Adjusting method and device of air suspension system, electronic equipment and storage medium

Abstract

The invention relates to the technical field of vehicle control, and provides an adjusting method and device of an air suspension system, electronic equipment and a storage medium. The method comprises the following steps: acquiring the current gas capacity of each air spring and the no-load gas capacity of each air spring in the air suspension system; determining a target load of the vehicle according to the current gas capacity and the no-load gas capacity; according to the second load of the vehicle, the target rotating speed of a compressor in the air suspension system is determined; in response to the height adjusting instruction for the air suspension system, the compressor is controlled to adjust the height of the air suspension system according to the target rotating speed, the target load of the vehicle is accurately obtained through the current gas capacity of each air spring, and then the target rotating speed of the compressor is determined according to the target load of the vehicle; the target rotating speed of the compressor is matched with the load of the vehicle, and the requirement for dynamically matching the rotating speed of the compressor with the load of the vehicle in real time is met.

Description

Technical Field

[0001] This application relates to the technical field of vehicle control, and in particular, to a method and device for adjusting an air suspension system, an electronic device, and a storage medium. Background Art

[0002] With the continuous development of technology, vehicles have become an important means of transportation indispensable in people's daily lives, and comfort is one of the important indicators to measure vehicle performance. As a key component affecting vehicle comfort and handling, the air suspension system plays an important role in alleviating road bumps and enhancing the riding experience.

[0003] In the related art, the adjustment rate of the air suspension system cannot be guaranteed, resulting in a poor user experience of the air suspension system. Summary of the Invention

[0004] In view of this, embodiments of this application provide a method and device for adjusting an air suspension system, an electronic device, and a storage medium, so as to solve the problem in the related art that the adjustment rate of the air suspension system cannot be guaranteed, resulting in a poor user experience of the air suspension system.

[0005] In the first aspect of the embodiments of this application, a method for adjusting an air suspension system is provided. The method includes: obtaining the current gas capacity of each air spring in the air suspension system and the no-load gas capacity of each air spring, where the no-load gas capacity is used to represent the gas capacity of the air spring at the target height when the vehicle is unloaded; determining the target load of the vehicle according to the current gas capacity and the no-load gas capacity; determining the target speed of the compressor in the air suspension system according to the target load of the vehicle; and in response to a height adjustment instruction for the air suspension system, controlling the compressor to adjust the height of the air suspension system according to the target speed.

[0006] In the second aspect of the embodiments of this application, an adjustment device for an air suspension system is provided. The device includes: a gas module, configured to obtain the current gas capacity of each air spring in the air suspension system and the no-load gas capacity of each air spring, where the no-load gas capacity is used to represent the gas capacity of the air spring at the target height when the vehicle is unloaded; a load module, configured to determine the target load of the vehicle according to the current gas capacity and the no-load gas capacity; a speed module, configured to determine the target speed of the compressor in the air suspension system according to the target load of the vehicle; and a control module, configured to, in response to a height adjustment instruction for the air suspension system, control the compressor to adjust the height of the air suspension system according to the target speed.

[0007] In a third aspect of the embodiments of the present application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above method are implemented.

[0008] In a fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0009] The beneficial effects of the embodiments of the present application compared with the prior art are as follows: The method in the embodiments of the present application obtains the current gas capacity of each air spring in the air suspension system and the no-load gas capacity of each air spring. The no-load gas capacity is used to characterize the gas capacity of the air spring at the target height when the vehicle is unloaded; determines the target load of the vehicle according to the current gas capacity and the no-load gas capacity; determines the target speed of the compressor in the air suspension system according to the target load of the vehicle; in response to a height adjustment instruction for the air suspension system, controls the compressor to adjust the height of the air suspension system according to the target speed. The present application accurately obtains the target load of the vehicle through the current gas capacity of each air spring, and then determines the target speed of the compressor according to the target load of the vehicle, so that the target speed of the compressor matches the target load of the vehicle. Subsequently, the compressor is controlled to adjust the height of the air suspension system according to the target speed, realizing the real-time and dynamic matching of the compressor speed and the vehicle load requirements, making the output of the compressor more efficient and accurate, avoiding the problem of reduced adjustment rate caused by running at a fixed speed, and avoiding the problem in the related art that the adjustment rate of the air suspension system cannot be guaranteed, resulting in a poor user experience of the air suspension system. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0011] Figure 1 is a schematic flowchart of a method for adjusting an air suspension system provided by an embodiment of the present application;

[0012] Figure 2 is a schematic flowchart of another method for adjusting an air suspension system provided by an embodiment of the present application;

[0013] Figure 3 is a schematic flowchart of yet another method for adjusting an air suspension system provided by an embodiment of the present application;

[0014] Figure 4 is a schematic flow chart of another air suspension system adjustment method provided by an embodiment of the present application;

[0015] Figure 5 is a schematic flow chart of still another air suspension system adjustment method provided by an embodiment of the present application;

[0016] Figure 6 is a schematic flow chart of another optional air suspension system adjustment method provided by an embodiment of the present application;

[0017] Figure 7 is a schematic flow chart of yet another optional air suspension system adjustment method provided by an embodiment of the present application;

[0018] Figure 8 is a schematic structural diagram of an air suspension system adjustment device provided by an embodiment of the present application;

[0019] Figure 9 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0020] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0021] Next, a method and a device for adjusting an air suspension system according to an embodiment of the present application will be described in detail with reference to the accompanying drawings.

[0022] Figure 1 is an air suspension system adjustment method provided by an embodiment of the present application. As Figure 1 shown, the method includes:

[0023] S101. Obtain the current gas capacity of each air spring in the air suspension system and the no-load gas capacity of each air spring. The no-load gas capacity is used to represent the gas capacity of the air spring at the target height when the vehicle is unloaded;

[0024] S102. Determine the target load of the vehicle according to the current gas capacity and the no-load gas capacity;

[0025] S103. Determine the target speed of the compressor in the air suspension system according to the target load of the vehicle;

[0026] S104 . In response to a height adjustment instruction for the air suspension system, control a compressor to adjust the height of the air suspension system according to a target speed.

[0027] It can be understood that the adjustment method of the air suspension system provided in this example is applied to vehicles equipped with air suspension systems, including vehicles with automatic driving or intelligent driving (including vehicles with passenger functions (such as cars, buses, large buses, minibuses, etc.), vehicles with cargo functions (such as ordinary trucks, vans, trailers, closed trucks, tank trucks, flatbed trucks, container trucks, dump trucks, trucks with special structures), special vehicles (such as logistics distribution vehicles, automatic guided transport vehicles AGV, patrol cars, cranes, cranes, excavators, bulldozers, forklifts, rollers, loaders, off-road engineering vehicles, armored engineering vehicles, sewage treatment vehicles, sanitation vehicles, vacuum trucks, floor washing vehicles, sprinkler trucks, sweeping robots, food delivery robots, shopping guide robots, lawn mowers, golf carts, etc.), vehicles with entertainment functions (such as entertainment vehicles, amusement park automatic driving devices, balance cars, etc.), rescue vehicles (such as fire trucks, ambulances, power repair vehicles, engineering rescue vehicles, etc.)), etc.

[0028] It can be understood that the air suspension system includes a control unit, an air tank, an air spring, a compressor and other equipment. When the height of the vehicle needs to be increased, the control unit will judge the need to add gas to the air spring based on the signal of the sensor, and the compressor will start to suck in the outside air and generate high-pressure gas through compression. The control system opens the air supply solenoid valve connecting the compressor and the air spring, and the high-pressure gas enters the air spring. With the entry of high-pressure gas, the air spring expands and rises, thereby gradually increasing the height of the vehicle. When the height of the vehicle reaches the target value, the control system closes the air supply solenoid valve and stops the operation of the compressor. In some examples, the compressor also stores excess gas in the air tank, and the air spring can be directly replenished through the air tank later; when the height of the vehicle needs to be reduced, the control unit will judge the need to deflate the air spring based on the signal of the sensor, and the control unit controls the compressor to run in reverse, absorbing the gas in the air spring and releasing it to the air tank. The volume of the air spring decreases, and the height of the vehicle gradually decreases.

[0029] It can be understood that at least two air springs are arranged in the air suspension system; illustratively, when two air springs are arranged in the air suspension system, the two air springs are arranged on the front axle of the vehicle (that is, each air spring corresponds to a wheel on the front axle), and when four air springs are arranged in the air suspension system, two air springs are arranged on the front axle of the vehicle, and two air springs are arranged on the rear axle of the vehicle (that is, each air spring corresponds to a wheel on the rear axle).

[0030] It can be understood that when the vehicle load changes (such as an increase or decrease in load), the rising or falling rate of the air springs in the air suspension system may be affected. For example, when the load increases, if the compressor still operates at the original speed, the adjustment rate of the air springs will decrease, resulting in a slower response speed of the air suspension system and affecting the user experience.

[0031] To avoid the above problems, the present application provides an adjustment method for an air suspension system. During the process of adjusting the height of the vehicle, the present application obtains the current gas capacity of each air spring in the air suspension system and the no-load gas capacity of each air spring. The no-load gas capacity is used to represent the gas capacity of the air spring corresponding to the target height when the vehicle is unloaded. Then, the target load of the vehicle is determined according to the current gas capacity of each air spring, and the target load is used to represent the current load of the vehicle.

[0032] The present application determines the target speed of the compressor in the air suspension system according to the target load of the vehicle, so that the determined target speed can match the target load (current load) of the vehicle. It can be understood that how to determine the target speed based on the target load will be described in detail later and will not be elaborated here.

[0033] In some examples, after determining the target speed, the present application responds to a height adjustment instruction for the air suspension system and controls the compressor to adjust the height of the air suspension system according to the target speed. Exemplarily, if the determined corresponding target speed is 3000 rad / s, the present application will control the compressor according to 3000 rad / s to achieve height adjustment of the air suspension system.

[0034] According to the technical solution provided by the embodiments of the present application, the current gas capacity of each air spring in the air suspension system and the no-load gas capacity of each air spring are obtained. The no-load gas capacity is used to characterize the gas capacity of the air spring at the target height when the vehicle is unloaded; the target load of the vehicle is determined according to the current gas capacity and the no-load gas capacity; according to the target load of the vehicle, the target speed of the compressor in the air suspension system is determined; in response to a height adjustment instruction for the air suspension system, the compressor is controlled according to the target speed to adjust the height of the air suspension system. The present application accurately obtains the target load of the vehicle through the current gas capacity of each air spring, and then determines the target speed of the compressor according to the target load of the vehicle, so that the target speed of the compressor matches the target load of the vehicle. Then, the compressor is controlled according to the target speed to adjust the height of the air suspension system, realizing the requirement of real-time and dynamic matching of the compressor speed and the vehicle load, making the output of the compressor more efficient and accurate, avoiding the problem of reduced adjustment rate caused by running at a fixed speed, and avoiding the problem in the related art that the adjustment rate of the air suspension system cannot be guaranteed, resulting in a poor user experience of the air suspension system.

[0035] In some embodiments, as Figure 2 shown, obtaining the current gas capacity of each air spring in the air suspension system includes:

[0036] S201. Determine the initial gas capacity corresponding to each air spring according to the airbag pressure value and the airbag volume corresponding to each air spring;

[0037] S202. Obtain the gas temperature of each air spring, and determine the gas correction value corresponding to each air spring according to the gas temperature of each air spring;

[0038] S203. Perform weighted processing on the initial gas capacity according to the gas correction value corresponding to each air spring to obtain the current gas capacity of each air spring.

[0039] It can be understood that in order to obtain the current gas capacity of the air spring, the present application obtains the airbag pressure value and the airbag volume of the air spring, and jointly determines the initial gas capacity corresponding to the air spring according to the airbag pressure value and the airbag volume.

[0040] Specifically, denote the airbag pressure value as p f and denote the airbag volume as V f , then the initial gas capacity is p f ×V f ×M, where M is the molar mass of dry air.

[0041] It can be understood that the airbag pressure value corresponding to the air spring can be obtained through the pressure sensor corresponding to the air spring, which will not be elaborated here; in this application, a mapping relationship between the air spring height and the airbag volume is preset. By obtaining the height of the air spring and then looking up the mapping relationship between the air spring height and the airbag volume based on the height, the airbag volume of the air spring can be obtained, which will not be elaborated here.

[0042] In order to accurately obtain the current gas capacity of the air spring, this application also takes into account the influence of gas temperature on the gas capacity. Specifically, this application will obtain the gas temperature of each air spring and determine the gas correction value corresponding to each air spring according to the gas temperature of each air spring. Denote the gas temperature as T, then the gas correction value is R×T, where R is the gas constant.

[0043] Continuing from the above example, this application will perform a weighted processing on the initial gas capacity according to the gas correction value corresponding to each air spring to obtain the current gas capacity of each air spring; specifically, the current gas capacity = (p f ×V f ×N) / (R×T).

[0044] To better understand the above steps, this application provides a more specific example for illustration. Taking a vehicle including a left front air spring, a right front air spring, a left rear air spring, and a right rear air spring as an example, where the current gas capacity m fl of the left front air spring is:

[0045] m fl = (p fl ×V fl ×M) / (R×T);

[0046] In the formula, p fl is the airbag pressure value corresponding to the left front air spring (unit: kPa), V fl is the airbag volume corresponding to the left front air spring (unit: m3); M is the molar mass of dry air (unit: g / mol), T is the gas temperature (unit: °C), and R is the gas constant.

[0047] The current gas capacity m fr of the right front air spring is:

[0048] m fr = (p fr ×V fr ×M) / (R×T);

[0049] In the formula, p fr is the airbag pressure value corresponding to the right front air spring (unit: kPa), V fris the airbag volume corresponding to the right front air spring (unit: m3); M is the molar mass of dry air (unit: g / mol), T is the gas temperature (unit: °C), and R is the gas constant.

[0050] The current gas capacity m corresponding to the left rear air spring rl is:

[0051] m rl =(p rl ×V rl ×M) / (R×T);

[0052] In the formula, p rl is the airbag pressure value corresponding to the left rear air spring (unit: kPa), V rl is the airbag volume corresponding to the right rear air spring (unit: m3); M is the molar mass of dry air (unit: g / mol), T is the gas temperature (unit: °C), and R is the gas constant.

[0053] The current gas capacity m corresponding to the right rear air spring rr is:

[0054] m rr =(p rr ×V rr ×M) / (R×T);

[0055] In the formula, p rr is the airbag pressure value corresponding to the right rear air spring (unit: kPa), V rr is the airbag volume corresponding to the right rear air spring (unit: m3); M is the molar mass of dry air (unit: g / mol), T is the gas temperature (unit: °C), and R is the gas constant.

[0056] The gas volume of the gas storage tank is m compoprt , and during the charging and discharging process, the pressure value of the gas storage tank is dynamically changing. Therefore, the value of the pressure sensor is used as the pressure value of the gas storage tank, and the calculation formula is as follows:

[0057] m compoprt =(H pre ×V comp ×M) / (R×T);

[0058] In the formula, H pre is the pressure sensor pressure value (unit: kPa), V comp is the gas storage tank volume (unit: m3); M is the molar mass of dry air (unit: g / mol), T is the gas temperature (unit: °C), and R is the gas constant.

[0059] The total gas volume m of the air spring during the inflation or deflation process ALLOpre is:

[0060] m ALLOpre = m compopre + m fl + m fr + m rl + m rr ;

[0061] In the formula, m ALLOpre is the total amount of gas in the air suspension system during the inflation or deflation process, m comp is the gas volume in the air storage tank, m fl is the current gas volume corresponding to the left front air spring, m fr is the current gas volume corresponding to the right front air spring, m rl is the current gas volume corresponding to the left rear air spring, m rr is the current gas volume corresponding to the right rear air spring.

[0062] According to the technical solution provided by the embodiment of the present application, the initial gas volume corresponding to each air spring is determined according to the airbag pressure value and airbag volume corresponding to each air spring; the gas temperature of each air spring is obtained, and the gas correction value corresponding to each air spring is determined according to the gas temperature of each air spring; according to the gas correction value corresponding to each air spring, the initial gas volume is weighted to obtain the current gas volume corresponding to each air spring. By obtaining the airbag pressure value and airbag volume corresponding to the air spring and considering the influence of gas temperature on gas volume, the gas volume corresponding to the air spring is accurately obtained.

[0063] In some embodiments, as Figure 3 shown, determining the target load of the vehicle according to the current gas volume and the no-load gas volume includes:

[0064] S301. Obtain the no-load load corresponding to each air spring;

[0065] S302. Determine the gas volume difference corresponding to each air spring according to the no-load gas volume and the current gas volume of each air spring, and determine the load change amount corresponding to each air spring based on the gas volume difference corresponding to each air spring;

[0066] S303. Determine the target load of the vehicle according to the load change amount and the no-load load of each air spring.

[0067] It can be understood that when a load is applied to the air spring of the air suspension system, the air pressure inside the air spring will increase accordingly. According to Boyle's and Mariotte's Law, for a certain amount of gas, at a constant temperature, its pressure is inversely proportional to its volume. Therefore, the change in pressure can be estimated by fixing the height of the air spring and measuring the change in the gas capacity of the air spring, and this pressure also represents the load received by the air spring.

[0068] Based on the above principle, this application will calculate the load change amount corresponding to each air spring according to the change value of the gas capacity of each air spring, and then determine the target load of the vehicle according to the load change amount of each air spring.

[0069] Specifically, this application first obtains the no-load gas capacity of each air spring. The no-load gas capacity is used to characterize the gas capacity of the air spring at the target height when the vehicle is unloaded. According to the no-load gas capacity of each no-load spring, the no-load load corresponding to each air spring can be obtained; it can be understood that the above no-load gas capacity is obtained by measuring the gas capacity of each air spring multiple times at the target height, and the above target height is the current height of the air spring.

[0070] It can be understood that this application will measure the air spring multiple times at different heights, and then obtain the gas capacity of the air spring at different heights. Subsequently, the current height is used as the target height to obtain the corresponding no-load gas capacity.

[0071] In some examples, this application will also determine the gas capacity difference corresponding to each air spring according to the no-load gas capacity and the current gas capacity of each air spring; specifically, by subtracting the no-load gas capacity from the current gas capacity, the gas capacity difference corresponding to the air spring can be obtained.

[0072] After obtaining the capacity difference corresponding to the air spring, this application will determine the load change amount of each air spring based on the capacity difference corresponding to each air spring; specifically, there is a mapping relationship between the load change amount and the capacity difference set in this application. After obtaining the gas capacity difference of each air spring, the mapping relationship between the load change amount and the gas capacity difference of each air spring is matched, and the load change amount of each air spring can be obtained.

[0073] It can be understood that the above mapping relationship between the load change amount and the gas capacity difference is obtained by conducting multiple tests on the vehicle; this application does not limit the storage method of the mapping relationship between the load change amount and the gas capacity difference, that is, the mapping relationship between the load change amount and the capacity difference can be stored in any of the ways of hash, key-value pair, database, and table.

[0074] Exemplarily, taking the mapping relationship between the above-mentioned load change amount and the gas volume difference stored in the form of a table as an example, the mapping relationship between the load change amount and the gas volume difference is shown in Table 1 below:

[0075] Table 1: Mapping Relationship Table between Load Change Amount and Gas Volume Difference

[0076] Load change amount F / kg 0 25 50 75 100 … Gas volume difference g (gram) 0 0.008 0.015 0.02 0.03 …

[0077] As shown in Table 2 above, with the load increased in units of 25 kg (the unit amount can be reduced to refine the table and improve the calibration accuracy), the change value F of the gas volume of a single airbag after each loading is recorded 1 , when the gas volume difference of the air spring is 0.008 kg, the load change amount of the air spring is determined to be 25F / kg; when the gas volume difference of the air spring is 0.015 kg, the load change amount of the air spring is determined to be 50F / kg... when the gas volume difference of the air spring is 0.03 kg, the load change amount of the air spring is determined to be 100F / kg.

[0078] In some examples, after determining the load change amount of each air spring, the present application determines the target load of the vehicle according to the load change amount of each air spring and the no-load load corresponding to each air spring; specifically, the present application obtains the no-load load corresponding to each air spring when the vehicle is unloaded, adds the no-load load corresponding to each air spring to the load change amount of each air spring, and the current load of each air spring can be obtained. Then, by adding the current loads of each air spring, the target load of the vehicle can be obtained.

[0079] Exemplarily, assuming that when a vehicle is unloaded, the no-load load corresponding to an air spring is F 0 , assuming that the load change amount of the air spring is F 1 , then assuming that the current load of the air spring is F, the current load F of the air spring = F 1 +F 0 , and after obtaining the loads of each air spring in the air suspension system subsequently, by adding the loads of each air spring, the target load of the vehicle can be obtained.

[0080] In some examples, the present application also takes into account the influence of the load change amount on the gas volume difference at different temperatures, and further realizes the construction of the mapping relationship between the load change amount and the gas volume difference at different temperatures. The above-mentioned mapping relationship between the load change amount and the gas volume difference at different temperatures can be obtained by performing multiple tests on the vehicle at different temperatures, which will not be elaborated here.

[0081] According to the technical solution provided by the embodiments of the present application, obtain the no-load load corresponding to each air spring; determine the capacity difference corresponding to each air spring according to the no-load gas capacity and the current gas capacity of each air spring, and determine the load change amount of each air spring based on the capacity difference corresponding to each air spring; determine the target load of the vehicle according to the load change amount and the no-load load of each air spring. The present application realizes the accurate determination of the load change amount through the relationship between the gas capacity difference and the load change amount, and further realizes the accurate determination of the target load of the vehicle through the load change amount.

[0082] In some embodiments, as Figure 4 shown, determining the target speed of the compressor in the air suspension system according to the target load of the vehicle includes:

[0083] S401. Determine the base speed corresponding to the compressor in the air suspension system according to the target load of the vehicle;

[0084] S402. Obtain the air suspension adjustment mode of the vehicle, and adjust the target speed according to the air suspension adjustment mode to obtain the target speed.

[0085] In some examples, determining the base speed corresponding to the compressor in the air suspension system according to the target load of the vehicle includes: matching the target load of the vehicle with the pre-set corresponding relationship between the load and the speed to determine the base speed; the corresponding relationship between the load and the speed can be stored in one or more ways such as key-value pairs, hash, database, and table.

[0086] It can be understood that the corresponding relationship between the load and the speed is determined according to historical data. Specifically, in the present application, the vehicle is tested multiple times at different loads to obtain the speed required for the air spring in the air suspension system to rise to a pre-set height within a specified time, thereby realizing the acquisition of the corresponding relationship between different loads and speeds.

[0087] Exemplarily, in the present application, taking the specified time as 22 seconds, after multiple tests, the speeds of the compressor required for the air spring to rise to the pre-set height in 22 seconds under different load conditions of the vehicle are shown in Table 2 below:

[0088] Table 2: Corresponding relationship table between load and speed

[0089]

[0090] Based on the data, it is concluded that when ensuring the rise time is 22 seconds or less, when the vehicle load is between 100 and 150 kg, the compressor speed is 2900 rad / s; when the vehicle load is between 150 and 200 kg, the compressor speed is 3000 rad / s... and so on. When the vehicle load is between 450 and 500 kg, the compressor speed is 3400 rad / s.

[0091] Based on Table 2 above, when the target load of the vehicle is 120 KG, the corresponding basic speed is determined to be 2900 rad / s. When the target load of the vehicle is 360 KG, the corresponding basic speed is determined to be 32500 rad / s.

[0092] In some examples, after obtaining the basic speed, in order to make the adjustment speed of the air suspension system match the user's needs, the present application further obtains the air suspension adjustment mode of the vehicle, and adjusts the basic speed according to the air suspension adjustment mode to obtain the target speed, so that the obtained target speed can match the user's needs.

[0093] After obtaining the adjusted target speed, the present application controls the compressor according to the adjusted target speed to adjust the height of the air suspension system.

[0094] According to the technical solution provided by the embodiment of the present application, the basic speed corresponding to the compressor in the air suspension system is determined according to the target load of the vehicle; the air suspension adjustment mode of the vehicle is obtained, and the basic speed is adjusted according to the air suspension adjustment mode to obtain the target speed, so that the adjusted target speed further takes into account the user's needs according to the air suspension adjustment mode on the basis of considering the vehicle load. Subsequently, the compressor is controlled according to the adjusted target speed to adjust the height of the air suspension system, realizing real-time and dynamic matching of the compressor speed with the vehicle load requirements, making the output of the compressor more efficient and accurate, avoiding the problem of reduced adjustment rate caused by running at a fixed speed, and avoiding the problem of poor user experience of the air suspension system caused by the inability to ensure the adjustment rate of the air suspension system in the related art.

[0095] In some embodiments, as Figure 5 shown, determining the basic speed corresponding to the compressor in the air suspension system according to the target load of the vehicle includes:

[0096] S501. Determine the initial speed according to the target load of the vehicle;

[0097] S502. Determine the first speed influence factor according to the preset expected adjustment time and the actual adjustment time corresponding to the air suspension system under the target load;

[0098] S503. Weight the initial speed according to the first speed influence factor to obtain the base speed.

[0099] Specifically, determining the initial speed according to the target load of the vehicle includes: matching the target load of the vehicle with the pre-set corresponding relationship between load and speed to obtain the initial speed. The above-mentioned corresponding relationship between load and speed can be stored in one or more ways such as key-value pairs, hash, database, and table, which will not be elaborated here.

[0100] Among them, the first speed influence factor is determined by the expected adjustment time (rise or fall time) and the actual adjustment time. Among them, the expected adjustment time is a pre-set value (for example, the expected adjustment time is 22 seconds), and the actual adjustment time is the actual adjustment time required when the vehicle controls the compressor at the initial speed under the target load. Among them, the actual adjustment times corresponding to different target loads can be obtained through testing; compare the expected adjustment time (22S) with the actual adjustment time. If the expected adjustment time is significantly shorter than the actual adjustment time, it means that the speed of the compressor is relatively small under the current load condition, and the speed of the compressor needs to be increased, so the first speed influence factor is greater than 1; if the expected adjustment time is longer than the actual adjustment time, it means that the speed of the compressor is relatively large under the current load, and the current speed needs to be reduced, so the first speed influence factor is less than 1.

[0101] Exemplarily, in this application, the first speed influence factor is set as the ratio of the expected adjustment time to the actual adjustment time, as shown in Table 3 below:

[0102] Table 3. First speed influence factor determination table

[0103]

[0104] As shown in the above table, when the target load of the vehicle is 0KG and the compressor is controlled at the initial speed, the actual adjustment time is 20 seconds. At this time, the ratio 20 / 22 = 0.91 of the actual adjustment time (20 seconds) to the expected adjustment time (22 seconds) is used as the first speed influence factor.

[0105] After obtaining the first speed influence factor, weight the initial speed according to the first speed influence factor to obtain the base speed. Specifically, that is, S = C * a, where S is the base speed, C is the initial speed, and a is the first speed influence factor.

[0106] In some examples, determining the base speed corresponding to the compressor in the air suspension system according to the target load of the vehicle includes: determining the initial speed according to the target load of the vehicle, and determining the first speed influence factor and the second speed influence factor, and processing the initial speed according to the first speed influence factor and the second speed influence factor to obtain the base speed.

[0107] It can be understood that the ways in which the initial speed and the first speed influence factor are involved in steps S501 and S502, which will not be elaborated here.

[0108] In some examples, the second speed influence factor is determined by the ratio of the desired speed corresponding to the load to the initial speed. Exemplarily, the desired speed corresponding to the load is as shown in Table 2 above. When the target load of the vehicle is 100 - 150 kg, the desired speed of the compressor is 2900 rad / s; when the target load of the vehicle is between 150 - 200 kg, the desired speed of the compressor is 3000 rad / s... and so on. When the load of the vehicle is between 450 - 500 kg, the desired speed of the compressor is 3400 rad / s. After determining the desired speed, the ratio of the desired speed to the initial speed is used as the second speed influence factor. Exemplarily, when the target load of the vehicle is 0 kg, assuming the initial speed is 3000 rad / s and the corresponding desired speed is 2800 rad / s, then the second speed influence factor is 2800 / 3000 = 0.93.

[0109] In some examples, the present application can also pre - set the corresponding second speed influence factor table in the above - mentioned manner in advance, and subsequently, the corresponding second speed influence factor table can be directly queried according to the target load of the vehicle, as shown in Table 4 below:

[0110] Table 4: Second speed influence factor table

[0111]

[0112] Among them, when the target load of the vehicle is 0 kg, referring to Table 4, it can be known that the corresponding second speed influence factor is 2800 / 3000 = 0.93.

[0113] In some examples, after determining the first speed influence factor, the second speed influence factor, and the initial speed, the present application processes the initial speed according to the first speed influence factor and the second speed influence factor to obtain the basic speed; specifically, multiplying the initial speed by the first speed influence factor and the second speed influence factor can obtain the basic speed, that is, S = C * a * b, where S is the basic speed, C is the initial speed, a is the first speed influence factor, and B is the second speed influence factor.

[0114] According to the technical solution provided by the embodiments of the present application, the initial speed is determined according to the target load of the vehicle; the first speed influence factor is determined according to the preset desired adjustment time and the actual adjustment time corresponding to the air suspension system under the target load; the initial speed is weighted according to the first speed influence factor to obtain the basic speed. The present application realizes accurately determining the basic speed according to the target load of the vehicle through the above - mentioned scheme.

[0115] In some embodiments, the air suspension adjustment mode includes a high-speed mode; as Figure 6 shown, adjusting the base speed according to the air suspension adjustment mode to obtain the target speed includes:

[0116] S601. When the air suspension adjustment mode is the high-speed mode, obtain the load of the air spring corresponding to the front axle of the vehicle and the load of the air spring corresponding to the rear axle of the vehicle;

[0117] S602. When the load of the air spring corresponding to the front axle and the load of the air spring corresponding to the rear axle indicate that the vehicle has uneven load, determine the uneven load amounts corresponding to the front axle and the rear axle of the vehicle;

[0118] S603. Determine the speed correction value according to the uneven load amount, and adjust the base speed according to the speed correction value to obtain the target speed.

[0119] Among them, the air suspension adjustment mode includes a high-speed mode, a normal mode, etc. Among them, when the air suspension system is in the high-speed mode, the adjustment speed of the height of the air spring is higher than that when the air suspension system is in the normal mode.

[0120] In some examples, if the user wants to quickly adjust the height of the air suspension system, the high-speed mode of the air suspension system will be adopted. During the adoption of the high-speed mode, if the loads of the air springs on the front and rear axles of the vehicle differ greatly, it will cause the side with a higher load to require a greater speed to achieve rising (or falling) the air spring to the desired height within a specified time.

[0121] For the above reasons, the present application will obtain the load of the air spring corresponding to the front axle of the vehicle and the load of the air spring corresponding to the rear axle of the vehicle. Among them, the load of the air spring corresponding to the front axle is the sum of the loads of the left front air spring and the right front air spring, and the load of the air spring corresponding to the rear axle is the sum of the loads of the left rear air spring and the right rear air spring.

[0122] The present application will compare the load of the air spring corresponding to the front axle with the load of the air spring corresponding to the rear axle to determine the load deviation value between the load of the air spring corresponding to the front axle and the load of the air spring corresponding to the rear axle. If the load deviation value is greater than a preset deviation threshold, it is determined that the vehicle has uneven load, and the load deviation value is used as the uneven load amount.

[0123] It can be understood that the above deviation threshold is a value determined by relevant personnel according to the actual situation of the vehicle. Exemplarily, the value range of the above deviation threshold is from 40 kg to 100 kg. Taking the deviation threshold of 50 kg as an example, if the load deviation value between the load of the air spring corresponding to the front axle and the load of the air spring corresponding to the rear axle exceeds 50 kg, it is determined that the vehicle is unevenly loaded. At this time, the load deviation value is used as the uneven load amount; if the load deviation value between the load of the air spring corresponding to the front axle and the load of the air spring corresponding to the rear axle does not exceed 50 kg, it is determined that the vehicle is not unevenly loaded, then the target speed is maintained, and the compressor is controlled according to the maintained target speed.

[0124] In some examples, the present application will also determine a speed correction value according to the uneven load amount, and adjust the target speed according to the speed correction value. It can be understood that different uneven load amounts correspond to different speed correction values. After the present application obtains the uneven load amount, it will match the obtained uneven load amount with the pre-set mapping relationship between the uneven load amount and the correction value, so as to obtain the speed correction value.

[0125] It can be understood that the above pre-set mapping relationship between the uneven load amount and the correction value is obtained by relevant personnel through testing the vehicle. The present application does not limit the storage format of the above pre-set mapping relationship between the uneven load amount and the speed correction value. Relevant personnel can store the above pre-set mapping relationship between the uneven load amount and the speed correction value in the form of key-value pairs, hash, database, or table.

[0126] Taking the present application storing the above pre-set mapping relationship between the uneven load amount and the speed correction value in a table as an example, as shown in Table 5:

[0127] Table 5: Mapping relationship table of pre-set uneven load amount and speed correction value

[0128]

[0129]

[0130] According to the above Table 5, it can be seen that when the uneven load amount is 25 kg, the speed correction value is 250 rad / s; when the uneven load amount is 50 kg, the speed correction value is 500 rad / s... when the uneven load amount is 100 kg, the speed correction value is 1000 rad / s.

[0131] After determining the speed correction value, the present application will adjust the base speed according to the speed correction value to obtain the target speed. Specifically, the target speed is the sum of the base speed and the speed correction value.

[0132] According to the technical solution provided by the embodiments of the present application, when the air suspension adjustment mode is the high-speed mode, obtain the load of the air spring corresponding to the front axle of the vehicle, and obtain the load of the air spring corresponding to the rear axle of the vehicle; when the load of the air spring corresponding to the front axle and the load of the air spring corresponding to the rear axle indicate that the vehicle is unevenly loaded, determine the uneven load amounts corresponding to the front axle and the rear axle of the vehicle; determine the rotational speed correction value according to the uneven load amounts, and adjust the basic rotational speed according to the rotational speed correction value to obtain the target rotational speed, so that the adjusted target rotational speed can better conform to the load of the vehicle, improving the usage experience of the air suspension system.

[0133] In some embodiments, as Figure 7 shown, controlling the compressor to adjust the height of the air suspension system according to the target rotational speed includes:

[0134] S701. Determine the uneven load category of the vehicle, and determine the first-category air spring and the second-category air spring from the air spring corresponding to the front axle and the air spring corresponding to the rear axle according to the uneven load category. The first-category air spring and the second-category air spring are air springs of different axles;

[0135] S702. Control the compressor according to the basic rotational speed to adjust the first-category air spring, and control the compressor according to the target rotational speed to adjust the second-category air spring.

[0136] It can be understood that the uneven load categories of the vehicle include two categories: front-axle uneven load and rear-axle uneven load. Among them, if the load deviation value between the load of the air spring corresponding to the front axle and the load of the air spring corresponding to the rear axle is greater than a preset deviation threshold, and the load of the air spring corresponding to the front axle is greater than the load of the air spring corresponding to the rear axle, it is determined that the vehicle has a front-axle uneven load; if the load deviation value between the load of the air spring corresponding to the front axle and the load of the air spring corresponding to the rear axle is greater than a preset deviation threshold, and the load of the air spring corresponding to the front axle is less than the load of the air spring corresponding to the rear axle, it is determined that the vehicle has a rear-axle uneven load.

[0137] After determining the uneven load category, the present application will determine the first-category air spring and the second-category air spring from the air spring corresponding to the front axle and the air spring corresponding to the rear axle according to the uneven load category. The first-category air spring and the second-category air spring are air springs of different axles; specifically, when it is determined that the uneven load category is front-axle uneven load, the air spring of the rear axle is used as the second-category air spring, and when it is determined that the uneven load category is rear-axle uneven load, the air spring of the front axle is used as the second-category air spring.

[0138] Continuing with the above example, subsequently, the compressor is controlled according to the base speed to adjust the height of the first category of air springs, and the compressor is controlled according to the adjusted target speed to adjust the height of the second category of air springs, thereby achieving height adjustment of the air suspension system. It can be understood that the air suspension system adjusts the air springs of the front axle and the rear axle in sequence (the specific sequence can be flexibly set by relevant personnel according to actual needs). When adjusting the first category of air springs, the present application directly controls the compressor according to the base speed. When adjusting the second category of air springs, the compressor is controlled according to the adjusted target speed to adjust the height of the air suspension system, thereby achieving adjustment of the air springs of the front axle and the rear axle at different speeds.

[0139] Exemplarily, the load conditions are subdivided, and the offload control process is added. Taking an offload of 50 kg as an example, the corresponding rotational speed correction value is 500 rad / s. Among them, when the vehicle is in a state of front-axle offload, the present application regards the air springs of the rear axle as the second category of air springs and the air springs of the front axle as the first category of air springs; when the vehicle is in a state of rear-axle offload, the present application regards the air springs of the front axle as the second category of air springs and the air springs of the rear axle as the first category of air springs.

[0140] In some examples, the present application can also determine the target load category of the vehicle according to the target load of the vehicle; among them, the present application pre-sets multiple load categories, and different load categories correspond to different value ranges of loads; exemplarily, taking the example that the present application sets light load, medium load, heavy load, and overloaded load, where the load range corresponding to the light load is less than 300 kg, the load range corresponding to the medium load is 300 kg to 600 kg, the load range corresponding to the heavy load is 600 kg to 1200 kg, and the load range corresponding to the overloaded load is greater than 1200 kg; that is, when the load of the vehicle is less than 300 kg, the target load category of the vehicle is light load, when the load of the vehicle is greater than 300 kg and less than 600 kg, the target load category of the vehicle is medium load, when the load of the vehicle is greater than 600 kg and less than 1200 kg, the target load category of the vehicle is heavy load, and when the load of the vehicle is greater than 1200 kg, the target load category of the vehicle is overloaded load.

[0141] Exemplarily, when the vehicle is in a light load condition and the vehicle has a front axle partial load, when the basic speed of the compressor is determined to be 3000 rad / s and the adjusted target speed is 3500 rad / s, and when the vehicle's demand is to increase the height of the air suspension system (in this application, the suspension control strategy for increasing the air suspension system is to first raise the rear axle, and then raise the front axle after the rear axle has been raised; the suspension control strategy for reducing the air suspension system is to first lower the front axle, and then lower the rear axle after the front axle has been lowered. The same will not be repeated hereinafter), the compressor is controlled to adjust the height of the air spring of the rear axle at 3500 rad / s. After the adjustment of the height of the air spring of the rear axle is completed, the compressor operates at 3000 rad / s to adjust the height of the air spring of the front axle until the height adjustment of the air suspension system is completed; when the vehicle's demand is to lower the height of the air suspension system, the compressor operates at 3000 rad / s to adjust the height of the air spring of the front axle. After the adjustment of the height of the air spring of the front axle is completed, the compressor is controlled to operate at 3500 rad / s to adjust the height of the air spring of the rear axle until the height adjustment of the air suspension system is completed.

[0142] When the vehicle is in a light load condition and the vehicle has a rear axle partial load, first, the basic speed of the compressor is determined to be 3000 rad / s and the adjusted target speed is 3500 rad / s. When the vehicle's demand is to increase the height of the air suspension system, the compressor is controlled to adjust the height of the air spring of the rear axle at 3000 rad / s. After the adjustment of the height of the air spring of the rear axle is completed, the compressor operates at 3500 rad / s to adjust the height of the air spring of the front axle until the height adjustment of the air suspension system is completed; when the vehicle's demand is to lower the height of the air suspension system, the compressor operates at 3000 rad / s to adjust the height of the air spring of the front axle. After the adjustment of the height of the air spring of the front axle is completed, the compressor is controlled to operate at 3500 rad / s to adjust the height of the air spring of the rear axle until the height adjustment of the air suspension system is completed.

[0143] Among them, when the vehicle is in a medium load condition and the vehicle has a front axle partial load, first, the basic speed of the compressor is determined to be 3500 rad / s and the adjusted target speed is 4000 rad / s. When the vehicle's demand is to increase the height of the air suspension system, the compressor is controlled to adjust the height of the air spring of the rear axle at 4000 rad / s. After the adjustment of the height of the air spring of the rear axle is completed, the compressor operates at 3500 rad / s to adjust the height of the air spring of the front axle until the height adjustment of the air suspension system is completed; when the vehicle's demand is to lower the height of the air suspension system, the compressor operates at 3500 rad / s to adjust the height of the air spring of the front axle. After the adjustment of the height of the air spring of the front axle is completed, the compressor is controlled to operate at 4000 rad / s to adjust the height of the air spring of the rear axle until the height adjustment of the air suspension system is completed.

[0144] When the vehicle is in a medium load condition and the vehicle has an off-centered load on the rear axle, first determine the basic speed of the compressor to be 3500 rad / s, then the adjusted target speed is 4000 rad / s. When the vehicle needs to increase the height of the air suspension system, control the compressor to adjust the height of the air spring of the rear axle at 3500 rad / s. After the adjustment of the height of the air spring of the rear axle is completed, the compressor works at 4000 rad / s to adjust the height of the air spring of the front axle until the height adjustment of the air suspension system is completed; when the vehicle needs to lower the height of the air suspension system, the compressor works at 4000 rad / s to adjust the height of the air spring of the front axle. After the adjustment of the height of the air spring of the front axle is completed, control the compressor to work at 3500 rad / s to adjust the height of the air spring of the rear axle until the height adjustment of the air suspension system is completed.

[0145] Among them, when the vehicle is in a heavy load condition and the vehicle has an off-centered load on the front axle, first determine the basic speed of the compressor to be 4000 rad / s, and the adjusted target speed is 4500 rad / s. When the vehicle needs to increase the height of the air suspension system, control the compressor to adjust the height of the air spring of the rear axle at 4500 rad / s. After the adjustment of the height of the air spring of the rear axle is completed, the compressor works at 4000 rad / s to adjust the height of the air spring of the front axle until the height adjustment of the air suspension system is completed; when the vehicle needs to lower the height of the air suspension system, the compressor works at 4000 rad / s to adjust the height of the air spring of the front axle. After the adjustment of the height of the air spring of the front axle is completed, control the compressor to work at 4500 rad / s to adjust the height of the air spring of the rear axle until the height adjustment of the air suspension system is completed.

[0146] When the vehicle is in a heavy load condition and the vehicle has an off-centered load on the rear axle, first determine the basic speed of the compressor to be 4000 rad / s, then the adjusted target speed is 4500 rad / s. When the vehicle needs to increase the height of the air suspension system, control the compressor to adjust the height of the air spring of the rear axle at 4000 rad / s. After the adjustment of the height of the air spring of the rear axle is completed, the compressor works at 4500 rad / s to adjust the height of the air spring of the front axle until the height adjustment of the air suspension system is completed; when the vehicle needs to lower the height of the air suspension system, the compressor works at 4500 rad / s to adjust the height of the air spring of the front axle. After the adjustment of the height of the air spring of the front axle is completed, control the compressor to work at 4000 rad / s to adjust the height of the air spring of the rear axle until the height adjustment of the air suspension system is completed.

[0147] Among them, when the vehicle is in an overloaded load condition and the vehicle has a front axle partial load, first determine that the base speed of the compressor is 4500 rad / s, and the adjusted target speed is 5000 rad / s. When the vehicle's demand is to increase the height of the air suspension system, control the compressor to adjust the height of the air spring of the rear axle at 5000 rad / s. After the height of the air spring of the rear axle is adjusted, the compressor operates at 4500 rad / s to adjust the height of the air spring of the front axle until the height adjustment of the air suspension system is completed; when the vehicle's demand is to lower the height of the air suspension system, the compressor operates at 4500 rad / s to adjust the height of the air spring of the front axle. After the height of the air spring of the front axle is adjusted, control the compressor to operate at 5000 rad / s to adjust the height of the air spring of the rear axle until the height adjustment of the air suspension system is completed.

[0148] When the vehicle is in an overloaded load condition and the vehicle has a rear axle partial load, first determine that the base speed of the compressor is 4500 rad / s, and the adjusted target speed is 5000 rad / s. When the vehicle's demand is to increase the height of the air suspension system, control the compressor to adjust the height of the air spring of the rear axle at 5000 rad / s. After the height of the air spring of the rear axle is adjusted, the compressor operates at 5000 rad / s to adjust the height of the air spring of the front axle until the height adjustment of the air suspension system is completed; when the vehicle's demand is to lower the height of the air suspension system, the compressor operates at 5000 rad / s to adjust the height of the air spring of the front axle. After the height of the air spring of the front axle is adjusted, control the compressor to operate at 4500 rad / s to adjust the height of the air spring of the rear axle until the height adjustment of the air suspension system is completed.

[0149] In some examples, it is also possible to directly look up the pre-set mapping relationship between the category and the speed according to the partial load category and the target load category of the vehicle, and then obtain the compressor speed corresponding to different axles. The above mapping relationship between the category and the speed is obtained by relevant personnel through testing and other means, and the relevant personnel can store the above mapping relationship between the category and the speed in any form of key-value pair, hash, database, or table.

[0150] Exemplarily, taking the mapping relationship between the category and the speed stored in the form of a table as an example, as shown in Table 6 below:

[0151] Table 6: Mapping Relationship Table between Category and Speed

[0152]

[0153]

[0154] Among them, A1 represents a light load, A2 represents a medium load, A3 represents a heavy load, A4 represents an overloaded load, B1 represents a front axle partial load, and B2 represents a rear axle partial load; according to Table 6 above, it can be known that when the vehicle is under a light load, the compressor raises the height of the air spring of the front axle at 3000 rad / s, and the compressor raises the height of the air spring of the rear axle at 3000 rad / s; when the vehicle is under a light load and the front axle is partially loaded, the compressor raises the height of the air spring of the front axle at 3000 rad / s, and the compressor raises the height of the air spring of the rear axle at 3500 rad / s... It can be known by subsequent checking the table, which will not be elaborated here.

[0155] According to the technical solution provided by the embodiment of the present application, determine the partial load category of the vehicle, and determine the first category of air springs and the second category of air springs from the air springs corresponding to the front axle and the air springs corresponding to the rear axle according to the partial load category. The first category of air springs and the second category of air springs are air springs of different axles; control the compressor according to the base speed to adjust the first category of air springs, and control the compressor according to the target speed to adjust the second category of air springs, thereby completing the height adjustment of the air suspension system. The present application controls the compressor to adjust the first category of air springs according to the target speed respectively, and adjusts the second category of air springs according to the adjusted target speed, so that during the height adjustment of the air suspension system, the adjustment of the air springs of the front axle and the air springs of the rear axle can match the target load of the vehicle, thereby further improving the use experience of the air suspension system.

[0156] In some embodiments, the air suspension adjustment mode includes a normal mode. Adjust the base speed according to the air suspension adjustment mode to obtain the target speed, including: when the air suspension adjustment mode is the normal mode, obtain the standard speed corresponding to the normal mode; adjust the base speed according to the standard speed to obtain the target speed.

[0157] In some examples, the present application pre-sets a variety of fixed modes, and the variety of fixed modes include but are not limited to the normal mode, the camping mode, and the welcome mode. Among them, the air suspension adjustment mode includes the high-speed mode, the normal mode, the camping mode, the welcome mode, etc. Among them, when the air suspension system is in the high-speed mode, the adjustment speed of the height of the air spring is higher than that when the air suspension system is in the normal mode. Different modes correspond to different speeds, and the normal mode, the camping mode, and the welcome mode correspond to a fixed standard speed.

[0158] Exemplarily, the standard rotational speed corresponding to the normal mode is 3800 rad / s, and the standard rotational speed corresponding to the camping mode is 4200 rad / s. When it is determined that the air suspension adjustment mode is the normal mode, the present application determines that the standard rotational speed corresponding to the normal mode is 3800 rad / s. Then, in this example, the base rotational speed is adjusted according to the standard rotational speed to obtain the target rotational speed, so that the adjusted target rotational speed is 3800 rad / s, and the compressor is controlled according to 3800 rad / s to adjust the height of the air suspension system. When the air suspension adjustment mode is the camping mode, then in this example, the base rotational speed is adjusted according to the standard rotational speed to obtain the target rotational speed, so that the adjusted target rotational speed is 4200 rad / s, and the compressor is controlled according to 4200 rad / s to adjust the height of the air suspension system.

[0159] In some examples, the present application is further provided with a fast mode. In the case where the air suspension adjustment mode is the fast mode, the present application directly controls the compressor to adjust the height of the air suspension system according to the target rotational speed corresponding to the target load category.

[0160] Exemplarily, as shown in Table 7 below, Table 7 shows the corresponding relationship between the target load category and the target rotational speed control:

[0161] Table 7: Corresponding Relationship between Target Load Category and Target Rotational Speed Control

[0162] Target load category Compressor speed corresponding to the front axle Compressor speed corresponding to the rear axle A1 3000 3000 A2 3500 3500 A3 4000 4000 A4 4500 4500

[0163] Among them, A1 is a light load, A2 is a medium load, A3 is a heavy load, A4 is an overloaded load. The target rotational speed corresponding to A1 is 3000 rad / s, then the compressor is directly controlled to adjust the height of the air suspension system... The target rotational speed corresponding to A4 is 4500 rad / s, then the compressor is directly controlled to adjust the height of the air suspension system. The target rotational speed corresponding to A1 is 3000 rad / s, then the compressor is directly controlled to adjust the height of the air suspension system, and the pressure distribution of the air spring is adjusted to optimize the vehicle body posture.

[0164] Adjust the damping characteristics (stiffness or flexibility) of the air suspension system to enhance vehicle handling performance or comfort. According to the technical solution provided by the embodiments of the present application, the standard rotational speed corresponding to the normal mode is obtained; the target rotational speed is adjusted to the standard rotational speed, so as to control the compressor to adjust the height of the air suspension system according to the standard rotational speed, so that the adjustment speed of the air suspension system matches the mode set by the user, thereby improving the user experience.

[0165] All of the above optional technical solutions can be combined arbitrarily to form optional embodiments of the present application, which will not be elaborated one by one here.

[0166] The following is an embodiment of the device of the present application, which can be used to execute the method embodiment of the present application. For details not disclosed in the device embodiment of the present application, please refer to the method embodiment of the present application.

[0167] This embodiment also provides an adjustment device for an air suspension system, as Figure 8 shown, the device includes:

[0168] A gas module 801, configured to obtain the current gas capacity of each air spring in the air suspension system and the no-load gas capacity of each air spring, and the no-load gas capacity is used to characterize the gas capacity of the air spring at the target height when the vehicle is unloaded;

[0169] A load module 802, configured to determine the target load of the vehicle according to the current gas capacity and the no-load gas capacity;

[0170] A rotation speed module 803, configured to determine the target rotation speed of the compressor in the air suspension system according to the target load of the vehicle;

[0171] A control module 804, configured to respond to a height adjustment instruction for the air suspension system, and control the compressor to adjust the height of the air suspension system according to the target rotation speed.

[0172] In some examples, the gas module 801 is further configured to determine the initial gas capacity corresponding to each air spring according to the airbag pressure value and the airbag volume corresponding to each air spring; obtain the gas temperature of each air spring, and determine the gas correction value corresponding to each air spring according to the gas temperature of each air spring; according to the gas correction value corresponding to each air spring, perform weighted processing on the initial gas capacity to obtain the current gas capacity of each air spring.

[0173] In some examples, the load module 802 is further configured to obtain the no-load load corresponding to each air spring; determine the gas capacity difference corresponding to each air spring according to the no-load gas capacity and the current gas capacity of each air spring, and determine the load change amount corresponding to each air spring based on the gas capacity difference corresponding to each air spring; determine the target load of the vehicle according to the load change amount and the no-load load of each air spring.

[0174] In some examples, the rotation speed module 803 is further configured to determine the basic rotation speed corresponding to the compressor in the air suspension system according to the target load of the vehicle; obtain the air suspension adjustment mode of the vehicle, and adjust the basic rotation speed according to the air suspension adjustment mode to obtain the target rotation speed.

[0175] In some examples, the rotational speed module 803 is further configured to determine an initial rotational speed according to the target load of the vehicle; determine a first rotational speed influence factor according to a preset desired adjustment time and an actual adjustment time corresponding to the air suspension system under the target load; and perform a weighting process on the initial rotational speed according to the first rotational speed influence factor to obtain a base rotational speed.

[0176] In some examples, the air suspension adjustment mode includes a high-speed mode; the rotational speed module 803 is further configured to, when the air suspension adjustment mode is the high-speed mode, obtain the load of the air spring corresponding to the front axle of the vehicle and obtain the load of the air spring corresponding to the rear axle of the vehicle; determine the amount of uneven load corresponding to the front axle and the rear axle of the vehicle when the loads of the air springs corresponding to the front axle and the rear axle characterize that the vehicle has an uneven load; determine a rotational speed correction value according to the amount of uneven load, and adjust the base rotational speed according to the rotational speed correction value to obtain a target rotational speed.

[0177] In some examples, the control module 804 is further configured to determine the type of uneven load of the vehicle, and determine a first type of air spring and a second type of air spring from the air spring corresponding to the front axle and the air spring corresponding to the rear axle according to the type of uneven load, where the first type of air spring and the second type of air spring are air springs of different axles; control the compressor according to the base rotational speed to adjust the first type of air spring, and control the compressor according to the target rotational speed to adjust the second type of air spring.

[0178] In some examples, the air suspension adjustment mode includes a normal mode; the rotational speed module 803 is further configured to, when the air suspension adjustment mode is the normal mode, obtain a standard rotational speed corresponding to the normal mode; and adjust the base rotational speed according to the standard rotational speed to obtain a target rotational speed.

[0179] According to the technical solution provided by the embodiment of the present application, the adjustment device of the air suspension system provided in this embodiment obtains the current gas capacity of each air spring in the air suspension system and the no-load gas capacity of each air spring. The no-load gas capacity is used to represent the gas capacity of the air spring corresponding to the target height when the vehicle is unloaded. Determine the target load of the vehicle according to the current gas capacity and the no-load gas capacity; determine the target speed of the compressor in the air suspension system according to the target load of the vehicle; in response to a height adjustment instruction for the air suspension system, control the compressor to adjust the height of the air suspension system according to the target speed. The present application accurately obtains the target load of the vehicle through the current gas capacity of each air spring, and then determines the target speed of the compressor according to the target load of the vehicle, so that the target speed of the compressor matches the target load of the vehicle. Subsequently, the compressor is controlled according to the target speed to adjust the height of the air suspension system, realizing the requirement of real-time and dynamic matching of the compressor speed and the vehicle load, making the output of the compressor more efficient and accurate, avoiding the problem of reduced adjustment rate caused by running at a fixed speed, and avoiding the problem in the related art that the adjustment rate of the air suspension system cannot be guaranteed, resulting in a poor user experience of the air suspension system.

[0180] Figure 9 is a schematic diagram of the electronic device 9 provided by the embodiment of the present application. As Figure 9 shown, the electronic device 9 of this embodiment includes: a processor 901, a memory 902, and a computer program 903 stored in the memory 902 and executable on the processor 901. When the processor 901 executes the computer program 903, the steps in each method embodiment described above are implemented. Alternatively, when the processor 901 executes the computer program 903, the functions of each module / unit in each device embodiment described above are implemented.

[0181] The electronic device 9 may be a desktop computer, a notebook, a palm computer, a cloud server, and other electronic devices. The electronic device 9 may include, but is not limited to, a processor 901 and a memory 902. Those skilled in the art can understand that Figure 9 merely examples of the electronic device 9, and do not constitute a limitation on the electronic device 9. It may include more or fewer components than those shown in the figure, or different components.

[0182] The processor 901 can be a Central Processing Unit (CPU), or other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0183] The memory 902 can be an internal storage unit of the electronic device 9, for example, the hard disk or memory of the electronic device 9. The memory 902 can also be an external storage device of the electronic device 9, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the electronic device 9. The memory 902 can also include both the internal storage unit and the external storage device of the electronic device 9. The memory 902 is used to store computer programs and other programs and data required by the electronic device.

[0184] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the above division of each functional unit and module is used as an example. In practical applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0185] When the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above-mentioned embodiment methods of this application, it can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of each method embodiment described above can be implemented. The computer program can include computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier distance, telecommunication distance, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to regional requirements and patent practice requirements. For example, in some regions, according to regional requirements and patent practice, the computer-readable medium does not include electrical carrier distance and telecommunication distance.

[0186] The above embodiments are only used to illustrate the technical solutions of this application, rather than to limit them; although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in each of the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of each embodiment of this application, and should all be included in the protection scope of this application.

Claims

1. A method for adjusting an air suspension system, characterized in that: The method comprises: Acquire the current gas capacity of each air spring in the air suspension system and the no-load gas capacity of each of the air springs, wherein the no-load gas capacity is used to characterize the gas capacity of the air spring corresponding to the target height when the vehicle is unloaded; determining a target load of the vehicle according to the current gas capacity and the empty gas capacity; determining a target rotation speed of a compressor in the air suspension system according to a target load of the vehicle; In response to a height adjustment instruction for the air suspension system, the compressor is controlled to adjust the height of the air suspension system according to the target speed.

2. The method according to claim 1, characterized in that Get the current air volume of each air spring in the air suspension system, including: Determine the initial gas capacity corresponding to each of the air springs according to the air bag pressure value and the air bag volume corresponding to each of the air springs; Acquiring the gas temperature of each of the air springs, and determining a gas correction value corresponding to each of the air springs according to the gas temperature of each of the air springs; The initial gas capacity is weighted according to the gas correction value corresponding to each of the air springs to obtain the current gas capacity of each of the air springs.

3. The method according to claim 2, characterized in that Determining a target load of a vehicle according to the current gas capacity and the empty gas capacity includes: Obtaining the no-load load corresponding to each of the air springs; Determine a gas capacity difference corresponding to each of the air springs according to the no-load gas capacity and the current gas capacity of each of the air springs, and determine a load change of each of the air springs based on the gas capacity difference corresponding to each of the air springs; A target load of the vehicle is determined based on the load variation of each of the air springs and the no-load load.

4. The method according to claim 1, characterized in that: Determining a target speed of a compressor in the air suspension system according to a target load of the vehicle includes: determining a base speed corresponding to a compressor in the air suspension system according to a target load of the vehicle; An air suspension adjustment mode of the vehicle is acquired, and the basic speed is adjusted according to the air suspension adjustment mode to obtain the target speed.

5. The method according to claim 4, characterized in that Determining a basic speed corresponding to a compressor in the air suspension system according to a target load of the vehicle includes: determining an initial rotation speed according to the target load of the vehicle; Determining a first speed influencing factor according to a preset expected adjustment time and an actual adjustment time corresponding to the air suspension system under the target load; The initial speed is weighted according to the first speed influencing factor to obtain the basic speed.

6. The method according to claim 4, characterized in that The air suspension adjustment mode includes a high speed mode; and adjusting the basic speed according to the air suspension adjustment mode to obtain the target speed includes: When the air suspension adjustment mode is the high-speed mode, obtaining a load of the air spring corresponding to the front axle of the vehicle and a load of the air spring corresponding to the rear axle of the vehicle; When the load of the air spring corresponding to the front axle and the load of the air spring corresponding to the rear axle indicate that the vehicle has an unbalanced load, determining the unbalanced load amounts corresponding to the front axle and the rear axle of the vehicle; A rotation speed correction value is determined according to the eccentric load, and the basic rotation speed is adjusted according to the rotation speed correction value to obtain the target rotation speed.

7. The method according to claim 4, characterized in that Controlling the compressor to adjust the height of the air suspension system according to the target speed includes: Determine the unbalanced load category of the vehicle, and determine a first category of air springs and a second category of air springs from the air springs corresponding to the front axle and the air springs corresponding to the rear axle according to the unbalanced load category, wherein the first category of air springs and the second category of air springs are air springs of different axles; The compressor is controlled according to the basic speed to adjust the first type of air spring, and the compressor is controlled according to the target speed to adjust the second type of air spring.

8. An adjustment device for an air suspension system, characterized in that: The device comprises: A gas module, used for obtaining the current gas capacity of each air spring in the air suspension system and the no-load gas capacity of each of the air springs, wherein the no-load gas capacity is used for representing the gas capacity of the air spring corresponding to the target height when the vehicle is unloaded; a load module, configured to determine a target load of a vehicle according to the current gas capacity and the empty gas capacity; A speed module, used to determine a target speed of a compressor in the air suspension system according to a target load of the vehicle; The control module is used for controlling the compressor to adjust the height of the air suspension system according to the target speed in response to a height adjustment instruction for the air suspension system.

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

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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