Vehicle suspension adjusting method, device and equipment and storage medium

Abstract

The invention discloses a vehicle suspension adjusting method, device and equipment and a storage medium, and relates to the technical field of automobile engineering. The method comprises the following steps: if an abnormal driving condition of a vehicle in front of a target vehicle is identified, determining a left side road surface condition and a right side road surface condition of the vehicle in front according to vehicle slope data of the vehicle in front and road surface slope data of a road surface in front of the target vehicle; according to the left side road surface working condition and the right side road surface working condition, an active suspension of the target vehicle is adjusted, and the load amplitude and the load frequency of the adjusted target vehicle are obtained; and if the load amplitude does not meet the amplitude allowing condition and / or the load frequency does not meet the frequency allowing condition, the active suspension of the target vehicle is adjusted again. According to the technical scheme, the active suspension of the vehicle is adjusted by recognizing the left side road surface working condition and the right side road surface working condition of the front vehicle, and the adaptability and reliability of suspension adjustment aiming at different road conditions can be improved.

Description

Technical Field

[0001] Embodiments of the present application relate to the technical field of automotive engineering, particularly to the technical field of vehicle suspensions, and specifically to a method, device, equipment, and storage medium for adjusting a vehicle suspension. Background Art

[0002] Currently, there are more and more intelligent network applications in vehicles, and their dependence on road information is increasing. However, current road condition information mainly comes from map information, which mainly provides routes. For specific information such as the specific state of road paving and the undulation of the road surface, the provision is not complete enough or timely enough. This is extremely disadvantageous for the real-time control of intelligent networked vehicles, and currently, the timeliness of vehicle collection of road condition information is insufficient.

[0003] In addition, currently, with the continuous development of vehicle intelligence and the increasing requirements of passengers for vehicle comfort, as well as the increasing requirements for the integrity of transported goods, for special goods such as watermelons and eggs, which are fragile and easily damaged during transportation, higher requirements are placed on the suspension, and the suspension needs to have the ability to adapt to different road conditions. However, current passive suspensions, even the air suspension with the best comfort, are difficult to adapt to any road condition. Summary of the Invention

[0004] The present application provides a method, device, equipment, and storage medium for adjusting a vehicle suspension to improve the adaptability and reliability of suspension adjustment for different road conditions.

[0005] According to one aspect of the present application, a method for adjusting a vehicle suspension is provided. The method includes:

[0006] If an abnormal driving condition of a vehicle ahead of the target vehicle is recognized, then based on the vehicle slope data of the vehicle ahead and the road surface slope data of the road surface ahead of the target vehicle, determine the left road surface condition and the right road surface condition of the vehicle ahead;

[0007] Based on the left road surface condition and the right road surface condition, adjust the active suspension of the target vehicle, and obtain the load amplitude and load frequency of the target vehicle after adjustment;

[0008] If the load amplitude does not meet the amplitude allowable condition and / or the load frequency does not meet the frequency allowable condition, then readjust the active suspension of the target vehicle.

[0009] According to another aspect of the present application, a device for adjusting a vehicle suspension is provided. The device includes:

[0010] A road surface condition determination module, configured to, if it is recognized that an abnormal driving condition occurs for a vehicle in front of a target vehicle, determine a left road surface condition and a right road surface condition of the vehicle in front according to the vehicle slope data of the vehicle in front and the road surface slope data of the road surface in front of the target vehicle;

[0011] A primary suspension adjustment module, configured to adjust the active suspension of the target vehicle according to the left road surface condition and the right road surface condition, and obtain the load amplitude and load frequency of the target vehicle after adjustment;

[0012] A suspension readjustment module, configured to, if the load amplitude does not meet the amplitude allowable condition and / or the load frequency does not meet the frequency allowable condition, readjust the active suspension of the target vehicle.

[0013] According to another aspect of the present application, there is provided an electronic device, including:

[0014] One or more processors;

[0015] A memory, configured to store one or more programs;

[0016] When the one or more programs are executed by the one or more processors, the one or more processors implement any one of the vehicle suspension adjustment methods provided by the embodiments of the present application.

[0017] According to another aspect of the present application, there is provided a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements any one of the vehicle suspension adjustment methods provided by the embodiments of the present application.

[0018] According to another aspect of the present application, there is provided a computer program product, including a computer program, and when the computer program is executed by a processor, it implements any one of the vehicle suspension adjustment methods provided by the embodiments of the present application.

[0019] In the present application, if it is recognized that an abnormal driving condition occurs for a vehicle in front of a target vehicle, a left road surface condition and a right road surface condition of the vehicle in front are determined according to the vehicle slope data of the vehicle in front and the road surface slope data of the road surface in front of the target vehicle; the active suspension of the target vehicle is adjusted according to the left road surface condition and the right road surface condition, and the load amplitude and load frequency of the target vehicle after adjustment are obtained; if the load amplitude does not meet the amplitude allowable condition and / or the load frequency does not meet the frequency allowable condition, the active suspension of the target vehicle is readjusted. The above technical solution adjusts the active suspension of the vehicle by identifying the left road surface condition and the right road surface condition of the vehicle in front, which helps to improve the adaptability and reliability of the suspension adjustment to different road conditions. Description of the Drawings

[0020] Figure 1 It is a flowchart of a vehicle suspension adjustment method provided according to Embodiment 1 of the present application;

[0021] Figure 2 It is a flowchart of a vehicle suspension adjustment method provided according to Embodiment 2 of the present application;

[0022] Figure 3 It is a schematic structural diagram of a vehicle suspension adjustment device provided according to Embodiment 3 of the present application;

[0023] Figure 4 It is a schematic structural diagram of an electronic device for implementing the vehicle suspension adjustment method of Embodiment 4 of the present application. Detailed implementation manners

[0024] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present application.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data used can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0026] In addition, it should also be noted that in the technical solution of the present application, the collection, storage, use, processing, transmission, provision, and disclosure of relevant data such as abnormal driving conditions and vehicle slope data comply with the provisions of relevant laws and regulations and do not violate public order and good customs.

[0027] Embodiment 1

[0028] Figure 1It is a flowchart of a vehicle suspension adjustment method provided in Embodiment 1 of the present application. This embodiment is applicable to the situation where the active suspension of a vehicle is adjusted when the vehicle encounters abnormal working conditions during driving. It can be executed by a vehicle suspension adjustment device, which can be implemented in the form of hardware and / or software, and can be configured in a computer device, such as a server. As Figure 1 shown, the method includes:

[0029] S110. If it is recognized that an abnormal driving condition occurs to the vehicle in front of the target vehicle, then according to the vehicle slope data of the vehicle in front and the road surface slope data of the road surface in front of the target vehicle, determine the left road surface condition and the right road surface condition of the vehicle in front.

[0030] In this embodiment, the target vehicle refers to the vehicle that the current system is analyzing or adjusting, that is, the vehicle that needs to adjust the suspension according to the road conditions in front and the conditions of other vehicles. The vehicle in front refers to other vehicles driving in front of the target vehicle; the system decides how to adjust the suspension of the target vehicle by analyzing the driving conditions, road surface slopes and other information of these vehicles. The abnormal driving condition refers to the situation where the vehicle in front does not drive in a normal straight line, such as the steering or sudden braking of the vehicle in front. The vehicle slope data refers to the slope information of the vehicle itself (such as uphill or downhill) or the angle data of the vehicle body tilt during the driving process of the vehicle in front; this data can be determined by setting marker points on the left and right sides of the vehicle in front and judging the position changes of the marker points. The road surface slope data refers to the slope information of the road surface in front of the target vehicle, indicating whether the road surface is flat, whether there are terrain features such as uphill or downhill. The left road surface condition refers to the slope information of the road surface where the left side of the vehicle body of the vehicle in front is located; among them, the left road surface condition can include abnormal left road surface and normal left road surface. The right road surface condition refers to the slope information of the road surface where the right side of the vehicle body of the vehicle in front is located; among them, the right road surface condition can include abnormal right road surface and normal right road surface.

[0031] Exemplarily, if it is recognized through the front camera of the target vehicle that the vehicle in front has made a full turn or sudden braking, then it is preliminarily judged that there may be a front fault, which may be a road surface fault or other faults such as traffic jams. In short, the road ahead cannot be normally passed, that is, the vehicle in front has an abnormal driving condition. Then, according to the vehicle slope data of the vehicle in front and the road surface slope data of the road surface in front of the target vehicle, determine the left road surface condition and the right road surface condition of the vehicle in front.

[0032] In an alternative embodiment, if it is not recognized that an abnormal driving condition occurs to the vehicle in front of the target vehicle, then continue to monitor the driving information of the vehicle in front through the front camera of the target vehicle.

[0033] S120. Adjust the active suspension of the target vehicle according to the left road surface condition and the right road surface condition, and obtain the load amplitude and load frequency of the target vehicle after adjustment.

[0034] In this embodiment, the active suspension refers to a vehicle suspension that can be adjusted in real time using an electronic control system and sensors; the vehicle suspension is an important part of the vehicle, which connects the body and the wheels, and its main function is to support the weight of the body and absorb and buffer the impact force caused by road surface unevenness, making the vehicle more stable, comfortable and steady during driving. The load amplitude refers to the amplitude of the up and down vibration of the vehicle body during driving due to road surface unevenness or other factors; a larger amplitude may affect the comfort and controllability of the vehicle. The load frequency refers to the frequency of vehicle vibration, which is usually determined by the vehicle's suspension system and road surface conditions; too high or too low load frequency may have a negative impact on the driving experience.

[0035] Optionally, if the left road surface is abnormal and the right road surface is normal, adjust the stiffness and damping of the left active suspension of the target vehicle; if the left road surface is abnormal and the right road surface is abnormal, adjust the stiffness and damping of the left active suspension and the right active suspension of the target vehicle; if the left road surface is normal and the right road surface is abnormal, adjust the stiffness and damping of the right active suspension of the target vehicle.

[0036] In this embodiment, the left road surface being abnormal means that the left road surface is not a flat road surface, which can be a road surface bump, a road surface depression, etc. The left road surface being normal means that the left road surface is a flat road surface. The right road surface being abnormal means that the right road surface is not a flat road surface, which can be a road surface bump, a road surface depression, etc. The right road surface being normal means that the right road surface is a flat road surface.

[0037] It should be noted that the degree of adjustment of the stiffness and damping of the active suspension, whether to increase or decrease the adjustment, and what the adjustment ratio is, are calibrated according to the specific road conditions of different market segments and the characteristics of the goods carried in the market segments; for example, if the goods carried in the market segment are sensitive to amplitude and not sensitive to frequency, then increase the damping at this time, and when adjusting the active suspension, sacrifice the frequency to absorb energy as soon as possible and reduce vibration; if the goods carried in the market segment are not sensitive to amplitude and sensitive to frequency, then the stiffness should be increased at this time to reduce the amplitude of the carried goods in the most effective way.

[0038] S130. If the load amplitude does not meet the amplitude allowable condition and / or the load frequency does not meet the frequency allowable condition, readjust the active suspension of the target vehicle.

[0039] In this embodiment, the amplitude allowable condition refers to the maximum vibration amplitude range allowed during vehicle vibration; exceeding this range may lead to an uncomfortable driving experience or damage to the vehicle. The frequency allowable condition refers to the load vibration frequency range allowed during vehicle driving; too high or too low frequencies may both lead to driving discomfort or vehicle stability problems.

[0040] It should be noted that the load amplitude and load frequency refer to the amplitude and frequency of the sprung mass in the target vehicle; the sprung mass refers to the load on the spring part of the suspension system.

[0041] Exemplarily, it is judged whether the absolute value of the amplitude of the sprung mass is less than the amplitude threshold of the sprung mass allowed by the known calibration, and at the same time, whether the absolute value of the frequency of the sprung mass is less than the frequency threshold of the sprung mass allowed by the known calibration; if the absolute value of the amplitude is less than the amplitude threshold and the absolute value of the frequency is less than the frequency threshold, the active suspension adjustment ends, and if the absolute value of the amplitude is not less than the amplitude threshold and / or the absolute value of the frequency is not less than the frequency threshold, the active suspension of the target vehicle is adjusted again.

[0042] In the embodiment of the present application, if it is recognized that an abnormal driving condition occurs in the vehicle in front of the target vehicle, then according to the vehicle slope data of the vehicle in front and the road surface slope data of the road surface in front of the target vehicle, the left road surface condition and the right road surface condition of the vehicle in front are determined; according to the left road surface condition and the right road surface condition, the active suspension of the target vehicle is adjusted, and the load amplitude and load frequency of the adjusted target vehicle are obtained; if the load amplitude does not meet the amplitude allowable condition and / or the load frequency does not meet the frequency allowable condition, the active suspension of the target vehicle is adjusted again. The above technical solution adjusts the active suspension of the vehicle by identifying the left road surface condition and the right road surface condition of the vehicle in front, which helps to improve the adaptability and reliability of the suspension adjustment for different road conditions.

[0043] Embodiment Two

[0044] Figure 2 is a flowchart of a vehicle suspension adjustment method provided according to Embodiment Two of the present application. On the basis of the technical solutions of the above embodiments, this embodiment refines "determining the left road surface condition and the right road surface condition of the vehicle in front according to the vehicle slope data of the vehicle in front and the road surface slope data of the road surface in front of the target vehicle" to "determining the overall road surface condition of the road surface in front according to the vehicle slope data of the vehicle in front and the road surface slope data of the road surface in front of the target vehicle; if the overall road surface condition is a bumpy road surface, then according to the vehicle slope data and the road surface slope data, determining the left road surface condition and the right road surface condition of the vehicle in front". It should be noted that for the parts not detailed in the embodiment of the present application, reference can be made to the relevant descriptions of other embodiments. As Figure 2 shown, the method includes:

[0045] S210. If an abnormal driving condition occurs in the vehicle ahead of the target vehicle, determine the overall road condition of the road ahead based on the vehicle slope data of the vehicle ahead and the road slope data of the road surface ahead of the target vehicle.

[0046] In this embodiment, the vehicle slope data may include the position of the vehicle ahead at the current moment and the position at the previous moment; the position at the current moment refers to the positions of the marking points set on both the left and right sides of the vehicle ahead at the current moment; the position at the previous moment refers to the positions of the marking points set on both the left and right sides of the vehicle ahead at the previous moment of the current moment. The road slope data may include the current slope height value and the current slope width value; the current slope height value refers to the "height change" or "vertical inclination" of the road surface ahead, which represents the vertical undulation degree of a section of the road surface relative to the horizontal plane, that is, the height difference between uphill and downhill; the current slope width value refers to the width of the ramp (i.e., the road surface ahead) on the horizontal plane, that is, the length of the ramp or slope along the horizontal direction.

[0047] Optionally, if the current slope height value and the current slope width value both meet the non-fault road surface conditions, determine the road condition to be verified of the road ahead based on the position of the vehicle ahead at the current moment and the position at the previous moment; if the road condition to be verified is a bumpy road surface, determine the overall road condition of the road ahead based on the current slope height value.

[0048] In this embodiment, the position at the current moment may include the current left position and the current right position; the position at the previous moment may include the left position at the previous moment and the right position at the previous moment. The non-fault road surface conditions are set artificially through a large number of experiments and according to the actual situation or empirical values, and may be that the height value is less than the height threshold, etc.

[0049] In an alternative embodiment, if the current slope height value and / or the current slope width value do not meet the non-fault road surface conditions, determine that the road ahead is impassable and notify the target vehicle to detour to other routes.

[0050] Exemplarily, if the current slope height value is less than the upper limit value of the road slope height and at the same time the current slope width value is less than the upper limit value of the road slope width, it is determined that the current slope height value and the current slope width value both meet the non-fault road surface conditions; at this time, determine the road condition to be verified of the road ahead based on the position of the vehicle ahead at the current moment and the position at the previous moment; if the current slope height value is greater than or equal to the upper limit value of the road slope height and / or the current slope width value is greater than or equal to the upper limit value of the road slope width, determine that the road ahead is impassable.

[0051] Further, based on the current position and the previous position of the vehicle ahead, the pavement condition to be verified for the road surface ahead can be as follows: taking the difference between the coordinate values of the current left position and the previous left position of the vehicle ahead to obtain the left displacement height difference of the vehicle ahead; taking the difference between the coordinate values of the current right position and the previous right position of the vehicle ahead to obtain the right displacement height difference of the vehicle ahead; if the left displacement height difference or the right displacement height difference meets the road surface bump condition, then determine that the pavement condition to be verified for the road surface ahead is a bumpy road surface.

[0052] In this embodiment, the coordinate value of the current left position is the coordinate value of the left marker point of the vehicle ahead along the vertical direction. The coordinate value of the current right position is the coordinate value of the marker point of the vehicle ahead along the vertical direction.

[0053] It should be noted that the positions of the marker points are preset through a large number of experiments and according to actual situations or empirical values.

[0054] Exemplarily, the Z - axis coordinates of the left marker point A and the right marker point B of the vehicle ahead are collected in real - time: ZA and ZB; calculating the differences between ZA and ZB collected at two adjacent moments (the current moment and the previous moment of the current moment) to obtain the left displacement height difference and the right displacement height difference; if the left displacement height difference is between the lower limit of the height value of the road surface slope and the upper limit of the height value of the road surface slope, and / or the right displacement height difference is between the lower limit of the height value of the road surface slope and the upper limit of the height value of the road surface slope, then determine that the pavement condition to be verified for the road surface ahead is a bumpy road surface.

[0055] In another alternative embodiment, if the left displacement height difference and the right displacement height difference do not meet the road surface bump condition, then determine that the road surface ahead is flat, do not adjust the active suspension, and continue to collect the current position and the previous position of the vehicle ahead in real - time.

[0056] Optionally, based on the current slope height value, the overall pavement condition of the road surface ahead can be as follows: if the current slope height value meets the condition of an uneven road surface, then determine that the overall pavement condition of the road surface ahead is a bumpy road surface.

[0057] Exemplarily, if the current slope height value is between the lower limit of the height value of the road surface slope and the upper limit of the height value of the road surface slope, then determine that the overall pavement condition of the road surface ahead is a bumpy road surface; if the current slope height value is not between the lower limit of the height value of the road surface slope and the upper limit of the height value of the road surface slope, then continue to collect the current slope height value.

[0058] S220. If the overall pavement condition is a bumpy road surface, then based on the vehicle slope data and the road surface slope data, determine the left pavement condition and the right pavement condition of the vehicle ahead.

[0059] Optionally, calculate the difference between the coordinate values of the current left position and the previous left position of the vehicle ahead to obtain the left displacement height difference of the vehicle ahead; calculate the difference between the coordinate values of the current right position and the previous right position of the vehicle ahead to obtain the right displacement height difference of the vehicle ahead; determine the left road surface condition and the right road surface condition of the vehicle ahead based on the left displacement height difference and the right displacement height difference.

[0060] Further, if the left displacement height difference meets the road surface convex condition and the right displacement height difference meets the road surface flat condition, then determine that the left road surface condition is a convex road surface; if the left displacement height difference meets the road surface flat condition and the right displacement height difference meets the road surface convex condition, then determine that the right road surface condition is a convex road surface; if the left displacement height difference meets the road surface convex condition and the right displacement height difference meets the road surface convex condition, then determine that both the left road surface condition and the right road surface condition are convex road surfaces; if the left displacement height difference meets the road surface concave condition and the right displacement height difference meets the road surface flat condition, then determine that the left road surface condition is a concave road surface; if the left displacement height difference meets the road surface flat condition and the right displacement height difference meets the road surface concave condition, then determine that the right road surface condition is a concave road surface; if the left displacement height difference meets the road surface concave condition and the right displacement height difference meets the road surface concave condition, then determine that both the left road surface condition and the right road surface condition are concave road surfaces.

[0061] Exemplarily, if the left displacement height difference is between the lower height value limit of the road surface slope and the upper height value limit of the road surface slope, and the right displacement height difference is between 0 and the lower height value limit of the road surface slope, then determine that the left road surface condition is a convex road surface; if the left displacement height difference is between 0 and the lower height value limit of the road surface slope, and the right displacement height difference is between the lower height value limit of the road surface slope and the upper height value limit of the road surface slope, then determine that the right road surface condition is a convex road surface; if the left displacement height difference is between the lower height value limit of the road surface slope and the upper height value limit of the road surface slope, and the right displacement height difference is between the lower height value limit of the road surface slope and the upper height value limit of the road surface slope, then determine that both the left road surface condition and the right road surface condition are convex road surfaces; if the left displacement height difference is less than 0, and the right displacement height difference is between 0 and the lower height value limit of the road surface slope, then determine that the left road surface condition is a concave road surface; if the left displacement height difference is between 0 and the lower height value limit of the road surface slope, and the right displacement height difference is less than 0, then determine that the right road surface condition is a concave road surface; if the left displacement height difference is less than 0, and the right displacement height difference is less than 0, then determine that both the left road surface condition and the right road surface condition are concave road surfaces.

[0062] S230. Adjust the active suspension of the target vehicle according to the left road surface condition and the right road surface condition, and obtain the load amplitude and load frequency of the target vehicle after adjustment.

[0063] S240. If the load amplitude does not meet the amplitude allowable condition and / or the load frequency does not meet the frequency allowable condition, readjust the active suspension of the target vehicle.

[0064] In the embodiment of the present application, if it is recognized that an abnormal driving condition occurs in the vehicle ahead of the target vehicle, the overall road surface condition of the road ahead is determined according to the vehicle slope data of the vehicle ahead and the road surface slope data of the road surface ahead of the target vehicle; if the overall road surface condition is a bumpy road surface, the left road surface condition and the right road surface condition of the vehicle ahead are determined according to the vehicle slope data and the road surface slope data; the active suspension of the target vehicle is adjusted according to the left road surface condition and the right road surface condition, and the load amplitude and the load frequency of the target vehicle after adjustment are obtained; if the load amplitude does not meet the amplitude allowable condition and / or the load frequency does not meet the frequency allowable condition, the active suspension of the target vehicle is readjusted. The above technical solution makes multiple judgments on the road surface condition of the road ahead to accurately identify the left road condition and the right road condition of the vehicle ahead, laying a foundation for the subsequent adjustment of the active suspension.

[0065] Embodiment III

[0066] Figure 3 FIG. is a schematic structural diagram of a vehicle suspension adjustment device provided according to Embodiment III of the present application, which is applicable to the situation of adjusting the active suspension of a vehicle when an abnormal condition is encountered during the driving process of the vehicle. The vehicle suspension adjustment device can be implemented in the form of hardware and / or software, and the vehicle suspension adjustment device can be configured in a computer device, such as a server. As Figure 3 shown, the device includes:

[0067] A road surface condition determination module 310, configured to determine the left road surface condition and the right road surface condition of the vehicle ahead according to the vehicle slope data of the vehicle ahead and the road surface slope data of the road surface ahead of the target vehicle if it is recognized that an abnormal driving condition occurs in the vehicle ahead of the target vehicle;

[0068] A primary suspension adjustment module 320, configured to adjust the active suspension of the target vehicle according to the left road surface condition and the right road surface condition, and obtain the load amplitude and the load frequency of the target vehicle after adjustment;

[0069] A suspension readjustment module 330, configured to readjust the active suspension of the target vehicle if the load amplitude does not meet the amplitude allowable condition and / or the load frequency does not meet the frequency allowable condition.

[0070] In the embodiments of the present application, if an abnormal driving condition occurs in the vehicle in front of the target vehicle, the left road surface condition and the right road surface condition of the vehicle in front are determined according to the vehicle slope data of the vehicle in front and the road surface slope data of the road surface in front of the target vehicle; according to the left road surface condition and the right road surface condition, the active suspension of the target vehicle is adjusted, and the load amplitude and load frequency of the adjusted target vehicle are obtained; if the load amplitude does not meet the amplitude allowable condition and / or the load frequency does not meet the frequency allowable condition, the active suspension of the target vehicle is adjusted again. The above technical solution determines the left road surface condition and the right road surface condition of the vehicle in front and adjusts the active suspension of the vehicle, which helps to improve the adaptability and reliability of the suspension adjustment for different road conditions.

[0071] Optionally, the road surface condition determination module 310 includes:

[0072] The first condition determination unit is configured to determine the overall road surface condition of the road surface in front according to the vehicle slope data of the vehicle in front and the road surface slope data of the road surface in front of the target vehicle;

[0073] The second condition determination unit is configured to determine the left road surface condition and the right road surface condition of the vehicle in front according to the vehicle slope data and the road surface slope data if the overall road surface condition is a bumpy road surface.

[0074] Optionally, the vehicle slope data includes the current position and the previous position of the vehicle in front; the road surface slope data includes the current slope height value and the current slope width value; correspondingly, the first condition determination unit includes:

[0075] The first condition determination subunit is configured to determine the road surface condition to be verified of the road surface in front according to the current position and the previous position of the vehicle in front if the current slope height value and the current slope width value simultaneously meet the non-fault road surface condition;

[0076] The second condition determination subunit is configured to determine the overall road surface condition of the road surface in front according to the current slope height value if the road surface condition to be verified is a bumpy road surface.

[0077] Optionally, the current position includes the current left position and the current right position; the previous position includes the previous left position and the previous right position; correspondingly, the first condition determination subunit is specifically configured to:

[0078] Subtract the coordinate value of the current left position of the vehicle in front from the coordinate value of the previous left position to obtain the left displacement height difference of the vehicle in front;

[0079] Subtract the coordinate value of the current right position of the vehicle in front from the coordinate value of the previous right position to obtain the right displacement height difference of the vehicle in front;

[0080] If the height difference of the left displacement or the height difference of the right displacement satisfies the road surface bump condition, then it is determined that the road surface condition to be verified of the road ahead is a bumpy road surface.

[0081] Optionally, the second condition determination unit is specifically configured to:

[0082] Subtract the coordinate values of the current left position and the left position at the previous moment of the vehicle ahead to obtain the height difference of the left displacement of the vehicle ahead;

[0083] Subtract the coordinate values of the current right position and the right position at the previous moment of the vehicle ahead to obtain the height difference of the right displacement of the vehicle ahead;

[0084] Determine the left road surface condition and the right road surface condition of the vehicle ahead according to the height difference of the left displacement and the height difference of the right displacement.

[0085] Optionally, the left road surface condition includes an abnormal left road surface and a normal left road surface; the right road surface condition includes an abnormal right road surface and a normal right road surface; correspondingly, the suspension primary adjustment module 320 is specifically configured to:

[0086] If the left road surface is abnormal and the right road surface is normal, then adjust the stiffness and damping of the left active suspension of the target vehicle;

[0087] If the left road surface is abnormal and the right road surface is abnormal, then adjust the stiffness and damping of the left active suspension and the right active suspension of the target vehicle;

[0088] If the left road surface is normal and the right road surface is abnormal, then adjust the stiffness and damping of the right active suspension of the target vehicle.

[0089] The vehicle suspension adjustment device provided by the embodiments of the present application can execute the vehicle suspension adjustment method provided by any embodiment of the present application, and has the corresponding functional modules and beneficial effects for executing each vehicle suspension adjustment method.

[0090] According to the embodiments of the present application, the present application also provides an electronic device, a readable storage medium, and a computer program product.

[0091] Embodiment 4

[0092] Figure 4It is a schematic structural diagram of an electronic device 410 for implementing the vehicle suspension adjustment method according to an embodiment of the present application. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or claimed herein.

[0093] As Figure 4 shown, the electronic device 410 includes at least one processor 411, and a memory communicatively connected to the at least one processor 411, such as a read-only memory (ROM) 412, a random access memory (RAM) 413, etc. Among them, the memory stores a computer program executable by the at least one processor. The processor 411 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 412 or the computer program loaded from the storage unit 418 into the random access memory (RAM) 413. In the RAM 413, various programs and data required for the operation of the electronic device 410 can also be stored. The processor 411, the ROM 412, and the RAM 413 are connected to each other through a bus 414. The input / output (I / O) interface 415 is also connected to the bus 414.

[0094] Multiple components in the electronic device 410 are connected to the I / O interface 415, including: an input unit 416, such as a keyboard, a mouse, etc.; an output unit 417, such as various types of displays, speakers, etc.; a storage unit 418, such as a magnetic disk, an optical disk, etc.; and a communication unit 419, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 419 allows the electronic device 410 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0095] The processor 411 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 411 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 411 executes the various methods and processes described above, such as the vehicle suspension adjustment method.

[0096] In some embodiments, the vehicle suspension adjustment method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 418. In some embodiments, part or all of the computer program may be loaded and / or installed onto the electronic device 410 via the ROM 412 and / or the communication unit 419. When the computer program is loaded into the RAM 413 and executed by the processor 411, one or more steps of the vehicle suspension adjustment method described above may be performed. Alternatively, in other embodiments, the processor 411 may be configured for the vehicle suspension adjustment method by any other suitable means (e.g., by means of firmware).

[0097] The various embodiments of the systems and techniques described above in this document may be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs that may be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that receives data and instructions from a storage system, at least one input device, and at least one output device, and transmits the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0098] The computer programs for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable vehicle suspension adjustment device, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs may be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0099] In the context of this application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0100] To provide for interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide for interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic, speech, or tactile input).

[0101] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0102] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The client-server relationship is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0103] It should be understood that various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this application can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of this application can be achieved, and no limitation is imposed herein.

[0104] The above specific embodiments do not constitute a limitation on the protection scope of this application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims

1. A vehicle suspension adjustment method, characterized in that, Including: If an abnormal driving condition occurs for the vehicle in front of the target vehicle, determine the left road surface condition and the right road surface condition of the vehicle in front according to the vehicle slope data of the vehicle in front and the road surface slope data of the road surface in front of the target vehicle; Adjust the active suspension of the target vehicle according to the left road surface condition and the right road surface condition, and obtain the load amplitude and load frequency of the target vehicle after adjustment; If the load amplitude does not meet the amplitude allowable condition and / or the load frequency does not meet the frequency allowable condition, readjust the active suspension of the target vehicle.

2. The method according to claim 1, wherein Determining the left road surface condition and the right road surface condition of the vehicle in front according to the vehicle slope data of the vehicle in front and the road surface slope data of the road surface in front of the target vehicle includes: Determine the overall road surface condition of the road surface in front according to the vehicle slope data of the vehicle in front and the road surface slope data of the road surface in front of the target vehicle; If the overall road surface condition is a bumpy road surface, determine the left road surface condition and the right road surface condition of the vehicle in front according to the vehicle slope data and the road surface slope data.

3. The method according to claim 2, wherein The vehicle slope data includes the current position and the previous position of the vehicle in front; the road surface slope data includes the current slope height value and the current slope width value; correspondingly, determining the overall road surface condition of the road surface in front according to the vehicle slope data of the vehicle in front and the road surface slope data of the road surface in front of the target vehicle includes: If the current slope height value and the current slope width value both meet the non-fault road surface condition, determine the road surface condition to be verified of the road surface in front according to the current position and the previous position of the vehicle in front; If the road surface condition to be verified is a bumpy road surface, determine the overall road surface condition of the road surface in front according to the current slope height value.

4. The method according to claim 3, wherein The current position includes the current left position and the current right position; the previous position includes the previous left position and the previous right position; correspondingly, determining the road surface condition to be verified of the road surface in front according to the current position and the previous position of the vehicle in front includes: Subtract the coordinate values of the current left position and the previous left position of the vehicle in front to obtain the left displacement height difference of the vehicle in front; Subtract the coordinate values of the current right position and the previous right position of the vehicle in front to obtain the right displacement height difference of the vehicle in front; If the left displacement height difference or the right displacement height difference meets the bumpy road surface condition, determine that the road surface condition to be verified of the road surface in front is a bumpy road surface.

5. The method according to claim 4, wherein Determining the left road surface condition and the right road surface condition of the vehicle in front according to the vehicle slope data and the road surface slope data includes: Subtract the coordinate values of the current left position and the previous left position of the vehicle in front to obtain the left displacement height difference of the vehicle in front; Subtract the coordinate values of the current right position and the previous right position of the vehicle in front to obtain the right displacement height difference of the vehicle in front; According to the left displacement height difference and the right displacement height difference, the left road surface condition and the right road surface condition of the vehicle ahead.

6. The method according to claim 1, wherein The left road surface condition includes an abnormal left road surface and a normal left road surface; the right road surface condition includes an abnormal right road surface and a normal right road surface; correspondingly, adjusting the active suspension of the target vehicle according to the left road surface condition and the right road surface condition includes: If the left road surface is abnormal and the right road surface is normal, adjust the stiffness and damping of the left active suspension of the target vehicle; If the left road surface is abnormal and the right road surface is abnormal, adjust the stiffness and damping of the left active suspension and the right active suspension of the target vehicle; If the left road surface is normal and the right road surface is abnormal, adjust the stiffness and damping of the right active suspension of the target vehicle.

7. A vehicle suspension adjustment device, characterized in that, including: A road surface condition determination module, configured to determine the left road surface condition and the right road surface condition of the vehicle ahead according to the vehicle slope data of the vehicle ahead and the road surface slope data of the road surface ahead of the target vehicle if an abnormal driving condition of the vehicle ahead of the target vehicle is recognized; A suspension initial adjustment module, configured to adjust the active suspension of the target vehicle according to the left road surface condition and the right road surface condition, and obtain the load amplitude and load frequency of the target vehicle after adjustment; A suspension re-adjustment module, configured to re-adjust the active suspension of the target vehicle if the load amplitude does not meet the amplitude allowable condition and / or the load frequency does not meet the frequency allowable condition.

8. An electronic device, characterized in that, including: One or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle suspension adjustment method according to any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the vehicle suspension adjustment method according to any one of claims 1-6.

10. A computer program product, including a computer program, which implements the vehicle suspension adjustment method according to any one of claims 1-6 when executed by a processor.

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