to determine the vehicle posture only when the moving speed of the vehicle is equal to or less than a preset reference speed, so as to ensure a wider field of view of the driver.

14. The suspension control method according to claim 12, characterized in that: The step of determining the vehicle posture is to determine a roll angle, a pitch angle or a yaw angle of the vehicle according to the determined vehicle posture.

15. The suspension control method according to claim 14, characterized in that: The step of controlling the setting of the suspension is to set the suspension of the vehicle according to the determined roll angle, pitch angle or yaw angle of the vehicle.

16. The suspension control method according to claim 11, characterized in that: The step of determining the vehicle posture is, when the steering mode is a crab steering mode, determining a roll angle so that the vehicle tilts in the moving direction of the vehicle; The step of controlling the setting of the suspension includes setting the suspension of the vehicle according to the determined roll angle.

17. The suspension control method according to claim 11, characterized in that: The step of determining the vehicle posture is, when the steering mode is an oblique steering mode, determining a roll angle and a pitch angle so that the vehicle is tilted in the moving direction of the vehicle; The step of controlling the setting of the suspension is to set the suspension of the vehicle according to the determined roll angle and pitch angle.

18. The suspension control method according to claim 16 or 17, characterized in that: The step of determining the vehicle posture is to tilt the vehicle in the moving direction of the vehicle to a greater extent as the distance from the parking position increases when the vehicle moves in the parking mode.

19. The suspension control method according to claim 18, characterized in that: The step of determining the vehicle posture is that when the vehicle moves in a parking mode, if an obstacle is sensed in the moving direction of the vehicle, the degree of inclination of the vehicle in the moving direction of the vehicle is gradually reduced as the vehicle approaches the obstacle.

20. The suspension control method according to claim 16 or 17, characterized in that: The step of determining the vehicle posture includes tilting the vehicle to a greater extent in the moving direction of the vehicle as the speed of the vehicle is faster.

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