Vehicle suspension control method and system based on energy grading recovery and application

Abstract

The invention discloses a vehicle suspension control method and system based on energy grading recovery and application, and the vehicle suspension control method comprises the steps: obtaining the road surface type of a target road surface, and predicting the vibration dominant frequency of a vehicle when the vehicle runs on the target road surface based on the road surface type; determining an energy recovery level when the vehicle travels on the target road surface based on the predicted vibration dominant frequency; and in a preset time range, vehicle suspension parameters are adjusted based on the determined energy recovery level, and the vehicle suspension parameters comprise at least one of energy recovery power of an energy recovery device in the vehicle suspension system and magnetorheological damping of a suspension in the vehicle suspension system. According to the method, the energy recovery level can be determined based on the predicted vibration dominant frequency before the vehicle runs to the target road surface, the energy recovery power of the energy recovery device is pre-adjusted through the energy grading recovery strategy, and the problem that the stiffness of the suspension is suddenly changed due to energy recovery is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of automobiles, and particularly relates to a vehicle suspension control method, system and application based on hierarchical energy recovery. Background Art

[0002] Most traditional suspension energy recovery systems adopt passive energy recovery devices (such as piezoelectric materials), with low recovery efficiency and can only recover high-frequency vibration energy, resulting in low recovery efficiency under urban driving conditions.

[0003] In addition, there is a conflict between energy recovery and suspension performance in existing suspension energy recovery systems. When recovering energy, it will cause a sudden change in suspension stiffness, affecting ride comfort. With the continuous improvement of new energy vehicle performance and user experience, users have higher and higher requirements for vehicle ride comfort, handling stability and safety.

[0004] Therefore, in view of the above technical problems, it is necessary to provide a vehicle suspension control method, system and application based on hierarchical energy recovery. Summary of the Invention

[0005] The purpose of the present invention is to provide a vehicle suspension control method, system and application based on hierarchical energy recovery, which can adjust the energy recovery power of the energy recovery device in advance based on the predicted vibration dominant frequency and hierarchical energy recovery strategy before the vehicle travels to the target road surface, and solve the problem of sudden change in suspension stiffness when recovering energy.

[0006] In order to achieve the above purpose, the technical solution provided by a specific embodiment of the present invention is as follows:

[0007] A vehicle suspension control method based on hierarchical energy recovery includes:

[0008] Obtain the road surface type of the target road surface, and predict the vibration dominant frequency of the vehicle when driving on the target road surface based on the road surface type;

[0009] Determine the energy recovery level of the vehicle when driving on the target road surface based on the predicted vibration dominant frequency;

[0010] Within a preset time range, adjust the vehicle suspension parameters based on the determined energy recovery level, where the vehicle suspension parameters include at least one of the energy recovery power of the energy recovery device in the vehicle suspension system and the magnetorheological damping of the suspension in the vehicle suspension system.

[0011] In one or more embodiments of the present invention, predicting the vibration dominant frequency of the vehicle when driving on the target road surface based on the road surface type includes:

[0012] Collect vibration signals of the vehicle when passing through different types of road surfaces under various environmental characteristics, where the environmental characteristics include one or more of vehicle speed, load condition, and environmental temperature;

[0013] Perform frequency analysis on the vibration signals based on Fourier transform and complex Morlet wavelet basis functions to obtain the main vibration frequencies of the vehicle when passing through each type of road surface.

[0014] In one or more embodiments of the present invention, the vehicle suspension control method further includes preprocessing the vibration signals, including:

[0015] Use a band-pass filter to remove ultra-low frequency vibration signals and high-frequency vibration signals from the vibration signals, where the cut-off frequencies of the band-pass filter are 1 Hz to 20 Hz;

[0016] Eliminate the trend term of the vibration signals based on linear fitting by the least squares method.

[0017] In one or more embodiments of the present invention, the energy recovery levels include:

[0018] The first recovery level, at which the main vibration frequency is greater than 1 and less than or equal to 5 Hz;

[0019] The second recovery level, at which the main vibration frequency is greater than 5 Hz and less than or equal to 15 Hz;

[0020] The third recovery level, at which the main vibration frequency is greater than 15 Hz.

[0021] In one or more embodiments of the present invention, adjust the vehicle suspension parameters based on the determined energy recovery level, including:

[0022] When the determined energy recovery level is the first recovery level, adjust the energy recovery power of the energy recovery device to be less than or equal to the first power threshold, and adjust the magnetorheological damping of the suspension in the vehicle suspension system to the first damping threshold;

[0023] When the determined energy recovery level is the second recovery level, adjust the energy recovery power of the energy recovery device to be greater than the first power threshold and less than or equal to the second power threshold, and adjust the magnetorheological damping of the suspension in the vehicle suspension system to the second damping threshold;

[0024] When the determined energy recovery level is the third recovery level, adjust the energy recovery power of the energy recovery device to 0.

[0025] In one or more embodiments of the present invention, adjust the vehicle suspension parameters based on the determined energy recovery level, including:

[0026] Obtain the compensated energy recovery power, and use the sum of the current energy recovery power of the vehicle and the compensated energy recovery power as the initial target energy recovery power;

[0027] Based on the determined energy recovery level, correct the initial target energy recovery power to obtain the target energy recovery power, and adjust the energy recovery power of the energy recovery device in the vehicle suspension system to the target energy recovery power.

[0028] In one or more embodiments of the present invention, correcting the initial target energy recovery power based on the determined energy recovery level to obtain the target energy recovery power includes:

[0029] If the determined energy recovery level is the first recovery level, when the initial target energy recovery power is greater than the first power threshold, use the first power threshold as the target energy recovery power; when the initial target energy recovery power is less than or equal to the first power threshold, use the initial target energy recovery power as the target energy recovery power;

[0030] If the determined energy recovery level is the second recovery level, when the initial target energy recovery power is greater than the second power threshold, use the second power threshold as the target energy recovery power; when the initial target energy recovery power is greater than the first power threshold and less than or equal to the second power threshold, use the initial target energy recovery power as the target energy recovery power.

[0031] If the determined energy recovery level is the third recovery level, adjust the energy recovery power of the energy recovery device to 0.

[0032] In one or more embodiments of the present invention, the vehicle suspension control method further includes:

[0033] Predict the vibration excitation intensity when the vehicle is driving on the target road surface based on the road surface type;

[0034] Obtain the compensated energy recovery power based on the predicted vibration main frequency and the predicted vibration excitation intensity.

[0035] In one or more embodiments of the present invention, predicting the vibration excitation intensity when the vehicle is driving on the target road surface based on the road surface type includes:

[0036] Collect vibration signals when the vehicle passes through different types of road surfaces under various environmental characteristics, where the environmental characteristics include one or more of vehicle speed, load condition, and environmental temperature;

[0037] Cluster analysis is performed on multiple groups of vibration signals of the same road surface type to obtain the vibration frequency range corresponding to each road surface type, and the vibration signals within the vibration frequency range are integrated to predict the vibration excitation intensity when the vehicle passes through each type of road surface.

[0038] In one or more embodiments of the present invention, obtaining the compensated energy recovery power based on the predicted main vibration frequency and the predicted vibration excitation intensity includes:

[0039] ΔP re =K p ×f road1 ×E road1 ×(d / v), where ΔP re is the compensated energy recovery power, K p is the proportional gain, f road1 is the predicted main vibration frequency, E road1 is the predicted vibration excitation intensity, d is the distance between the vehicle and the target road surface, and v is the current vehicle speed.

[0040] In one or more embodiments of the present invention, the vehicle suspension control method further includes correcting the initial target energy recovery power based on the predicted vibration excitation intensity to obtain the target energy recovery power, including:

[0041] When the predicted vibration excitation intensity is greater than or equal to the vibration excitation intensity threshold, adjust the energy recovery power of the energy recovery device in the vehicle suspension system to the second power threshold.

[0042] In one or more embodiments of the present invention, the vehicle suspension control method further includes adjusting the liquid cooling pump flow rate of the cooling system in the vehicle suspension system based on the determined energy recovery level within a preset time range, including:

[0043] If the determined energy recovery level is the first recovery level or the third recovery level, adjust the liquid cooling pump flow rate of the cooling system in the vehicle suspension system to be less than or equal to the first liquid cooling pump flow rate threshold.

[0044] If the determined energy recovery level is the second recovery level, adjust the liquid cooling pump flow rate of the cooling system in the vehicle suspension system to be greater than or equal to the second liquid cooling pump flow rate threshold.

[0045] The technical solution provided by another specific embodiment of the present invention is as follows:

[0046] A vehicle suspension control system based on hierarchical energy recovery includes:

[0047] A prediction module, which obtains the road surface type of the target road surface and predicts the main vibration frequency of the vehicle when driving on the target road surface based on the road surface type;

[0048] A grading module that determines the energy recovery level of the vehicle when driving on a target road surface based on the predicted main vibration frequency;

[0049] A control module for adjusting the vehicle suspension parameters based on the determined energy recovery level within a preset time range, where the vehicle suspension parameters include at least one of the energy recovery power of the energy recovery device in the vehicle suspension system and the magnetorheological damping of the suspension in the vehicle suspension system.

[0050] The technical solution provided by another specific embodiment of the present invention is as follows:

[0051] An electronic device, the electronic device includes:

[0052] At least one processor;

[0053] And a memory that stores instructions, when the instructions are executed by the at least one processor, the at least one processor executes the vehicle suspension control method based on energy grading recovery described in any one of the embodiments.

[0054] The technical solution provided by another specific embodiment of the present invention is as follows:

[0055] A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, it implements the vehicle suspension control method based on energy grading recovery described in any one of the embodiments.

[0056] Compared with the prior art, the vehicle suspension control method, system and application based on energy grading recovery of the present invention determine the energy recovery level through the main vibration frequency, can maximize energy recovery under medium and high frequency road conditions, limit the energy recovery power under low frequency conditions, and balance comfort while comprehensively improving energy recovery efficiency;

[0057] Adjust the vehicle parameters in advance based on the prediction results to match the future road condition requirements, and avoid the problems of un-recovered energy in time and reduced comfort caused by sudden changes in vehicle parameters;

[0058] Indirectly characterize the vibration energy that the vehicle may generate through the predicted main vibration frequency, provide an effective basis for subsequent classification of the energy recovery level, and improve the accuracy of the energy recovery efficiency through a multi-level correction logic, further improving the energy recovery efficiency. Description of the Drawings

[0059] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0060] Figure 1 It is a flowchart of the vehicle suspension control method based on energy hierarchical recovery in Embodiment 1 of the present invention;

[0061] Figure 2 It is an experimental simulation diagram of the predicted value and the true value of the vibration energy in Embodiment 1 of the present invention;

[0062] Figure 3 It is a structural block diagram of the vehicle suspension control system based on energy hierarchical recovery in Embodiment 2 of the present invention;

[0063] Figure 4 It is a structural block diagram of an electronic device in an embodiment of the present invention. Detailed implementation manners

[0064] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0065] Unless otherwise clearly stated, throughout the specification and claims, the term "comprising" or its variations such as "including" or "having" etc. will be understood to include the stated elements or components, without excluding other elements or other components.

[0066] "Coupled" or "connected" or "linked" in the specification includes both direct connection and indirect connection. Indirect connection is a connection through an intermediate medium, such as a connection through an electrical conduction medium, which may have parasitic inductance or parasitic capacitance; indirect connection may also include a connection through other active devices or passive devices on the basis of achieving the same or similar functional purposes, such as a connection through circuits or components such as switches and follower circuits. In addition, in the present invention, words such as "first" and "second" are mainly used to distinguish one technical feature from another technical feature, and do not necessarily require or imply that there is a certain actual relationship, quantity or order between these technical features.

[0067] In the detailed description of the specification, reference is made to the accompanying drawings which form a part hereof, wherein like reference numerals always refer to like components, and which are shown by way of example embodiments that may be implemented. It should be understood that other embodiments may be utilized and structural or logical changes may be made without departing from the scope of the present application. Accordingly, the following detailed description should not be taken in a limiting sense.

[0068] The various operations in the specification may be described sequentially as a number of discrete actions or operations in a manner that is most helpful in understanding the claimed subject matter. However, the order of description should not be construed as implying that these operations must be order-dependent. Specifically, these operations may not be performed in the order presented. The described operations may be performed in an order different from the described embodiments. Various additional operations may be performed in additional embodiments and / or the described operations may be omitted.

[0069] For the purposes of the present application, the phrase "A and / or B" means (A), (B), or (A and B). For the purposes of the present application, the phrase "A, B, and / or C" means (A), (B), (C), (A and B), (A and C), (B and C), or (A, B, and C).

[0070] Various components and devices may be referred to or shown herein in the singular form (e.g., "MOS transistor", "transistor", "switch", etc.), but this is merely for ease of discussion, and any element referred to in the singular may include a plurality of such elements in accordance with the teachings herein.

[0071] The specification describes the use of the phrases "in this embodiment" or "in other embodiments" or "in some embodiments", which may each refer to one or more of the same or different embodiments. In addition, the terms "comprising", "including", "having", etc. used with respect to the embodiments of the present application are synonymous.

[0072] The present invention discloses a vehicle suspension control method based on energy hierarchical recovery, including:

[0073] Obtain the road surface type of the target road surface, and predict the main vibration frequency of the vehicle when driving on the target road surface based on the road surface type;

[0074] Determine the energy recovery level of the vehicle when driving on the target road surface based on the predicted main vibration frequency;

[0075] Within a preset time range, adjust the vehicle suspension parameters based on the determined energy recovery level, where the vehicle suspension parameters include at least one of the energy recovery power of the energy recovery device in the vehicle suspension system and the magnetorheological damping of the suspension in the vehicle suspension system.

[0076] In one embodiment, predicting the main vibration frequency of a vehicle when driving on a target road surface based on the road surface type includes: collecting vibration signals of the vehicle passing through different types of road surfaces under various environmental characteristics, where the environmental characteristics include one or more of vehicle speed, load condition, and environmental temperature, and performing frequency analysis on the vibration signals based on Fourier transform and complex Morlet wavelet basis functions to obtain the main vibration frequency of the vehicle when passing through each type of road surface.

[0077] In one embodiment, the energy recovery levels include:

[0078] The first recovery level, at which the main vibration frequency is greater than 1 and less than or equal to 5 Hz;

[0079] The second recovery level, at which the main vibration frequency is greater than 5 Hz and less than or equal to 15 Hz;

[0080] The third recovery level, at which the main vibration frequency is greater than 15 Hz.

[0081] In one embodiment, adjusting the vehicle suspension parameters based on the determined energy recovery level includes: when the determined energy recovery level is the first recovery level, adjusting the energy recovery power of the energy recovery device to be less than or equal to the first power threshold, and adjusting the magnetorheological damping of the suspension in the vehicle suspension system to the first damping threshold; when the determined energy recovery level is the second recovery level, adjusting the energy recovery power of the energy recovery device to be greater than the first power threshold and less than or equal to the second power threshold, and adjusting the magnetorheological damping of the suspension in the vehicle suspension system to the second damping threshold; when the determined energy recovery level is the third recovery level, adjusting the energy recovery power of the energy recovery device to 0.

[0082] In one embodiment, adjusting the vehicle suspension parameters based on the determined energy recovery level includes: obtaining the compensated energy recovery power, taking the sum of the current energy recovery power of the vehicle and the compensated energy recovery power as the initial target energy recovery power, correcting the initial target energy recovery power based on the determined energy recovery level to obtain the target energy recovery power, and adjusting the energy recovery power of the energy recovery device in the vehicle suspension system to the target energy recovery power.

[0083] In one embodiment, the vehicle suspension control method further includes: calculating the compensated energy recovery power based on the predicted main vibration frequency, vibration excitation intensity, current vehicle speed, and the distance between the vehicle and the target road surface, taking the sum of the current energy recovery power of the vehicle and the compensated energy recovery power as the initial target energy recovery power, correcting the initial target energy recovery power based on the determined energy recovery level to obtain the target energy recovery power, and adjusting the energy recovery power of the energy recovery device in the vehicle suspension system to the target energy recovery power.

[0084] In one embodiment, if the determined energy recovery level is the first recovery level, when the initial target energy recovery power is greater than the first power threshold, the first power threshold is used as the target energy recovery power. When the initial target energy recovery power is less than or equal to the first power threshold, the initial target energy recovery power is used as the target energy recovery power. If the determined energy recovery level is the second recovery level, when the initial target energy recovery power is greater than the second power threshold, the second power threshold is used as the target energy recovery power. When the initial target energy recovery power is greater than the first power threshold and less than or equal to the second power threshold, the initial target energy recovery power is used as the target energy recovery power.

[0085] In one embodiment, the vehicle suspension control method further includes: predicting the vibration excitation intensity when the vehicle is traveling on the target road surface based on the road surface type, and obtaining the compensated energy recovery power based on the predicted vibration main frequency and the predicted vibration excitation intensity. When the predicted vibration excitation intensity is greater than or equal to the vibration excitation intensity threshold, the energy recovery power of the energy recovery device in the vehicle suspension system is adjusted to the second power threshold.

[0086] The present invention can increase the comprehensive recovery efficiency of the energy recovery device to more than 10%, while the comprehensive recovery efficiency of the energy recovery device in the traditional solution is less than 5%. At the same time, the present invention avoids the risk of thermal failure based on the strategy of hierarchical energy recovery.

[0087] The present invention will be further described below in conjunction with specific embodiments.

[0088] Embodiment 1:

[0089] As Figure 1 shown, a vehicle suspension control method based on hierarchical energy recovery in this embodiment specifically includes:

[0090] S10, obtaining the road surface type of the target road surface, and predicting the vibration main frequency when the vehicle is traveling on the target road surface based on the road surface type;

[0091] S20, determining the energy recovery level when the vehicle is traveling on the target road surface based on the predicted vibration main frequency;

[0092] S30, within a preset time range, adjusting the vehicle suspension parameters based on the determined energy recovery level, where the vehicle suspension parameters include at least one of the energy recovery power of the energy recovery device in the vehicle suspension system and the magnetorheological damping of the suspension in the vehicle suspension system.

[0093] The vehicle suspension in this embodiment adopts an electronically controlled air suspension system.

[0094] It can be understood that in this embodiment, the road surface type of the target road surface can be obtained based on the road surface image and navigation map data in the driving direction of the vehicle, or the road surface type of the target road surface can be obtained by manually inputting the road surface type in front of the driving direction of the vehicle. Optionally, in this embodiment, a convolutional neural network is used to perform image feature recognition on the road surface image in the driving direction of the vehicle collected by the camera, and the navigation map data is combined to correct the image feature recognition result to obtain the road surface type of the target road surface.

[0095] In this embodiment, the preferred distance between the vehicle and the target road surface is 150-200 m, that is, the road surface type 150-200 m in front of the vehicle is obtained in real time.

[0096] Further, in this embodiment, the vibration dominant frequency of the vehicle when driving on the target road surface is predicted based on the road surface type, including:

[0097] S11, collecting vibration signals when the vehicle passes through different types of road surfaces under various environmental characteristics. Specifically, the environmental characteristics include one or more of vehicle speed, load condition, and environmental temperature.

[0098] In this embodiment, a triaxial acceleration sensor is installed on the suspension system or the vehicle body chassis to collect the vibration signals when the vehicle passes through different road surfaces. In addition, in the process of data collection in this embodiment, typical vehicle speeds (such as 20-80 km / h), typical load conditions, and typical environmental temperatures (such as -10°C to 35°C) are covered to ensure the representativeness of the vibration signal data.

[0099] The road surface types in this embodiment include: asphalt road surface, speed bump, and gravel road surface. It should be noted that the asphalt road surface, speed bump, and gravel road surface in this embodiment are only examples. In other optional embodiments, the vibration signals when the vehicle passes through more types of road surfaces can be collected.

[0100] S12, performing frequency analysis on the preprocessed vibration signals based on Fourier transform and complex Morlet wavelet basis function to obtain the vibration dominant frequency when the vehicle passes through each type of road surface.

[0101] Specifically, a fast Fourier transform is performed on the vibration signal within a sliding time window to obtain the dominant vibration frequency of the preprocessed vibration signal;

[0102] Based on the complex Morlet wavelet basis function, the frequency components that change with time in the vibration signal (such as speed bump impact, high-frequency vibration of gravel road surface, etc.) are identified to obtain the sudden change vibration frequency of the preprocessed vibration signal;

[0103] Take the dominant vibration frequency or the mutation vibration frequency as the main vibration frequency when the vehicle passes through each type of road surface. In the case of the existence of the mutation vibration frequency, it is preferred to take the mutation vibration frequency as the main vibration frequency when the vehicle passes through each type of road surface.

[0104] In this embodiment, the time-frequency characteristics of the vibration signal are dynamically captured by the complex Morlet wavelet basis function to avoid missing the detection of short-time high-frequency or mutation vibrations. In this embodiment, through the combination of Fourier transform and the complex Morlet wavelet basis function, the global spectral characteristics of Fourier transform are combined with the local time-frequency characteristics of wavelets to solve the limitations of traditional methods in non-steady vibration analysis. Compared with a single analysis method, the feature fusion reduces the prediction error MSE from 0.18 to 0.104, greatly reducing the analysis error of the main vibration frequency corresponding to the road surface type.

[0105] S13. Perform clustering analysis on multiple groups of vibration signals of the same road surface type to obtain the typical vibration frequency range corresponding to the road surface type, and perform integral processing on the preprocessed vibration signals within the vibration frequency range to predict the vibration excitation intensity when the vehicle passes through each type of road surface.

[0106] Specifically, perform integral processing on the vibration signals within the vibration frequency range to obtain the vibration excitation intensity range corresponding to the vibration frequency range, and take the 95% confidence interval of the vibration excitation intensity range as the vibration excitation intensity when the vehicle passes through each type of road surface.

[0107] Taking three common road surfaces as examples for illustration:

[0108] When the road surface type is asphalt pavement, the corresponding vibration frequency range is 2 Hz to 5 Hz, and the main vibration frequency is 3.5 Hz; the vibration excitation intensity range is 0.5 g 2 / Hz to 1.2 g 2 / Hz, and the vibration excitation intensity is 0.85 g 2 / Hz;

[0109] When the road surface type is a speed bump, the corresponding vibration frequency range is 8 Hz to 12 Hz, the main vibration frequency is 10 Hz, and the vibration excitation intensity range is 2.5 g 2 / Hz to 3.0 g 2 / Hz, and the vibration excitation intensity is 3 g 2 / Hz;

[0110] When the road surface type is gravel road surface, the corresponding vibration frequency range is 10 Hz to 18 Hz, the main vibration frequency is 12 Hz, and the vibration excitation intensity range is 3.0 g 2 / Hz to 6.0 g 2 / Hz, and the vibration excitation intensity is 5 g 2 / Hz.

[0111] Further, the vehicle suspension control method in this embodiment further includes preprocessing the vibration signal, specifically including:

[0112] Using a band-pass filter to remove the ultra-low frequency vibration signal and high-frequency vibration signal in the vibration signal. The cut-off frequency of the band-pass filter is 1 Hz to 20 Hz. The band-pass filter in this embodiment is a fourth-order Butterworth filter.

[0113] Based on the linear fitting of the least squares method to eliminate the trend term of the vibration signal, so as to eliminate the baseline shift caused by the temperature drift of the acceleration sensor.

[0114] It can be understood that the present invention characterizes the vibration energy that the vehicle may generate through the vibration excitation intensity, that is, indirectly characterizes the vibration energy that the vehicle may generate through the predicted vibration dominant frequency. Based on the Figure 2 experimental results shown, the change curves and amplitudes of the vibration excitation intensity (i.e., the predicted value of the vibration energy) and the true value of the vibration energy are similar, indicating that the predicted vibration dominant frequency in this embodiment can effectively provide a definite basis for the subsequent energy grading recovery.

[0115] Further, the energy recovery levels in this embodiment include:

[0116] The first recovery level. At the first recovery level, the vibration dominant frequency is greater than 1 and less than or equal to 5 Hz;

[0117] The second recovery level. At the second recovery level, the vibration dominant frequency is greater than 5 Hz and less than or equal to 15 Hz;

[0118] The third recovery level. At the third recovery level, the vibration dominant frequency is greater than 15 Hz. Taking the road surface type of the target road surface as a gravel road surface as an example, that is, the predicted vibration dominant frequency is 12 Hz, then the energy recovery level of the vehicle when driving on the gravel road surface is the second recovery level.

[0119] When the determined energy recovery level is the first recovery level, adjust the energy recovery power of the energy recovery device to be less than or equal to the first power threshold, and / or adjust the magnetorheological damping of the suspension in the vehicle suspension system to be greater than or equal to the first damping threshold to ensure comfort. Preferably, the first damping threshold is 150 N·s / m.

[0120] When the determined energy recovery level is the second recovery level, adjust the energy recovery power of the energy recovery device to be greater than the first power threshold and less than or equal to the second power threshold to avoid overheating of the energy recovery device due to too high energy recovery power, and / or adjust the magnetorheological damping of the suspension in the vehicle suspension system to be less than or equal to the second damping threshold. Preferably, the second damping threshold is 80 N·s / m.

[0121] When the determined energy recovery level is the third recovery level, the energy recovery power of the energy recovery device is adjusted to 0. In this embodiment, when the energy recovery level is the third recovery level, mechanical lock protection is triggered, the recovery circuit is cut off, and forced heat dissipation is started.

[0122] In this embodiment, the first power threshold is 30% of the rated recovery power of the energy recovery device, and the second power threshold is 85% of the rated recovery power of the energy recovery device.

[0123] Furthermore, this embodiment adjusts the vehicle suspension parameters based on the determined energy recovery level, and further includes:

[0124] S311, obtain the compensated energy recovery power, and use the sum of the current energy recovery power of the vehicle and the compensated energy recovery power as the initial target energy recovery power;

[0125] S312, correct the initial target energy recovery power based on the determined energy recovery level to obtain the target energy recovery power, and adjust the energy recovery power of the energy recovery device in the vehicle suspension system to the target energy recovery power.

[0126] The following example of a gravel road surface type of the target road surface is used to illustrate step S311:

[0127] Step S311 specifically includes:

[0128] S3111, predict the vibration excitation intensity of the vehicle when driving on the target road surface based on the road surface type;

[0129] Specifically, vibration signals of the vehicle passing through different types of road surfaces are collected under various environmental characteristics, and the environmental characteristics include one or more of vehicle speed, load condition, and environmental temperature.

[0130] Cluster analysis is performed on multiple groups of vibration signals of the same road surface type to obtain the vibration frequency range corresponding to each road surface type, and the vibration signals within the vibration frequency range are integrated to predict the vibration excitation intensity of the vehicle when passing through each type of road surface. The specific principle here can be as before.

[0131] S3112, obtain the compensated energy recovery power based on the predicted vibration dominant frequency and the predicted vibration excitation intensity.

[0132] Specifically, the compensated energy recovery power is calculated based on the predicted vibration dominant frequency, vibration excitation intensity, current vehicle speed, and the distance between the vehicle and the target road surface. The calculation method of the compensated energy recovery power includes:

[0133] ΔP re =K p ×f road1 ×E road1× (d / v), where ΔP re To compensate for the energy recovery power, K p is the proportional gain, f road1 is the predicted main vibration frequency, E road1 is the predicted vibration excitation intensity, d is the distance between the vehicle and the target road surface, and v is the current vehicle speed.

[0134] For a gravel road surface, the predicted main vibration frequency f road1 is 12 Hz, and the predicted vibration excitation intensity E road1 is 5 g 2 / Hz, the current vehicle speed v = 20 km / h, that is, the current vehicle speed v is approximately 5.56 m / s, the distance d between the vehicle and the target road surface is 200 m, and the proportional gain K p is 0.04. It can be calculated that the compensation energy recovery power ΔP re is approximately 86.4 W.

[0135] S3113, using the sum of the current energy recovery power and the compensation energy recovery power of the vehicle as the initial target energy recovery power. Taking the current energy recovery power P of the vehicle base equal to 50 W as an example, the initial target energy recovery power of this embodiment is 136.4 W. It can be understood that in this embodiment, the current energy recovery power of the vehicle can be obtained through one or more of direct upload by the energy recovery device, manual input, and calculation based on the real-time main vibration frequency.

[0136] Optionally, this embodiment proposes a method for calculating the current energy recovery power: where P base is the current energy recovery power, is the energy conversion efficiency, f1 to f2 is the vibration frequency range corresponding to the real-time main vibration frequency, and E(f) is the vibration excitation intensity within the frequency range f1 to f2.

[0137] The method for calculating the current energy recovery power proposed in this embodiment can combine the vibration frequency range corresponding to the road surface type and the corresponding vibration excitation intensity range predicted based on the road surface type as described above. Taking the real-time main vibration frequency of 3 Hz as an example, the real-time main vibration frequency just falls within the vibration frequency range corresponding to the asphalt road surface, which is 2 Hz to 5 Hz, and the corresponding vibration excitation intensity range is 0.5 g 2 / Hz to 1.2 g 2 / Hz.

[0138] Step S312 specifically includes:

[0139] If the determined energy recovery level is the first recovery level, when the initial target energy recovery power is greater than the first power threshold, the first power threshold is used as the target energy recovery power; when the initial target energy recovery power is less than or equal to the first power threshold, the initial target energy recovery power is used as the target energy recovery power.

[0140] If the determined energy recovery level is the second recovery level, when the initial target energy recovery power is greater than the second power threshold, the second power threshold is used as the target energy recovery power; when the initial target energy recovery power is greater than the first power threshold and less than or equal to the second power threshold, the initial target energy recovery power is used as the target energy recovery power.

[0141] If the determined energy recovery level is the third recovery level, the energy recovery power of the energy recovery device is adjusted to 0.

[0142] In this embodiment, the initial target energy recovery power is corrected at the first level in combination with the predicted main vibration frequency, vibration excitation intensity and the determined energy recovery level to obtain the target energy recovery power, and the energy recovery power of the energy recovery device in the vehicle suspension system is adjusted to the target energy recovery power.

[0143] For example, in this embodiment, the first power threshold is 30% of the rated recovery power of the energy recovery device, and the second power threshold is 85% of the rated recovery power of the energy recovery device. If the rated recovery power of the energy recovery device is 300W, then the first power threshold in this embodiment is 90W, and the second power threshold is 255W. Since the initial target energy recovery power of the gravel road surface calculated above is less than the second power threshold, the initial target energy recovery power is used as the target energy recovery power.

[0144] It should be noted that for road surfaces such as gravel roads with high frequency and high energy, or short-time high-frequency road surfaces such as speed bumps, maximum energy recovery can be performed. Therefore, this embodiment further proposes a second-level correction of the initial target energy recovery power based on the determined energy recovery level to obtain the target energy recovery power, which specifically includes:

[0145] When the predicted vibration excitation intensity is greater than or equal to the vibration excitation intensity threshold, within a preset time range, the energy recovery power of the energy recovery device in the vehicle suspension system is adjusted to the second power threshold. The vibration excitation intensity threshold in this embodiment is 3.0g 2 / Hz.

[0146] It should be noted that the preset time range in this embodiment is determined by the current vehicle speed and the distance between the vehicle and the target road surface. That is, before the vehicle travels to the target road surface, the energy recovery power of the energy recovery device in the vehicle suspension system and the magnetorheological damping of the suspension in the vehicle suspension system are adjusted based on the determined energy recovery level.

[0147] The predicted vibration excitation intensity based on the gravel road surface is 5g 2 / Hz, which is greater than the vibration excitation intensity threshold, so the energy recovery power of the energy recovery device is directly adjusted to the second power threshold of 255W. It can be understood that the second-level correction actively breaks through the limit of the initially predicted target energy recovery power in real time, maximizes the energy recovery power, and improves the energy recovery efficiency.

[0148] It can be understood that this embodiment makes two-level corrections based on hierarchical energy recovery. First, based on the determined energy recovery level, the energy recovery power range of the energy recovery device is initially determined, and the initial target energy recovery power is obtained from the vehicle's current energy recovery power and the compensated energy recovery power. The initial target energy recovery power is corrected at the first level based on the determined energy recovery level, the predicted vibration excitation intensity, and the vibration main frequency, and the initial target energy recovery power is corrected at the second level based on the predicted vibration excitation intensity. The target energy recovery power obtained after two-level corrections is more adaptable to the target road conditions, and balances the vibration energy recovery efficiency and the suspension comfort.

[0149] Furthermore, the vehicle suspension control method in this embodiment further includes: within the preset time range, adjusting the liquid-cooling pump flow rate of the cooling system in the vehicle suspension system based on the determined energy recovery level.

[0150] When the determined energy recovery level is the first recovery level or the third recovery level, control the liquid-cooling pump of the cooling system in the vehicle suspension system to operate in the low-speed mode, and adjust the liquid-cooling pump flow rate of the cooling system in the vehicle suspension system to be less than or equal to the first liquid-cooling pump flow rate threshold. In this embodiment, the first liquid-cooling pump flow rate threshold is preferably 2L / min.

[0151] When the determined energy recovery level is the second recovery level, control the liquid-cooling pump of the cooling system in the vehicle suspension system to operate in the high-speed mode, and adjust the liquid-cooling pump flow rate of the cooling system in the vehicle suspension system to be greater than or equal to the second liquid-cooling pump flow rate threshold. In this embodiment, the second liquid-cooling pump flow rate threshold is preferably 5L / min.

[0152] Experimental data supports that based on the vehicle suspension control method based on hierarchical energy recovery provided in the present invention, on the basis of improving the average energy recovery efficiency, the highest temperature of the generator coil can be controlled below 25 degrees Celsius, and the overheat protection is not triggered.

[0153] In the traditional solution, the comprehensive energy recovery efficiency is 4.5%. In the present invention, the comprehensive energy recovery efficiency is increased to 11.2%, and the improvement amplitude is 149%. The present invention also improves the suspension comfort. In the traditional solution, the root mean square value of the weighted acceleration of the suspension is only 0.78 m / s 2 , and in the present invention, the root mean square value of the weighted acceleration of the suspension is reduced to 0.62 m / s 2 . It should be noted that in this embodiment, the root mean square value RMS (unit: m / s 2 ) is used to characterize the suspension comfort. The lower the root mean square value of the weighted acceleration, the higher the comfort. Among them, 0.8 m / s 2 is the conventional comfort threshold.

[0154] In addition, in the traditional solution, the critical value of thermal failure is: the thermal failure time is 15 min, and the thermal failure temperature is 60 °C. In the present invention, the critical value of thermal failure is: the thermal failure time is 45 min, and the thermal failure temperature is 75 °C, and the improvement amplitude can reach 300%.

[0155] Embodiment 2:

[0156] As Figure 3 shown, based on the same inventive concept as the aforementioned vehicle suspension control method based on hierarchical energy recovery, this embodiment provides a vehicle suspension control system 200 based on hierarchical energy recovery, which includes a prediction module 201, a hierarchical module 202, and a control module 203.

[0157] Specifically, the prediction module 201 is used to obtain the road surface type of the target road surface and predict the vibration main frequency when the vehicle is driving on the target road surface based on the road surface type;

[0158] The hierarchical module 202 is used to determine the energy recovery level when the vehicle is driving on the target road surface based on the predicted vibration main frequency;

[0159] The control module 203 is used to adjust the vehicle suspension parameters within a preset time range based on the determined energy recovery level. The vehicle suspension parameters include at least one of the energy recovery power of the energy recovery device in the vehicle suspension system and the magnetorheological damping of the suspension in the vehicle suspension system.

[0160] Furthermore, the energy recovery device in this embodiment includes a magnetoelectric coupling device, and the magnetoelectric coupling device includes a magnetorheological cavity, a power generation coil, and a liquid-cooled pump cooling system. The magnetorheological cavity is used to accommodate the magnetorheological fluid to achieve the magnetorheological effect. The power generation coil is used to generate electric energy through electromagnetic induction. The liquid-cooled pump is used to dissipate heat to keep the device running stably. The liquid-cooled pump includes a liquid-cooled pump and a finned liquid-cooled pump. The liquid-cooled pump is used to dissipate heat for the power generation coil, and the finned liquid-cooled pump is used to dissipate heat for the magnetorheological fluid cavity.

[0161] In this embodiment, the prediction module 201 can obtain the road surface type of the target road surface based on the road surface image and navigation map data in the driving direction of the vehicle, or obtain the road surface type of the target road surface by manually inputting the road surface type in front of the driving direction of the vehicle.

[0162] It should be noted that the prediction module 201 is also used to collect vibration signals when the vehicle passes through different types of road surfaces under various environmental characteristics, preprocess the vibration signals to obtain preprocessed vibration signals, perform frequency analysis on the preprocessed vibration signals based on Fourier transform and complex Morlet wavelet basis functions, and obtain the main vibration frequency when the vehicle passes through each type of road surface. Cluster analysis is performed on multiple groups of vibration signals of the same road surface type to obtain the vibration frequency range corresponding to the road surface type, and the preprocessed vibration signals within the vibration frequency range are integrated to predict the vibration excitation intensity when the vehicle passes through each type of road surface.

[0163] In this embodiment, the grading module 202 is also used to determine that the energy recovery level is the first recovery level when the main vibration frequency is greater than 1 and less than or equal to 5 Hz, determine that the energy recovery level is the second recovery level when the main vibration frequency is greater than 5 Hz and less than or equal to 15 Hz, and determine that the energy recovery level is the third recovery level when the main vibration frequency is greater than 15 Hz.

[0164] When the determined energy recovery level is the first recovery level, the control module 203 is also used to adjust the energy recovery power of the energy recovery device to be less than or equal to the first power threshold, and / or to adjust the magnetorheological damping of the suspension in the vehicle suspension system to be greater than or equal to the first damping threshold. Preferably, the first damping threshold is 150 N·s / m.

[0165] When the determined energy recovery level is the second recovery level, the control module 203 is also used to adjust the energy recovery power of the energy recovery device to be greater than the first power threshold and less than or equal to the second power threshold, and / or to adjust the magnetorheological damping of the suspension in the vehicle suspension system to be less than or equal to the second damping threshold. Preferably, the second damping threshold is 80 N·s / m.

[0166] When the determined energy recovery level is the third recovery level, the control module 203 is also used to adjust the energy recovery power of the energy recovery device to 0. In this embodiment, when the energy recovery level is the third recovery level, mechanical lock protection is triggered, the recovery circuit is cut off, and forced heat dissipation is started.

[0167] Furthermore, the control module 203 further includes a first correction unit and a second correction unit.

[0168] The first correction unit is used to obtain the compensated energy recovery power, and take the sum of the current energy recovery power of the vehicle and the compensated energy recovery power as the initial target energy recovery power, correct the initial target energy recovery power based on the determined energy recovery level to obtain the target energy recovery power, and adjust the energy recovery power of the energy recovery device in the vehicle suspension system to the target energy recovery power.

[0169] Specifically, the correction logic of the first correction unit is as follows: If the determined energy recovery level is the first recovery level, when the initial target energy recovery power is greater than the first power threshold, the first power threshold is used as the target energy recovery power; when the initial target energy recovery power is less than or equal to the first power threshold, the initial target energy recovery power is used as the target energy recovery power.

[0170] If the determined energy recovery level is the second recovery level, when the initial target energy recovery power is greater than the second power threshold, the second power threshold is used as the target energy recovery power; when the initial target energy recovery power is greater than the first power threshold and less than or equal to the second power threshold, the initial target energy recovery power is used as the target energy recovery power.

[0171] If the determined energy recovery level is the third recovery level, the target energy recovery power is 0, that is, the energy recovery power of the energy recovery device is adjusted to 0.

[0172] Furthermore, the first correction unit calculates the compensated energy recovery power based on the predicted main vibration frequency, vibration excitation intensity, current vehicle speed, and the distance between the vehicle and the target road surface, and takes the sum of the current energy recovery power of the vehicle and the compensated energy recovery power as the initial target energy recovery power.

[0173] The calculation method of the compensated energy recovery power is as follows:

[0174] ΔP re =K p ×f road1 ×E road1 ×(d / v), where ΔP re is the compensated energy recovery power, K p is the proportional gain, f road1 is the predicted main vibration frequency, E road1 is the predicted vibration excitation intensity, d is the distance between the vehicle and the target road surface, and v is the current vehicle speed.

[0175] For a gravel road surface, the predicted main vibration frequency f road1 is 12 Hz, and the predicted vibration excitation intensity E road1 is 5g 2 / Hz, the current vehicle speed v = 20 km / h, that is, the current vehicle speed v is approximately 5.56 m / s, the distance d between the vehicle and the target road surface is 200 m, and the proportional gain K p is 0.04. It can be calculated that the compensated energy recovery power ΔP re is approximately 86.4 W.

[0176] The second correction unit is used to adjust the energy recovery power of the energy recovery device in the vehicle suspension system to the second power threshold within a preset time range when the predicted vibration excitation intensity is greater than or equal to the vibration excitation intensity threshold. In this embodiment, the vibration excitation intensity threshold is 3.0 g 2 / Hz.

[0177] It should be noted that the priority of the second correction unit is higher than that of the first correction unit. That is, when the target energy recovery powers obtained by the first correction unit and the second correction unit are inconsistent, the second correction unit shall prevail. That is, the energy recovery power of the energy recovery device in the vehicle suspension system is preferentially adjusted to the second power threshold.

[0178] Furthermore, in this embodiment, the control module 203 is further used to adjust the liquid cooling pump flow rate of the cooling system in the vehicle suspension system within a preset time range based on the determined energy recovery level.

[0179] Specifically, if the determined energy recovery level is the first recovery level or the third recovery level, control the liquid cooling pump of the cooling system in the vehicle suspension system to operate in the low-speed mode, and adjust the liquid cooling pump flow rate of the cooling system in the vehicle suspension system to be less than or equal to the first liquid cooling pump flow rate threshold. In this embodiment, the first liquid cooling pump flow rate threshold is preferably 2 L / min.

[0180] If the determined energy recovery level is the second recovery level, control the liquid cooling pump of the cooling system in the vehicle suspension system to operate in the high-speed mode, and adjust the liquid cooling pump flow rate of the cooling system in the vehicle suspension system to be greater than or equal to the second liquid cooling pump flow rate threshold. In this embodiment, the second liquid cooling pump flow rate threshold is preferably 5 L / min.

[0181] From the above technical solutions, it can be seen that the present invention has the following beneficial effects:

[0182] By dividing the energy recovery levels, the present invention can maximize the energy recovery under medium and high frequency road conditions, limit the energy recovery power under low frequency conditions, comprehensively improve the energy recovery efficiency while balancing the comfort;

[0183] Based on the prediction results, the vehicle parameters are adjusted in advance to match the future road conditions requirements, avoiding the energy not being recovered in time and the reduction of comfort caused by the sudden change of vehicle parameters;

[0184] Indirectly characterize the vibration energy that the vehicle may generate through the predicted dominant vibration frequency, providing an effective basis for subsequent classification of energy recovery levels. Through a multi-level correction logic, the accuracy of energy recovery efficiency is improved, further enhancing the energy recovery efficiency.

[0185] Please refer to Figure 4 As shown, another embodiment of the present invention further provides an electronic device 30, which includes at least one processor 31, a memory 32 (such as a non-volatile memory), a memory 33, and a communication interface 34, and at least one processor 31, the memory 32, the memory 33, and the communication interface 34 are connected together via a bus 35. The at least one processor 31 is configured to call at least one program instruction stored or encoded in the memory 32 to cause the at least one processor 31 to perform various operations and functions of the vehicle suspension control method based on energy hierarchical recovery described in various embodiments of this specification.

[0186] In the embodiments of this specification, the electronic device 30 may include, but is not limited to: a personal computer, a server computer, a workstation, a desktop computer, a laptop computer, a notebook computer, a mobile electronic device, a smart phone, a tablet computer, a cellular phone, a personal digital assistant (PDA), a handheld device, a messaging device, a wearable electronic device, a consumer electronic device, and so on.

[0187] The embodiments of the present invention further provide a computer-readable medium, on which computer-executable instructions are carried. When the computer-executable instructions are executed by a processor, they can be used to implement various operations and functions of the vehicle suspension control method based on energy hierarchical recovery described in various embodiments of this specification.

[0188] The computer-readable medium in the present invention can be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, the computer-readable storage medium can be any tangible medium that contains or stores a program, which can be used by or in combination with an instruction execution system, apparatus, or device.

[0189] In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical fiber cable, RF, etc., or any suitable combination of the above.

[0190] Those skilled in the art will appreciate that the embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0191] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses, systems, and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be realized by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to produce a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices produce means for realizing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0192] The foregoing description of the specific exemplary embodiments of the present invention is for the purposes of illustration and exemplification. These descriptions are not intended to limit the present invention to the precise forms disclosed, and it is apparent that many modifications and variations are possible in light of the above teachings. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical applications, so that those skilled in the art can implement and utilize the various different exemplary embodiments of the present invention, as well as various different selections and modifications. The scope of the present invention is intended to be defined by the claims and their equivalents.

Claims

1. A vehicle suspension control method based on energy hierarchical recovery, characterized in that, Including: Obtain the road surface type of the target road surface, and predict the main vibration frequency of the vehicle when driving on the target road surface based on the road surface type; Determine the energy recovery level of the vehicle when driving on the target road surface based on the predicted main vibration frequency; Within a preset time range, adjust the vehicle suspension parameters based on the determined energy recovery level, where the vehicle suspension parameters include at least one of the energy recovery power of the energy recovery device in the vehicle suspension system and the magnetorheological damping of the suspension in the vehicle suspension system.

2. The vehicle suspension control method based on energy hierarchical recovery according to claim 1, wherein, Predicting the main vibration frequency of the vehicle when driving on the target road surface based on the road surface type includes: Collect vibration signals of the vehicle passing through different types of road surfaces under various environmental characteristics, where the environmental characteristics include one or more of vehicle speed, load condition, and environmental temperature; Perform frequency analysis on the vibration signals based on Fourier transform and complex Morlet wavelet basis functions to obtain the main vibration frequency of the vehicle when passing through each type of road surface.

3. The vehicle suspension control method based on energy hierarchical recovery according to claim 2, characterized in that The vehicle suspension control method further includes preprocessing the vibration signals, including: Use a band-pass filter to remove ultra-low frequency vibration signals and high-frequency vibration signals in the vibration signals, and the cut-off frequency of the band-pass filter is 1 Hz to 20 Hz; Eliminate the trend term of the vibration signals based on linear fitting using the least squares method.

4. The vehicle suspension control method based on energy hierarchical recovery according to claim 1, characterized in that The energy recovery levels include: The first recovery level, at which the main vibration frequency is greater than 1 and less than or equal to 5 Hz; The second recovery level, at which the main vibration frequency is greater than 5 Hz and less than or equal to 15 Hz; The third recovery level, at which the main vibration frequency is greater than 15 Hz.

5. The vehicle suspension control method based on energy hierarchical recovery according to claim 4, characterized in that Adjusting the vehicle suspension parameters based on the determined energy recovery level includes: When the determined energy recovery level is the first recovery level, adjust the energy recovery power of the energy recovery device to be less than or equal to the first power threshold, and / or adjust the magnetorheological damping of the suspension in the vehicle suspension system to be greater than or equal to the first damping threshold; When the determined energy recovery level is the second recovery level, adjust the energy recovery power of the energy recovery device to be greater than the first power threshold and less than or equal to the second power threshold, and / or adjust the magnetorheological damping of the suspension in the vehicle suspension system to be less than or equal to the second damping threshold; When the determined energy recovery level is the third recovery level, adjust the energy recovery power of the energy recovery device to 0.

6. The vehicle suspension control method based on energy hierarchical recovery according to claim 4, characterized in that, Adjusting the vehicle suspension parameters based on the determined energy recovery level includes: Obtain the compensated energy recovery power, and use the sum of the current energy recovery power of the vehicle and the compensated energy recovery power as the initial target energy recovery power; Correct the initial target energy recovery power based on the determined energy recovery level to obtain the target energy recovery power, and adjust the energy recovery power of the energy recovery device in the vehicle suspension system to the target energy recovery power.

7. The vehicle suspension control method based on energy hierarchical recovery according to claim 6, characterized in that, Correcting the initial target energy recovery power based on the determined energy recovery level to obtain the target energy recovery power includes: If the determined energy recovery level is the first recovery level, when the initial target energy recovery power is greater than the first power threshold, the first power threshold is used as the target energy recovery power; when the initial target energy recovery power is less than or equal to the first power threshold, the initial target energy recovery power is used as the target energy recovery power. If the determined energy recovery level is the second recovery level, when the initial target energy recovery power is greater than the second power threshold, the second power threshold is used as the target energy recovery power; when the initial target energy recovery power is greater than the first power threshold and less than or equal to the second power threshold, the initial target energy recovery power is used as the target energy recovery power. If the determined energy recovery level is the third recovery level, the energy recovery power of the energy recovery device is adjusted to 0.

8. The vehicle suspension control method based on energy hierarchical recovery according to claim 6, characterized in that, The vehicle suspension control method further includes: Predicting the vibration excitation intensity of the vehicle when driving on the target road surface based on the road surface type. Obtaining the compensated energy recovery power based on the predicted vibration dominant frequency and the predicted vibration excitation intensity.

9. The vehicle suspension control method based on energy hierarchical recovery according to claim 8, characterized in that, Predicting the vibration excitation intensity of the vehicle when driving on the target road surface based on the road surface type includes: Collecting vibration signals of the vehicle passing through different types of road surfaces under various environmental characteristics, where the environmental characteristics include one or more of vehicle speed, load condition, and environmental temperature. Performing clustering analysis on multiple groups of vibration signals of the same road surface type to obtain the vibration frequency range corresponding to each road surface type, and performing integral processing on the vibration signals within the vibration frequency range to predict the vibration excitation intensity of the vehicle when passing through each type of road surface.

10. The vehicle suspension control method based on energy hierarchical recovery according to claim 8, characterized in that, Obtaining the compensated energy recovery power based on the predicted vibration dominant frequency and the predicted vibration excitation intensity includes: ΔP re = K p × f road1 × E road1 × (d / v), where ΔP re is the compensated energy recovery power, K p is the proportional gain, f road1 is the predicted main vibration frequency, E road1 is the predicted vibration excitation intensity, d is the distance between the vehicle and the target road surface, and v is the current vehicle speed.

11. The vehicle suspension control method based on energy hierarchical recovery according to claim 8, characterized in that, The vehicle suspension control method further includes correcting the initial target energy recovery power based on the predicted vibration excitation intensity to obtain the target energy recovery power, including: When the predicted vibration excitation intensity is greater than or equal to the vibration excitation intensity threshold, the energy recovery power of the energy recovery device in the vehicle suspension system is adjusted to the second power threshold.

12. The vehicle suspension control method based on energy hierarchical recovery according to claim 4, wherein The vehicle suspension control method further includes adjusting the liquid cooling pump flow rate of the cooling system in the vehicle suspension system based on the determined energy recovery level within a preset time range, including: If the determined energy recovery level is the first recovery level or the third recovery level, the liquid cooling pump flow rate of the cooling system in the vehicle suspension system is adjusted to be less than or equal to the first liquid cooling pump flow rate threshold. If the determined energy recovery level is the second recovery level, the liquid cooling pump flow rate of the cooling system in the vehicle suspension system is adjusted to be greater than or equal to the second liquid cooling pump flow rate threshold.

13. A vehicle suspension control system based on energy hierarchical recovery, characterized in that, Including: A prediction module that obtains the road surface type of the target road surface and predicts the vibration dominant frequency of the vehicle when driving on the target road surface based on the road surface type. A grading module that determines the energy recovery level of the vehicle when driving on the target road surface based on the predicted vibration dominant frequency. A control module, configured to adjust vehicle suspension parameters within a preset time range based on the determined energy recovery level, where the vehicle suspension parameters include at least one of the energy recovery power of an energy recovery device in the vehicle suspension system and the magnetorheological damping of the suspension in the vehicle suspension system.

14. An electronic device, characterized in that, The electronic device includes: At least one processor; And a memory that stores instructions, which when executed by the at least one processor, cause the at least one processor to execute the vehicle suspension control method based on hierarchical energy recovery according to any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, it implements the vehicle suspension control method based on hierarchical energy recovery according to any one of claims 1 to 12.

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