Suspension mechanism of vehicle, control device and control method of suspension mechanism and vehicle

Abstract

The invention discloses a suspension mechanism of a vehicle, a control device and method of the suspension mechanism and the vehicle. Two pull rods are arranged in the width direction of the vehicle in a spaced mode, the first ends of the two pull rods are movably connected with a torsion beam, the second ends of the two pull rods are connected with an actuating shaft, and the spacing distance of the first ends is smaller than that of the second ends; the driving part is used for driving the eccentric wheel to rotate so as to drive the actuating shaft to move in the axis direction of the actuating shaft. Therefore, the first ends of the two pull rods are both movably connected with the torsion beam, the second ends of the two pull rods are both connected with the actuating shaft, and the spacing distance of the first ends is smaller than that of the second ends, so that when the driving piece drives the actuating shaft to move in the axis direction of the actuating shaft, the torsion beam can be driven to deviate and rotate through the pull rods; the torsion beam can be driven to deviate and rotate to compensate for deviation and rotation of the torsion beam when the vehicle is subjected to lateral force, the risk of excessive steering is reduced, the handling stability of the vehicle is improved, the torsion beam can be driven to deviate and rotate reversely, the trend of insufficient steering is formed, the handling stability of the vehicle is further improved, and therefore driving safety and driving comfort are improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and more particularly to a suspension mechanism of a vehicle, a control device and a control method thereof, and a vehicle. Background Art

[0002] In the related art, the torsion beam in the suspension mechanism is only flexibly connected to the vehicle body through two bushings. When the vehicle is subjected to a lateral force during driving, such as when turning, changing lanes or the road surface is uneven, the bushings will deform, resulting in lateral displacement and rotation of the entire torsion beam, resulting in insufficient tire grip, oversteering, affecting the handling stability of the vehicle, and reducing driving safety and driving comfort. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, an object of the present invention is to provide a suspension mechanism of a vehicle, which can improve the handling stability of the vehicle and is beneficial to improving driving safety and driving comfort.

[0004] The present invention further provides a control device for a suspension mechanism of a vehicle.

[0005] The present invention further provides a control method for a suspension mechanism of a vehicle.

[0006] The present invention further provides a vehicle.

[0007] The suspension mechanism of the vehicle according to the present invention includes: a torsion beam; an actuating shaft and two tie rods. The two tie rods are arranged at intervals in the width direction of the vehicle. Each of the two tie rods has a first end and a second end. The first ends of the two tie rods are movably connected to the torsion beam, the second ends of the two tie rods are both connected to the actuating shaft, and the distance between the first ends of the two tie rods is less than the distance between the second ends of the two tie rods; a driving member and an eccentric wheel. The driving member is in transmission connection with the eccentric wheel, the eccentric wheel is in transmission connection with the actuating shaft, and the driving member is used to drive the eccentric wheel to rotate so as to drive the actuating shaft to move along the axial direction of the actuating shaft.

[0008] For the suspension mechanism of a vehicle according to the present invention, by making the first ends of two tie rods be movably connected to the torsion beam and the second ends be connected to the actuating shaft, and the spacing distance of the first ends being less than that of the second ends, when the driving member drives the actuating shaft to move along the axial direction of the actuating shaft, the torsion beam can be driven by the tie rods to offset and rotate, so as to compensate for the offset and rotation of the torsion beam when the vehicle is subjected to a lateral force, reduce the risk of oversteering, improve the handling stability of the vehicle, and moreover, can drive the torsion beam to generate reverse offset and rotation, forming a tendency of understeering, further improving the handling stability of the vehicle, thereby improving driving safety and driving comfort.

[0009] In some examples of the present invention, the suspension mechanism of the vehicle further includes: a mating frame, the mating frame is sleeved outside the eccentric wheel and is in transmission cooperation with the eccentric wheel, the eccentric wheel can drive the mating frame to move along the axial direction of the actuating shaft, and the mating frame is connected to the actuating shaft.

[0010] In some examples of the present invention, the inner side of the mating frame has a mating groove, and the mating groove is recessed towards the outside of the mating frame.

[0011] In some examples of the present invention, the suspension mechanism of the vehicle further includes: a housing, the housing defines an accommodation space, the eccentric wheel and the mating frame are received in the accommodation space, and the driving member is provided on the housing.

[0012] In some examples of the present invention, the suspension mechanism of the vehicle further includes: a guide shaft, the guide shaft is received in the accommodation space and is connected to the housing, the guide shaft extends along the axial direction of the actuating shaft, and the mating frame is in guiding cooperation with the guide shaft.

[0013] In some examples of the present invention, the first ends of the two tie rods are both ball-jointed to the torsion beam.

[0014] In some examples of the present invention, the suspension mechanism of the vehicle further includes: two bushings, the second ends of the two tie rods are both connected to the actuating shaft through the corresponding bushings.

[0015] For the control device of the suspension mechanism of a vehicle according to the present invention, the suspension mechanism of the vehicle includes the above-mentioned suspension mechanism of the vehicle;

[0016] The control device includes:

[0017] A determination module, the determination module is used to determine whether to control the movement of the actuating shaft according to the lateral acceleration and driving mode of the vehicle;

[0018] A calculation module, which is communicatively connected to the determination module and is configured to calculate the target position of the eccentric wheel according to the lateral acceleration and driving mode of the vehicle. The calculation module is communicatively connected to the driving member and is configured to correct the target position of the eccentric wheel according to the feedback signal of the driving member;

[0019] A vector control module, which is communicatively connected to the calculation module and is configured to obtain the rotational angular velocity, angular acceleration, and motion smoothness of the driving member according to the steering wheel angle, lateral acceleration, and target position of the eccentric wheel of the vehicle.

[0020] According to the control method of the suspension mechanism of the vehicle of the present invention, the suspension mechanism of the vehicle includes the suspension mechanism of the vehicle described above;

[0021] The control method includes:

[0022] Judge whether it is necessary to control the movement of the actuating shaft according to the lateral acceleration and driving mode of the vehicle;

[0023] If it is necessary, calculate the target position of the eccentric wheel according to the lateral acceleration and driving mode of the vehicle, and correct the target position of the eccentric wheel according to the feedback signal of the driving member;

[0024] Obtain the rotational angular velocity, angular acceleration, and motion smoothness of the driving member according to the steering wheel angle, lateral acceleration, and target position of the eccentric wheel of the vehicle;

[0025] Control the driving member to work to drive the movement of the actuating shaft.

[0026] According to the vehicle of the present invention, it includes the suspension mechanism of the vehicle described above.

[0027] The additional aspects and advantages of the present invention will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present invention. Description of the Drawings

[0028] The above and / or additional aspects and advantages of the present invention will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, where:

[0029] Figure 1 is a schematic diagram of the suspension mechanism according to an embodiment of the present invention;

[0030] Figure 2 is a top view of a partial structure of the suspension mechanism according to an embodiment of the present invention;

[0031] Figure 3 is a cross-sectional schematic diagram of a partial structure of the suspension mechanism according to an embodiment of the present invention;

[0032] Figure 4 It is a schematic diagram when the suspension mechanism according to the embodiment of the present invention turns left;

[0033] Figure 5 It is a structural schematic diagram of the control device of the suspension mechanism according to the embodiment of the present invention;

[0034] Figure 6 It is a flowchart of the control method of the suspension mechanism according to the embodiment of the present invention.

[0035] Reference numerals:

[0036] Suspension mechanism 100;

[0037] Torsion beam 10; Actuating shaft 20; Tie rod 30; First end 31; Second end 32; Driving member 40; Eccentric wheel 50; Matching frame 60; Housing 70; Accommodating space 71; Guide shaft 80; Bushing 90;

[0038] Control device 200; Determination module 210; Calculation module 220; Vector control module 230; Motor drive module 240; Feedback module 250; Controller 260. Detailed implementation manners

[0039] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0040] Below, refer to Figures 1 - 6 Describe the suspension mechanism 100 of a vehicle according to an embodiment of the present invention.

[0041] As Figures 1 - 6 shown, the suspension mechanism 100 according to an embodiment of the present invention includes: a torsion beam 10, an actuating shaft 20, two tie rods 30, a driving member 40, and an eccentric wheel 50.

[0042] The two tie rods 30 are arranged at intervals along the width direction of the vehicle (i.e., Figure 1 the Y direction shown), both tie rods 30 have a first end 31 and a second end 32, the first ends 31 of the two tie rods 30 are both movably connected to the torsion beam 10, the second ends 32 of the two tie rods 30 are both connected to the actuating shaft 20, and the distance between the first ends 31 of the two tie rods 30 is less than the distance between the second ends 32 of the two tie rods 30; the driving member 40 is in transmission connection with the eccentric wheel 50, the eccentric wheel 50 is in transmission connection with the actuating shaft 20, and the driving member 40 is used to drive the eccentric wheel 50 to rotate so as to drive the actuating shaft 20 to move along the axial direction of the actuating shaft 20.

[0043] Among them, the two tie rods 30 are arranged at intervals in the width direction of the vehicle (i.e., Figure 1 the Y direction shown), and the two tie rods 30 extend in the length direction of the vehicle (i.e., Figure 1 the X direction shown). Both of the two tie rods 30 have a first end 31 and a second end 32. The first ends 31 of the two tie rods 30 are both movably connected to the torsion beam 10. The way that the first end 31 of the tie rod 30 is movably connected to the torsion beam 10 can be but is not limited to ball joint connection, universal joint connection, etc. As some embodiments of the present application, the first end 31 of the tie rod 30 is movably connected to the torsion beam 10 by means of ball joint connection. The second ends 32 of the two tie rods 30 are both connected to the actuating shaft 20. As some embodiments of the present application, the second end 32 of the tie rod 30 is flexibly connected to the actuating shaft 20 through a bushing 90.

[0044] The spacing distance between the first ends 31 of the two tie rods 30 is smaller than the spacing distance between the second ends 32 of the two tie rods 30. That is to say, the spacing distance between the first ends 31 of the two tie rods 30 movably connected to the torsion beam 10 is smaller than the spacing distance between the second ends 32 of the two tie rods 30 connected to the actuating shaft 20. As some embodiments of the present application, the first ends 31 of the two tie rods 30 are located between the second ends 32 of the two tie rods 30. That is to say, the two tie rods 30 are arranged in a "V" shape. As some embodiments of the present application, one of the tie rods 30 is arranged parallel to the length direction of the vehicle (i.e., Figure 1 the X direction shown), and the other tie rod 30 is arranged obliquely. As some embodiments of the present application, from the first end 31 to the second end 32 of the tie rod 30, the two tie rods 30 are both inclined in the same direction but have different inclination angles, so that the spacing distance between the first ends 31 of the two tie rods 30 is smaller than the spacing distance between the second ends 32 of the two tie rods 30.

[0045] The driving member 40 is drivingly connected to the eccentric wheel 50. The driving connection mode between the driving member 40 and the eccentric wheel 50 can be, but is not limited to, spline connection, gear pair connection, etc. As some embodiments of the present application, the driving member 40 and the eccentric wheel 50 are drivingly connected by spline connection. The driving member 40 can be, but is not limited to, a driving motor, a driving cylinder, etc. As some embodiments of the present application, the driving member 40 is a driving motor. The driving motor has a driving shaft, and the driving shaft is drivingly connected to the eccentric wheel 50. The rotation of the driving shaft can drive the eccentric wheel 50 to rotate, so as to drive the actuating shaft 20 to move along the axial direction of the actuating shaft 20. As some embodiments of the present application, the driving member 40 is a driving cylinder. The driving cylinder has a driving rod, the driving rod is connected to a rack, the rack meshes with a gear, and the gear is drivingly connected to the eccentric wheel 50 through a transmission shaft. The driving cylinder can drive the rack to move, and the rack can drive the gear to rotate, so as to drive the eccentric wheel 50 to rotate through the transmission shaft, so as to drive the actuating shaft 20 to move along the axial direction of the actuating shaft 20. It should be noted that the eccentric wheel 50 has a small power requirement for the driving member 40 and high control accuracy. Using the eccentric wheel 50 is beneficial to improving the adjustment accuracy of the suspension mechanism 100, thereby being able to improve the handling stability of the vehicle.

[0046] As some embodiments of the present application, the suspension mechanism 100 of the present application is configured with a control device 200 of the suspension mechanism 100. The control device 200 includes: a determination module 210, a calculation module 220, and a vector control module 230. Taking the driving member 40 being configured as a driving motor as an example for description.

[0047] Among them, the determination module 210 is used to determine whether it is necessary to control the movement of the actuating shaft 20 according to the lateral acceleration and driving mode of the vehicle. That is to say, the determination module 210 can judge according to the current lateral acceleration and driving mode of the vehicle to judge whether it is necessary to control the movement of the actuating shaft 20, and the determination module 210 can transmit the judgment information to the calculation module 220.

[0048] As some embodiments of the present application, the vehicle also has a controller 260. The controller 260 of the vehicle can obtain the lateral acceleration information of the vehicle and transmit it to the determination module 210. Under the condition of small lateral acceleration, the vehicle is close to straight driving, and the determination module 210 judges that there is no need to control the movement of the actuating shaft 20.

[0049] As some embodiments of the present application, the driving modes of the vehicle include a comfort mode and a sport mode, etc. The determination module 210 can detect and judge the driving mode of the vehicle. For example, when the determination module 210 detects that the driving mode of the vehicle is the comfort mode, the determination module 210 judges that there is no need to control the movement of the actuating shaft 20. When the determination module 210 detects that the driving mode of the vehicle is the sport mode, the determination module 210 judges that it is necessary to control the movement of the actuating shaft 20.

[0050] In some embodiments of the present application, when the suspension mechanism 100 fails, the determination module 210 determines that there is no need to control the movement of the actuating shaft 20. In some embodiments of the present application, when the determination module 210 determines that it affects vehicle safety, the determination module 210 determines that there is no need to control the movement of the actuating shaft 20.

[0051] The calculation module 220 is communicatively connected to the determination module 210, and the determination module 210 can transmit information to the calculation module 220. In some embodiments of the present application, the calculation module 220 is communicatively connected to the determination module 210 through a wire. In some embodiments of the present application, the calculation module 220 is wirelessly communicatively connected to the determination module 210. The calculation module 220 is communicatively connected to the driving member 40, and the driving member 40 can feedback the position information of the eccentric wheel 50 to the calculation module 220 (which can be converted according to the rotation angle of the driving member 40).

[0052] The calculation module 220 is used to calculate the target position of the eccentric wheel 50 according to the lateral acceleration and driving mode of the vehicle. Specifically, if the determination module 210 determines that it is necessary to control the movement of the actuating shaft 20, the calculation module 220 can calculate the target position of the eccentric wheel 50 according to the lateral acceleration and driving mode of the vehicle. Moreover, the calculation module 220 can correct the target position of the eccentric wheel 50 according to the feedback signal of the driving member 40 to improve the accuracy of the target position of the eccentric wheel 50.

[0053] The vector control module 230 is communicatively connected to the calculation module 220. In some embodiments of the present application, the calculation module 220 is communicatively connected to the vector control module 230 through a wire. In some embodiments of the present application, the calculation module 220 is wirelessly communicatively connected to the vector control module 230.

[0054] The vector control module 230 can obtain the rotational angular velocity, angular acceleration, and motion smoothness of the driving member 40 according to the steering wheel angle, lateral acceleration, and target position of the eccentric wheel 50 of the vehicle, and control the driving member 40 to drive the eccentric wheel 50 to the target position. Moreover, it can correct the rotational angular velocity, angular acceleration, and motion smoothness of the driving member 40 according to the calculation result of the calculation module 220 to achieve better dynamic control. It should be noted that the vector control module 230 can also determine the rotation direction of the driving member 40 according to the steering wheel angle and lateral acceleration of the vehicle.

[0055] It should be noted that as Figure 4As shown in the figure, when a vehicle is subjected to a lateral force, the entire torsion beam 10 will generate lateral displacement and rotation, resulting in insufficient tire grip and oversteering, which affects the vehicle's handling stability. For example, when the vehicle turns left, the ground provides a leftward lateral frictional force, and the torsion beam 10 of the vehicle is pushed leftward. The torsion beam 10 generates a leftward displacement and a clockwise rotation (viewed from above) relative to the vehicle body, resulting in oversteering of the torsion beam 10 and poor handling stability. By driving the eccentric wheel 50 to rotate with the driving member 40, the actuator shaft 20 is driven to move along the axis direction of the actuator shaft 20. The movement of the actuator shaft 20 along the axis direction of the actuator shaft 20 can drive the pull rod 30 to move, and the movement of the pull rod 30 can drive the torsion beam 10 to rotate, so as to compensate for the displacement and rotation of the torsion beam 10 when the vehicle is subjected to a lateral force, reduce the risk of oversteering, improve the handling stability and smoothness of the vehicle, and even drive the torsion beam 10 to generate a reverse displacement and rotation, forming a tendency of understeering, further improving the handling stability and smoothness of the vehicle.

[0056] Therefore, by movably connecting the first ends 31 of the two pull rods 30 to the torsion beam 10 respectively and connecting the second ends 32 to the actuator shaft 20 respectively, and the distance between the first ends 31 is smaller than the distance between the second ends 32. When the driving member 40 drives the actuator shaft 20 to move along the axis direction of the actuator shaft 20, the torsion beam 10 can be driven to displace and rotate through the pull rod 30, so as to compensate for the displacement and rotation of the torsion beam 10 when the vehicle is subjected to a lateral force, reduce the risk of oversteering, improve the handling stability of the vehicle, and drive the torsion beam 10 to generate a reverse displacement and rotation, forming a tendency of understeering, further improving the handling stability of the vehicle, thereby improving driving safety and driving comfort.

[0057] It should be noted that the suspension mechanism 100 of the vehicle can be actively controlled and adjusted in real time according to vehicle requirements.

[0058] In some embodiments of the present invention, as Figure 2 and Figure 3 shown, the suspension mechanism 100 of the vehicle further includes: a cooperation frame 60, the cooperation frame 60 is sleeved outside the eccentric wheel 50 and is in transmission cooperation with the eccentric wheel 50. The eccentric wheel 50 can drive the cooperation frame 60 to move along the axis direction of the actuator shaft 20, and the cooperation frame 60 is connected to the actuator shaft 20.

[0059] Among them, the cooperation frame 60 is sleeved outside the eccentric wheel 50. As some embodiments of the present application, the cooperation frame 60 is configured as a rectangular frame. The inner side of the cooperation frame 60 has a cooperation groove, and the cooperation groove is recessed towards the outside of the cooperation frame 60. A part of the structure of the eccentric wheel 50 is arranged in the cooperation groove to be in transmission cooperation with the cooperation frame 60. The driving member 40 drives the eccentric wheel 50 to rotate, and the eccentric wheel 50 can drive the cooperation frame 60 to move along the axis direction of the actuator shaft 20 during the rotation process.

[0060] In some embodiments of the present application, the outer side of the eccentric wheel 50 has a recessed groove that recesses towards the inner side of the eccentric wheel 50. A mating frame 60 is sleeved on the outer side of the eccentric wheel 50. The mating frame 60 is configured as a rectangular frame. Part of the structure of the mating frame 60 is disposed in the recessed groove to be in driving cooperation with the eccentric wheel 50. The driving member 40 drives the eccentric wheel 50 to rotate. During the rotation of the eccentric wheel 50, it can drive the mating frame 60 to move along the axial direction of the actuating shaft 20.

[0061] The mating frame 60 is connected to the actuating shaft 20. The connection manner between the mating frame 60 and the actuating shaft 20 can be, but is not limited to, welding, bolt connection, etc. In some embodiments of the present application, the mating frame 60 is connected to the actuating shaft 20 by bolt connection. Therefore, when the mating frame 60 moves along the axial direction of the actuating shaft 20, it can drive the actuating shaft 20 to move along the axial direction of the actuating shaft 20.

[0062] By making the suspension mechanism 100 of the vehicle further include a mating frame 60, and sleeving the mating frame 60 on the outer side of the eccentric wheel 50 and being in driving cooperation with the eccentric wheel 50, the eccentric wheel 50 can stably drive the actuating shaft 20, so that the actuating shaft 20 moves smoothly along the axial direction of the actuating shaft 20, and reliably drives the torsion beam 10 to deflect and rotate through the pull rod 30, which is beneficial to improving the stability of the suspension mechanism 100.

[0063] In some embodiments of the present invention, the inner side of the mating frame 60 has a mating groove that recesses towards the outer side of the mating frame 60.

[0064] In some embodiments of the present application, the mating frame 60 is configured as a rectangular frame. Part of the structure of the eccentric wheel 50 is disposed in the mating groove to be in driving cooperation with the mating frame 60. The driving member 40 drives the eccentric wheel 50 to rotate. During the rotation of the eccentric wheel 50, it can drive the mating frame 60 to move along the axial direction of the actuating shaft 20, so that the actuating shaft 20 moves smoothly along the axial direction of the actuating shaft 20.

[0065] Such a setting can make the cooperation between the eccentric wheel 50 and the mating frame 60 reliable, reduce the risk of the eccentric wheel 50 slipping out of the mating frame 60 during rotation, and improve the use reliability and stability of the suspension mechanism 100.

[0066] In some embodiments of the present invention, as Figures 2 - 4 shown, the suspension mechanism 100 of the vehicle further includes: a housing 70. The housing 70 defines an accommodation space 71. The eccentric wheel 50 and the mating frame 60 are received in the accommodation space 71, and the driving member 40 is disposed in the housing 70.

[0067] Among them, the housing 70 is fixedly arranged on the vehicle body or other components. As some embodiments of the present application, the housing 70 is fixedly arranged on the vehicle body, and the housing 70 is connected to the vehicle body by means of bolt connection.

[0068] The driving member 40 is arranged in the housing 70. The connection manner between the driving member 40 and the housing 70 can be, but is not limited to, welding, clamping, etc. As some embodiments of the present application, the driving member 40 is connected to the housing 70 by means of bolt connection.

[0069] By arranging the driving member 40 in the housing 70, an installation position can be provided for the driving member 40, and the arrangement difficulty of the driving member 40 can be reduced. By accommodating the eccentric wheel 50 and the mating frame 60 in the accommodation space 71, the housing 70 can protect the eccentric wheel 50 and the mating frame 60, reducing the probability of damage to the eccentric wheel 50 and the mating frame 60 due to impact and collision. Moreover, the risk that the transmission cooperation between the eccentric wheel 50 and the mating frame 60 is blocked by foreign objects can be reduced, which is beneficial to improving the use reliability of the suspension mechanism 100.

[0070] In some embodiments of the present invention, as Figure 2 shown, the suspension mechanism 100 of the vehicle further includes: a guide shaft 80. The guide shaft 80 is accommodated in the accommodation space 71 and is connected to the housing 70. The guide shaft 80 extends along the axial direction of the actuating shaft 20, and the mating frame 60 is in guiding cooperation with the guide shaft 80.

[0071] Among them, the guide shaft 80 is accommodated in the accommodation space 71, and moreover, the guide shaft 80 is connected to the housing 70. The connection manner between the guide shaft 80 and the housing 70 can be, but is not limited to, welding, bolt connection, etc. As some embodiments of the present application, the guide shaft 80 is connected to the housing 70 by means of welding.

[0072] The number of the guide shafts 80 can be multiple. The number of the guide shafts 80 can be, but is not limited to, two, three, etc. As some embodiments of the present application, the number of the guide shafts 80 is two, and the two guide shafts 80 are arranged at intervals along the length direction of the vehicle (i.e., Figure 1 the X direction shown).

[0073] The guide shaft 80 extends along the axial direction of the actuating shaft 20, and moreover, the guide shaft 80 is in guiding cooperation with the mating frame 60, so that the mating frame 60 can accurately move along the extending direction of the guide shaft 80, and further, the actuating shaft 20 can accurately move along the extending direction of the guide shaft 80.

[0074] By accommodating the guiding shaft 80 in the accommodation space 71 and connecting it to the housing 70, and guidingly mating the mating frame 60 with the guiding shaft 80, the movement of the mating frame 60 can be guided, making the movement of the mating frame 60 deterministic and directional, reducing the risk of misalignment of the movement of the mating frame 60, and moreover, effectively supporting the mating frame 60, which is beneficial to improving the movement stability of the mating frame 60.

[0075] In some embodiments of the present invention, such as Figure 1 and Figure 4 shown, the first ends 31 of the two tie rods 30 are both ball-joint connected to the torsion beam 10. By ball-joint connecting the first ends 31 of the two tie rods 30 to the torsion beam 10, it is possible to allow the tie rods 30 and the torsion beam 10 to rotate relative to each other in multiple directions, stably exert a control effect on the torsion beam 10, and moreover, not only can drive the torsion beam 10 to move, but also can drive the torsion beam 10 to rotate, thereby effectively suppressing oversteering, which is beneficial to improving the handling stability of the vehicle. In addition, the ball-joint connection can evenly disperse the acting force to multiple contact points and directions, reducing the risk of damage at the connection between the tie rod 30 and the torsion beam 10 caused by instantaneous strong impact, which is beneficial to extending the service life of the suspension mechanism 100 and ensuring the long-term stable operation of the suspension mechanism 100.

[0076] In some embodiments of the present invention, such as Figure 1 and Figure 4 shown, the suspension mechanism 100 of the vehicle further includes: two bushings 90, and the second ends 32 of the two tie rods 30 are both connected to the actuating shaft 20 through the corresponding bushings 90.

[0077] That is to say, the second ends 32 of the two tie rods 30 are both connected to the actuating shaft 20 through the corresponding bushings 90. As some embodiments of the present application, the bushing 90 includes a first bushing and a second bushing, the first bushing and the second bushing are sleeved, the first bushing is fixedly connected to the actuating shaft 20, the second bushing is fixedly connected to the corresponding tie rod 30, and a flexible structure is provided between the first bushing and the second bushing. The flexible structure can be constructed as but not limited to rubber, resin, etc.

[0078] By connecting the second ends 32 of the two tie rods 30 to the actuating shaft 20 through the corresponding bushings 90, a flexible connection can be formed between the tie rod 30 and the actuating shaft 20, playing a buffering role, effectively reducing the direct impact between the actuating shaft 20 and the tie rod 30, thereby protecting the actuating shaft 20 and the tie rod 30 and reducing the risk of damage to the actuating shaft 20 and the tie rod 30. Moreover, by connecting the second ends 32 of the two tie rods 30 to the actuating shaft 20 through the corresponding bushings 90, the flexibility of the torsion beam 10 in the longitudinal direction of the vehicle (i.e., Figure 1 the X direction shown) can be released, which is beneficial to improving the ride comfort of the vehicle.

[0079] It can be understood that the suspension mechanism 100 proposed in the present application has a compact structure, small space requirements, and is convenient for layout and installation. Moreover, the suspension mechanism 100 proposed in the present application not only retains the advantages of the suspension mechanism 100 using the torsion beam 10, such as simple and reliable structure, low cost, and small space requirements, but also overcomes the disadvantages of the traditional suspension mechanism 100 using the torsion beam 10 through a simple structure, providing a new idea for chassis design and matching.

[0080] The control device 200 of the suspension mechanism 100 of the vehicle according to the present invention, as Figure 5 shown, the suspension mechanism 100 of the vehicle includes the above-mentioned suspension mechanism 100 of the vehicle and the control device 200;

[0081] The control device 200 includes:

[0082] A determination module 210, which is used to determine whether to control the movement of the actuating shaft 20 according to the lateral acceleration and driving mode of the vehicle;

[0083] A calculation module 220, which is communicatively connected to the determination module 210 and is used to calculate the target position of the eccentric wheel 50 according to the lateral acceleration and driving mode of the vehicle. The calculation module 220 is communicatively connected to the driving member 40 and is used to correct the target position of the eccentric wheel 50 according to the feedback signal of the driving member 40;

[0084] A vector control module 230, which is communicatively connected to the calculation module 220 and is used to obtain the rotational angular velocity, angular acceleration, and motion smoothness of the driving member 40 according to the steering wheel angle, lateral acceleration, and target position of the eccentric wheel 50 of the vehicle.

[0085] Among them, the determination module 210 is used to determine whether to control the movement of the actuating shaft 20 according to the lateral acceleration and driving mode of the vehicle. That is to say, the determination module 210 can judge according to the current lateral acceleration and driving mode of the vehicle to determine whether to control the movement of the actuating shaft 20, and the determination module 210 can transmit the judgment information to the calculation module 220.

[0086] As some embodiments of the present application, the vehicle also has a controller 260. The controller 260 of the vehicle can obtain the lateral acceleration information of the vehicle and transmit it to the determination module 210. Under the condition of small lateral acceleration, the vehicle is close to straight driving, and the determination module 210 determines that there is no need to control the movement of the actuating shaft 20.

[0087] As some embodiments of the present application, the driving modes of the vehicle include a comfort mode, a sport mode, etc. The determination module 210 can detect and determine the driving mode of the vehicle. For example, when the determination module 210 detects that the driving mode of the vehicle is the comfort mode, the determination module 210 determines that there is no need to control the movement of the actuating shaft 20. When the determination module 210 detects that the driving mode of the vehicle is the sport mode, the determination module 210 determines that it is necessary to control the movement of the actuating shaft 20.

[0088] As some embodiments of the present application, when a failure occurs in the suspension mechanism 100, the determination module 210 determines that there is no need to control the movement of the actuating shaft 20. As some embodiments of the present application, when the determination module 210 determines that it affects the safety of the vehicle, the determination module 210 determines that there is no need to control the movement of the actuating shaft 20.

[0089] The calculation module 220 is communicatively connected to the determination module 210, and the determination module 210 can transmit information to the calculation module 220. As some embodiments of the present application, the calculation module 220 and the determination module 210 are communicatively connected by a wire. As some embodiments of the present application, the calculation module 220 and the determination module 210 are wirelessly communicatively connected. The calculation module 220 is communicatively connected to the driving member 40, and the driving member 40 can feed back the position information of the eccentric wheel 50 to the calculation module 220 (which can be converted according to the rotation angle of the driving member 40).

[0090] The calculation module 220 is used to calculate the target position of the eccentric wheel 50 according to the lateral acceleration and driving mode of the vehicle. Specifically, if the determination module 210 determines that it is necessary to control the movement of the actuating shaft 20, the calculation module 220 can calculate the target position of the eccentric wheel 50 according to the lateral acceleration and driving mode of the vehicle. Moreover, the calculation module 220 can correct the target position of the eccentric wheel 50 according to the feedback signal of the driving member 40 to improve the accuracy of the target position of the eccentric wheel 50.

[0091] The vector control module 230 is communicatively connected to the calculation module 220. As some embodiments of the present application, the calculation module 220 and the vector control module 230 are communicatively connected by a wire. As some embodiments of the present application, the calculation module 220 and the vector control module 230 are wirelessly communicatively connected.

[0092] The vector control module 230 can obtain the rotational angular velocity, angular acceleration, and motion smoothness of the driving member 40 according to the steering wheel angle, lateral acceleration, and target position of the eccentric wheel 50 of the vehicle, and control the driving member 40 to drive the eccentric wheel 50 to the target position. Moreover, it can correct the rotational angular velocity, angular acceleration, and motion smoothness of the driving member 40 according to the calculation result of the calculation module 220 to achieve better dynamic control. It should be noted that the vector control module 230 can also determine the rotation direction of the driving member 40 according to the steering wheel angle and lateral acceleration of the vehicle.

[0093] In some embodiments of the present application, such as Figure 5 shown, the driving member 40 is configured as a driving motor, and the control device 200 further includes: a motor driving module 240 and a feedback module 250. The motor driving module 240 is communicatively connected to the vector control module 230. In some embodiments of the present application, the motor driving module 240 is communicatively connected to the vector control module 230 through a wire. In some embodiments of the present application, the motor driving module 240 is communicatively connected to the vector control module 230 through wireless communication.

[0094] The motor driving module 240 can convert the control requirements of the vector control module 230 into the execution current of the driving motor. By precisely controlling the magnitude and direction of the current, it can achieve precise rotation control of the driving motor, ensuring that the power output by the driving motor can accurately meet the working requirements of the actuating shaft 20. At the same time, the motor driving module 240 can reduce the risks of vibration, overheating, noise, etc. of the driving motor, and can improve the reliability and durability of the suspension mechanism 100.

[0095] The motor driving module is communicatively connected to the feedback module, and moreover, the feedback module is communicatively connected to the vehicle controller 260. The feedback module 250 can obtain the operating state of the driving motor, and moreover, the feedback module 250 can compare the operating state of the driving motor with the requirements of the motor driving module 240. If they are inconsistent, it can timely correct the driving signal of the driving motor to ensure that the driving motor operates as expected. The feedback module 250 can also feedback the operating state of the driving motor to the calculation module 220, and through the calculation of the calculation module 220, the target position of the eccentric wheel 50 can be corrected, so that the driving motor can be dynamically adjusted according to the actual operating conditions of the eccentric wheel 50, improving the control accuracy. In addition, the feedback module 250 can convert the operating state of the driving motor into the real-time position of the actuating shaft 20 and feedback it to the controller 260, so that the operating state can be displayed on the vehicle instrument.

[0096] In some embodiments of the present application, the control device 200 of the suspension mechanism 100 is electrically connected to the driving member 40 through a wire.

[0097] By making the control device 200 of the vehicle suspension mechanism 100 include a calculation module 220, a determination module 210, and a vector control module 230, the suspension mechanism 100 can achieve precise and efficient control effects on the torsion beam 10 according to different working conditions and vehicle conditions, effectively compensating for the offset and rotation of the torsion beam 10, reducing the risk of oversteering, and even being able to drive the torsion beam 10 to generate reverse offset and rotation, forming a tendency of understeering, which is beneficial to improving the handling stability of the suspension mechanism 100.

[0098] By making the first ends 31 of the two tie rods 30 be movably connected to the torsion beam 10 respectively, and the second ends 32 be connected to the actuating shaft 20 respectively, and the spacing distance between the first ends 31 be less than that between the second ends 32, when the driving member 40 drives the actuating shaft 20 to move along the axial direction of the actuating shaft 20, the torsion beam 10 can be driven by the tie rods 30 to offset and rotate, so as to compensate for the offset and rotation of the torsion beam 10 when the vehicle is subjected to a lateral force, reduce the risk of oversteering, improve the handling stability of the vehicle, and moreover, can drive the torsion beam 10 to generate reverse offset and rotation, forming a tendency of understeering, further improving the handling stability of the vehicle, thereby improving driving safety and driving comfort.

[0099] According to the control method of the suspension mechanism of the vehicle of the present invention, as Figure 6 shown, the suspension mechanism of the vehicle includes the suspension mechanism of the vehicle as described above;

[0100] The control method includes:

[0101] S1. Determine whether it is necessary to control the movement of the actuating shaft according to the lateral acceleration and driving mode of the vehicle;

[0102] As some embodiments of the present application, the determination module can determine whether it is necessary to control the movement of the actuating shaft according to the lateral acceleration and driving mode of the vehicle. That is to say, the determination module can make a judgment according to the current lateral acceleration and driving mode of the vehicle to determine whether it is necessary to control the movement of the actuating shaft, and the determination module can transmit the judgment information to the calculation module.

[0103] As some embodiments of the present application, the vehicle also has a controller. The controller of the vehicle can obtain the lateral acceleration information of the vehicle and transmit it to the determination module. Under the condition of small lateral acceleration, the vehicle is close to straight driving, and the determination module determines that there is no need to control the movement of the actuating shaft.

[0104] As some embodiments of the present application, the driving modes of the vehicle include a comfort mode and a sport mode, etc. The determination module can detect and determine the driving mode of the vehicle. For example, when the determination module detects that the driving mode of the vehicle is the comfort mode, the determination module determines that there is no need to control the movement of the actuating shaft; when the determination module detects that the driving mode of the vehicle is the sport mode, the determination module determines that it is necessary to control the movement of the actuating shaft.

[0105] As some embodiments of the present application, when a failure occurs in the suspension mechanism, the determination module determines that there is no need to control the movement of the actuating shaft. As some embodiments of the present application, when the determination module determines that it affects the safety of the vehicle, the determination module determines that there is no need to control the movement of the actuating shaft.

[0106] S2. If necessary, calculate the target position of the eccentric wheel according to the lateral acceleration and driving mode of the vehicle, and correct the target position of the eccentric wheel according to the feedback signal of the driving member;

[0107] In some embodiments of the present application, the calculation module is communicatively connected to the determination module, and the determination module can transmit information to the calculation module. In some embodiments of the present application, the calculation module is communicatively connected to the determination module through a wire. In some embodiments of the present application, the calculation module is wirelessly communicatively connected to the determination module. The calculation module is communicatively connected to the driving member, and the driving member can feed back the position information of the eccentric wheel to the calculation module (which can be converted according to the rotation angle of the driving member).

[0108] The calculation module is used to calculate the target position of the eccentric wheel according to the lateral acceleration and driving mode of the vehicle. Specifically, if the determination module determines that it is necessary to control the movement of the actuating shaft, the calculation module can calculate the target position of the eccentric wheel according to the lateral acceleration and driving mode of the vehicle. Moreover, the calculation module can correct the target position of the eccentric wheel according to the feedback signal of the driving member to improve the accuracy of the target position of the eccentric wheel.

[0109] S3. Obtain the rotational angular velocity, angular acceleration, and motion smoothness of the driving member according to the steering wheel angle, lateral acceleration, and target position of the eccentric wheel of the vehicle;

[0110] In some embodiments of the present application, the vector control module is communicatively connected to the calculation module. In some embodiments of the present application, the calculation module is communicatively connected to the vector control module through a wire. In some embodiments of the present application, the calculation module is wirelessly communicatively connected to the vector control module.

[0111] The vector control module can obtain the rotational angular velocity, angular acceleration, and motion smoothness of the driving member according to the steering wheel angle, lateral acceleration, and target position of the eccentric wheel of the vehicle, and control the driving member to drive the eccentric wheel to the target position. Moreover, it can correct the rotational angular velocity, angular acceleration, and motion smoothness of the driving member according to the calculation result of the calculation module to achieve better dynamic control. It should be noted that the vector control module can also determine the rotation direction of the driving member according to the steering wheel angle and lateral acceleration of the vehicle.

[0112] S4. Control the driving member to work to drive the actuating shaft to move.

[0113] In some embodiments of the present application, the vector control module can control the driving member to work to drive the actuating shaft to move according to the corrected rotational angular velocity, angular acceleration, and motion smoothness.

[0114] In some embodiments of the present application, such as Figure 5As shown, the driving member is configured as a driving motor, and the control device further includes: a motor driving module and a feedback module. The motor driving module is communicatively connected to the vector control module. As some embodiments of the present application, the motor driving module is communicatively connected to the vector control module through a wire. As some embodiments of the present application, the motor driving module is communicatively connected to the vector control module through wireless communication.

[0115] The motor driving module can convert the control requirements of the vector control module into the execution current of the driving motor. By precisely controlling the magnitude and direction of the current, it can achieve precise rotation control of the driving motor, ensuring that the power output by the driving motor can accurately meet the working requirements of the actuating shaft. At the same time, the motor driving module can reduce the risks of vibration, overheating, noise, etc. of the driving motor, and can improve the reliability and durability of the suspension mechanism.

[0116] The motor driving module is communicatively connected to the feedback module, and the feedback module is communicatively connected to the vehicle's controller. The feedback module can obtain the operating state of the driving motor, and the feedback module can compare the operating state of the driving motor with the requirements of the motor driving module. If they are inconsistent, it can timely correct the driving signal of the driving motor to ensure that the driving motor operates as expected. The feedback module can also feedback the operating state of the driving motor to the calculation module, and the calculation module calculates to correct the target position of the eccentric wheel, so that the driving motor can be dynamically adjusted according to the actual operating conditions of the eccentric wheel, improving the control accuracy. In addition, the feedback module can convert the operating state of the driving motor into the real-time position of the actuating shaft and feedback it to the controller, so that the operating state can be displayed on the vehicle instrument.

[0117] Thus, through the control method of the present application, it is possible to compensate for the offset and rotation of the torsion beam when the vehicle is subjected to a lateral force, reduce the risk of oversteering, improve the handling stability of the vehicle, and drive the torsion beam to generate reverse offset and rotation, forming a tendency of understeering, further improving the handling stability of the vehicle, thereby improving driving safety and driving comfort.

[0118] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0119] In the description of the present invention, the "first feature" and "second feature" may include one or more of such features.

[0120] In the description of the present invention, the meaning of "a plurality of" is two or more.

[0121] In the description of the present invention, the first feature being "on" or "under" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through additional features therebetween.

[0122] In the description of the present invention, the first feature being "on", "above", and "over" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature.

[0123] In the description of this specification, descriptions with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0124] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A suspension mechanism of a vehicle, characterized in that, Comprising: Torsion beam; An actuating shaft and two tie rods. The two tie rods are arranged at intervals in the width direction of the vehicle. Both of the two tie rods have a first end and a second end. The first ends of the two tie rods are movably connected to the torsion beam, and the second ends of the two tie rods are both connected to the actuating shaft. Moreover, the interval distance between the first ends of the two tie rods is less than the interval distance between the second ends of the two tie rods; A driving member and an eccentric wheel. The driving member is in transmission connection with the eccentric wheel, and the eccentric wheel is in transmission connection with the actuating shaft. The driving member is used to drive the eccentric wheel to rotate so as to drive the actuating shaft to move along the axis direction of the actuating shaft.

2. The suspension mechanism of a vehicle according to claim 1, wherein, Further comprising: A mating frame. The mating frame is sleeved outside the eccentric wheel and is in transmission cooperation with the eccentric wheel. The eccentric wheel can drive the mating frame to move along the axis direction of the actuating shaft, and the mating frame is connected to the actuating shaft.

3. The suspension mechanism of a vehicle according to claim 2, characterized in that, The inner side of the mating frame has a mating groove which is recessed towards the outside of the mating frame.

4. The suspension mechanism of a vehicle according to claim 2, characterized in that, Further comprising: A housing which defines an accommodation space. The eccentric wheel and the mating frame are received in the accommodation space, and the driving member is arranged on the housing.

5. The suspension mechanism of the vehicle according to claim 4, characterized in that, Further comprising: A guide shaft which is received in the accommodation space and is connected to the housing. The guide shaft extends along the axis direction of the actuating shaft, and the mating frame is in guiding cooperation with the guide shaft.

6. The suspension mechanism of a vehicle according to claim 1, characterized in that, The first ends of the two tie rods are both ball-jointed to the torsion beam.

7. The suspension mechanism of a vehicle according to claim 1, characterized in that, Further comprising: Two bushings. The second ends of the two tie rods are both connected to the actuating shaft through the corresponding bushings.

8. A control device for a suspension mechanism of a vehicle, characterized in that, The suspension mechanism of the vehicle comprises the suspension mechanism of the vehicle according to any one of claims 1-7; The control device comprises: A determination module which is used to judge whether it is necessary to control the movement of the actuating shaft according to the lateral acceleration and driving mode of the vehicle; A calculation module which is communicatively connected with the determination module and is used to calculate the target position of the eccentric wheel according to the lateral acceleration and driving mode of the vehicle. The calculation module is communicatively connected with the driving member and is used to correct the target position of the eccentric wheel according to the feedback signal of the driving member; A vector control module which is communicatively connected with the calculation module and is used to obtain the rotational angular velocity, angular acceleration and motion smoothness of the driving member according to the steering wheel rotation angle, lateral acceleration and target position of the eccentric wheel of the vehicle.

9. A control method for a suspension mechanism of a vehicle, characterized in that, The suspension mechanism of the vehicle comprises the suspension mechanism of the vehicle according to any one of claims 1-7; The control method comprises: Judging whether it is necessary to control the movement of the actuating shaft according to the lateral acceleration and driving mode of the vehicle; If so, calculating the target position of the eccentric wheel according to the lateral acceleration and driving mode of the vehicle, and correcting the target position of the eccentric wheel according to the feedback signal of the driving member; Obtaining the rotational angular velocity, angular acceleration and motion smoothness of the driving member according to the steering wheel rotation angle, lateral acceleration and target position of the eccentric wheel of the vehicle; Control the driving member to work so as to drive the actuating shaft to move.

10. A vehicle, characterized in that, It includes a suspension mechanism of a vehicle according to any one of claims 1-7.

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