Method, device and program for avoiding stress accumulation of suspension, controller and vehicle

Abstract

The invention provides a method, a device, a program, a controller and a vehicle for avoiding stress accumulation of a suspension, according to the method provided by the invention, the working state of a suspension actuator is monitored in response to the fact that the vehicle is detected to be in a static braking state, and if it is monitored that the suspension actuator adjusts the height of the suspension based on a suspension height adjusting signal, the vehicle is stopped. The braking force release request is generated based on the suspension height adjusting signal, so that the braking pressure of the vehicle is released based on the braking force release request, the wheels exit the braking locking state by releasing the braking pressure of the vehicle, stress accumulation of the vehicle is avoided, noise and vibration generated by stress accumulation are avoided, and the vehicle using experience of a user is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and particularly to a method, device, program, controller and vehicle for avoiding suspension stress accumulation. Background Art

[0002] In the field of modern automotive engineering, the performance of the suspension system plays a crucial role in enhancing the driving stability, ride comfort and handling performance of vehicles. With the progress of technology, the active suspension system has gradually become one of the key technologies for improving vehicle performance. The active suspension system can integrate sensors, controllers and actuators to monitor and actively adjust the height, stiffness and damping of the suspension in real time to adapt to different driving conditions and road conditions, thereby significantly enhancing the dynamic response and ride comfort of the vehicle.

[0003] However, in practical applications, the adjustment strategy of the active suspension system needs to face the challenges of various complex working conditions. Especially when the stationary vehicle is in the four-wheel braking state, in this case, all four wheels are locked, and the adjustment of the active suspension often easily leads to chassis stress accumulation. Chassis stress accumulation often generates vibrations and noises, and when the vehicle changes from the stationary state to the moving state, the release of the accumulated chassis stress will generate greater vibrations and noises, bringing a bad vehicle use experience to users.

[0004] Therefore, developing an active suspension adjustment technology that can effectively avoid suspension stress accumulation, reduce noises and vibrations, and avoid wear of chassis components in the stationary braking state of the vehicle has become an urgent technical problem to be solved in the current automotive engineering field. Summary of the Invention

[0005] Based on this, the present invention provides a method, device, program, controller and vehicle for avoiding suspension stress accumulation. By using this method, when it is detected that the vehicle is in the stationary braking state and it is detected that the active suspension system needs to adjust the suspension height, a request is sent to release the braking force applied to the wheel ends of the vehicle to avoid stress accumulation in the vehicle, thereby avoiding noises and vibrations caused by stress accumulation and enhancing the vehicle use experience of users.

[0006] On the one hand, the present invention provides a method for avoiding suspension stress accumulation, including:

[0007] In response to detecting that the vehicle is in the stationary braking state, monitoring the working state of the suspension actuator;

[0008] In response to monitoring that the suspension actuator adjusts the suspension height based on the suspension height adjustment signal, generating a braking force release request based on the suspension height adjustment signal;

[0009] Releasing the braking force of the vehicle based on the braking force release request.

[0010] Further, in some embodiments, generating a braking force release request based on the suspension height adjustment signal includes:

[0011] estimating the cumulative suspension stress generated by adjusting the suspension height based on the suspension height adjustment signal;

[0012] If the cumulative suspension stress is greater than a preset stress threshold, generating a braking force release request.

[0013] Further, in some embodiments, the suspension height adjustment signal includes the current suspension height and the target suspension height;

[0014] The estimating the cumulative suspension stress generated by adjusting the suspension height based on the suspension height adjustment signal includes:

[0015] determining the suspension adjustment stroke based on the current suspension height and the target suspension height;

[0016] determining the cumulative suspension stress corresponding to the suspension adjustment stroke.

[0017] Further, in some embodiments, the determining the cumulative suspension stress corresponding to the suspension adjustment stroke includes:

[0018] based on the suspension adjustment stroke, determining the cumulative suspension stress corresponding to the suspension adjustment stroke in a preset stroke-stress mapping table, where the stroke-stress mapping table includes the mapping relationship between different suspension adjustment strokes and the corresponding cumulative suspension stresses.

[0019] Further, in some embodiments, releasing the braking force of the vehicle based on the braking force release request includes:

[0020] reducing the rear axle braking force and increasing the front axle braking force while keeping the total braking force received by the vehicle unchanged; or,

[0021] reducing the front axle braking force and increasing the rear axle braking force while keeping the total braking force received by the vehicle unchanged.

[0022] Further, in some embodiments, releasing the braking force of the vehicle based on the braking force release request includes:

[0023] alternately reducing the front axle braking force and the rear axle braking force, and increasing the rear axle braking force while reducing the front axle braking force, and increasing the front axle braking force while reducing the rear axle braking force, so as to keep the total braking force received by the vehicle unchanged.

[0024] Further, in some embodiments, the method further includes:

[0025] Obtain the vehicle speed, the status of the automatic parking function, and the brake pedal travel;

[0026] If the vehicle speed is less than a preset speed threshold, the brake pedal travel is greater than 0 and / or the automatic parking function is in an activated state, it is determined that the vehicle is in a stationary braking state.

[0027] On the other hand, the present invention provides a device for avoiding suspension stress accumulation, including:

[0028] A status monitoring module, configured to monitor the working status of the suspension actuator in response to detecting that the vehicle is in a stationary braking state;

[0029] A braking force release request module, configured to generate a braking force release request based on the suspension height adjustment signal in response to monitoring that the suspension actuator adjusts the suspension height based on the suspension height adjustment signal;

[0030] A braking force release execution module, configured to release the braking force of the vehicle based on the braking force release request.

[0031] On the other hand, the present invention also provides a computer program product, which includes a computer program that implements the above method steps when executed.

[0032] On the other hand, the present invention provides a storage medium, on which computer-executable instructions are stored, and the computer-executable instructions are adapted to be loaded and executed by a processor to perform the above method steps.

[0033] On the other hand, the present invention also provides a vehicle controller, including: a processor and a memory; wherein, the memory stores a computer program, and the computer program is adapted to be loaded and executed by the processor to perform the above method steps.

[0034] On the other hand, the present invention also provides a vehicle, including the above device for avoiding suspension stress accumulation or the vehicle controller.

[0035] According to the method for avoiding suspension stress accumulation provided by the present invention, in response to detecting that the vehicle is in a stationary braking state, the working status of the suspension actuator is monitored. If it is monitored that the suspension actuator adjusts the suspension height based on the suspension height adjustment signal, a braking force release request is generated based on the suspension height adjustment signal, and thus the braking force of the vehicle is released based on the braking force release request. By releasing the braking force of the vehicle, the wheels are withdrawn from the braking locked state, so as to avoid stress accumulation in the vehicle, thereby avoiding noise and vibration caused by stress accumulation and improving the user's vehicle use experience.

[0036] It should be understood that the content described in the Summary of the Invention section is not intended to define the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 FIG. is a schematic flowchart of a method for avoiding suspension stress accumulation provided by an embodiment of the present invention;

[0038] Figure 2 FIG. is a schematic flowchart of a method for avoiding suspension stress accumulation provided by an embodiment of the present invention;

[0039] Figure 3 FIG. is a schematic structural diagram of a device for avoiding suspension stress accumulation provided by an embodiment of the present invention;

[0040] Figure 4 FIG. is a schematic structural diagram of a vehicle controller provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0041] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Apparently, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0042] In the description of one or more embodiments of the present invention, the term "including" and its similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. There may also be other explicit and implicit definitions below.

[0043] It should be noted that in one or more embodiments of the present invention, the static braking state refers to a state where the vehicle is in a stationary state and the vehicle braking system applies braking force to the wheels. When the vehicle is in the static braking state, on the one hand, the wheels of the vehicle in the static braking state are all braked and locked, and the active suspension adjustment is more likely to cause suspension stress accumulation, thereby generating noise and vibration and causing wear of chassis components, such as brake pads; on the other hand, when the vehicle is in the static braking state, the vehicle is not affected by road noise, engine noise, wind noise and other noises, which will make the noise generated by stress accumulation more obvious, bringing an unpleasant vehicle use experience to users.

[0044] Based on this, the present invention provides a method, device, program, controller and vehicle for avoiding suspension stress accumulation. By adopting this method, when it is detected that the vehicle is in a static braking state and the stress caused by the active suspension height adjustment is relatively large, a request is sent to release the braking force applied to the vehicle wheel ends, so as to avoid stress accumulation in the vehicle, thereby avoiding noise and vibration caused by stress accumulation and improving the user's vehicle use experience.

[0045] Please refer to Figure 1 , which is a schematic flow chart of a method for avoiding suspension stress accumulation provided by an embodiment of the present invention. The execution subject of this process can be a program for avoiding suspension stress accumulation, or the execution subject of this process can also be a vehicle or domain controller equipped with the above program, or other devices capable of communicating with vehicles, domain controllers, etc. No specific limitation is made in this regard.

[0046] Next, a detailed description will be given of Figure 1 the process shown below. The method for avoiding suspension stress accumulation can specifically include the following steps:

[0047] Step S102, in response to detecting that the vehicle is in a static braking state, monitor the working state of the suspension actuator;

[0048] Specifically, signals such as vehicle speed, brake pedal travel, and brake system parameters can be monitored to monitor whether the vehicle is in a static braking state. If it is detected that the vehicle is in a static braking state, the working state of the suspension actuator in the suspension system is monitored in real time, so as to find out whether the active suspension system adjusts the suspension.

[0049] It should be noted that when the vehicle is driving on an uneven road surface or the load changes, the suspension system may be impacted or compressed, resulting in changes in the vehicle body height and tilt angle. At this time, the sensor will monitor these changes in real time and transmit the signals to the suspension system controller. The suspension system controller calculates the optimal suspension parameter settings according to the received signals and preset algorithms, and sends a control signal to the suspension actuator. Monitoring the working state of the suspension actuator means monitoring whether the suspension actuator receives the control signal sent by the suspension system controller and starts to act.

[0050] Step S104, in response to monitoring that the suspension actuator adjusts the suspension height based on the suspension height adjustment signal, generate a braking force release request based on the suspension height adjustment signal;

[0051] Step S106, release the braking force of the vehicle based on the braking force release request.

[0052] Specifically, when a suspension height adjustment signal sent by a suspension system controller to a suspension actuator is detected and the suspension actuator starts to adjust the suspension height according to the suspension height adjustment signal, a braking force release request is generated, so that the braking system releases the braking force of the vehicle according to the braking force release request, avoiding stress accumulation during suspension adjustment, thereby avoiding noises and vibrations caused by stress accumulation and enhancing the user's driving experience.

[0053] Please refer to Figure 2 , which is a schematic flowchart of a method for avoiding suspension stress accumulation provided by an embodiment of the present invention. The execution subject of this process can be a program for avoiding suspension stress accumulation, or the execution subject of this process can also be a vehicle or a domain controller equipped with the above program, or other devices capable of communicating with the vehicle, domain controller, etc. No specific limitation is made thereto.

[0054] Next, for Figure 2 the process shown, a detailed description is given below. The method for avoiding suspension stress accumulation may specifically include the following steps:

[0055] Step S202: In response to detecting that the vehicle is in a stationary braking state, monitor the working state of the suspension actuator;

[0056] Specifically, for step S202, please refer to the detailed description of step S102 in another embodiment of the present invention, which will not be elaborated here.

[0057] Step S204: In response to monitoring that the suspension actuator adjusts the suspension height based on the suspension height adjustment signal, estimate the suspension cumulative stress generated by adjusting the suspension height based on the suspension height adjustment signal;

[0058] Specifically, when a suspension height adjustment signal sent by the suspension system controller to the suspension actuator is detected and the suspension actuator starts to adjust the suspension height according to the suspension height adjustment signal, at this time, estimate the suspension cumulative stress generated by adjusting the suspension height based on the suspension height adjustment signal.

[0059] Furthermore, it should be noted that the suspension stress accumulation is positively correlated with the suspension height adjustment amplitude.

[0060] Optionally, the suspension height adjustment signal includes the current suspension height and the target suspension height. Among them, the current suspension height is the suspension height of the vehicle suspension before adjustment, and the target suspension height is the adjusted suspension height calculated by the suspension system controller. By subtracting the current suspension height from the target suspension height, the suspension adjustment stroke can be obtained, and thus the suspension cumulative stress that may be generated by adjusting the suspension height based on the suspension height adjustment signal can be estimated.

[0061] Step S206: If the suspension cumulative stress is greater than a preset stress threshold, generate a braking force release request;

[0062] Further, after estimating the suspension cumulative stress corresponding to the suspension height adjustment signal, compare the suspension cumulative stress with a predefined preset stress threshold: if the estimated suspension cumulative stress is less than or equal to the preset stress threshold, it indicates that the suspension cumulative stress generated by adjusting the suspension height based on the suspension height adjustment signal will not generate noise and vibration; if the estimated suspension cumulative stress is greater than the preset stress threshold, it indicates that the suspension cumulative stress generated by adjusting the suspension height based on the suspension height adjustment signal will cause noise and vibration. In an embodiment of the present invention, if the suspension cumulative stress is greater than the preset stress threshold, a braking force release request is generated.

[0063] Step S208, release the braking force of the vehicle based on the braking force release request.

[0064] Specifically, after generating the braking force release request, the braking system releases the braking force of the vehicle according to the braking force release request to avoid stress accumulation during suspension adjustment, thereby avoiding noise and vibration caused by stress accumulation and improving the user's driving experience.

[0065] In an embodiment of the present invention, when it is detected that the vehicle is in a stationary braking state and it is detected that the active suspension system needs to adjust the suspension height, the suspension cumulative stress of the vehicle is estimated according to the suspension height adjustment signal. When the suspension cumulative stress exceeds the preset stress threshold, a request is made to release the braking force applied to the wheel end of the vehicle to avoid stress accumulation in the vehicle, thereby avoiding noise and vibration caused by stress accumulation and improving the user's driving experience.

[0066] In one embodiment, step S204, estimating the suspension cumulative stress generated by adjusting the suspension height based on the suspension height adjustment signal, may specifically be: determining the suspension adjustment stroke based on the current suspension height and the target suspension height; determining the suspension cumulative stress corresponding to the suspension adjustment stroke.

[0067] Wherein, the current suspension height is the suspension height of the vehicle suspension before adjustment, and the target suspension height is the adjusted suspension height calculated by the suspension system controller. The suspension adjustment stroke is obtained by subtracting the current suspension height from the target suspension height, so that the suspension cumulative stress that may be generated by adjusting the suspension height based on the suspension height adjustment signal can be estimated according to the suspension adjustment stroke.

[0068] Further, determining the suspension cumulative stress corresponding to the suspension adjustment stroke may be: based on the suspension adjustment stroke, determining the suspension cumulative stress corresponding to the suspension adjustment stroke in a preset stroke-stress mapping table, and the stroke-stress mapping table includes the mapping relationship between different suspension adjustment strokes and the corresponding suspension cumulative stresses.

[0069] Specifically, the mapping relationship between different suspension adjustment strokes and suspension cumulative stress is pre-calibrated. Thus, after calculating the suspension adjustment stroke based on the current suspension height and the target suspension height, the suspension cumulative stress corresponding to the suspension adjustment stroke can be determined in the pre-set stroke-stress mapping table according to the suspension adjustment stroke.

[0070] In one embodiment, step S208, releasing the braking force of the vehicle based on the braking force release request can be: reducing the rear axle braking force and increasing the front axle braking force while keeping the total braking force received by the vehicle unchanged.

[0071] Wherein, the rear axle braking force refers to the braking force applied by the braking system to the rear axle wheels through the brakes, and the front axle braking force refers to the braking force applied by the braking system to the front axle wheels through the brakes.

[0072] It should be noted that when releasing the braking force of the vehicle based on the braking force release request, the specific braking force adjustment data can be calibrated according to the actual vehicle conditions and the vehicle surrounding environment.

[0073] In a specific and feasible implementation manner, reducing the rear axle braking force and increasing the front axle braking force while keeping the total braking force received by the vehicle unchanged can be: completely releasing the rear axle braking force and increasing the front axle braking force while keeping the total braking force received by the vehicle unchanged.

[0074] In this embodiment, by completely releasing the rear axle braking force, it is ensured that not all the vehicle wheels are in the locked state, and the rear axle wheels are released, so that no large stress accumulation occurs in the vehicle suspension during the suspension adjustment process, thereby avoiding the noise and vibration caused by stress accumulation and improving the user's driving experience. By increasing the front axle braking force to keep the total braking force received by the vehicle unchanged, the braking requirement of the vehicle is satisfied at the same time, ensuring driving safety.

[0075] In one embodiment, step S208, releasing the braking force of the vehicle based on the braking force release request can specifically be: reducing the front axle braking force and increasing the rear axle braking force while keeping the total braking force received by the vehicle unchanged.

[0076] Wherein, the rear axle braking force refers to the braking force applied by the braking system to the rear axle wheels through the brakes, and the front axle braking force refers to the braking force applied by the braking system to the front axle wheels through the brakes.

[0077] It should be noted that when releasing the braking force of the vehicle based on the braking force release request, the specific braking force adjustment data can be calibrated according to the actual vehicle conditions and the vehicle surrounding environment.

[0078] In a specific and feasible implementation manner, reducing the front axle braking force and increasing the rear axle braking force while keeping the total braking force received by the vehicle unchanged can be: completely releasing the front axle braking force and increasing the rear axle braking force while keeping the total braking force received by the vehicle unchanged.

[0079] In this embodiment, by completely releasing the front axle braking force, not all the vehicle wheels are in the locked state, and the front axle wheels are released, so that no large stress accumulation occurs in the vehicle suspension during the suspension adjustment process, thereby avoiding the noise and vibration caused by stress accumulation and improving the user's driving experience. By increasing the rear axle braking force to keep the total braking force received by the vehicle unchanged, the braking requirement of the vehicle is satisfied at the same time, ensuring driving safety.

[0080] In one embodiment, step S208, releasing the braking force of the vehicle based on the braking force release request can specifically be: alternately reducing the front axle braking force and the rear axle braking force, and increasing the rear axle braking force while reducing the front axle braking force, and increasing the front axle braking force while reducing the rear axle braking force, so as to keep the total braking force received by the vehicle unchanged.

[0081] By releasing and reducing the braking force of the vehicle, some wheels are withdrawn from the braking locked state, so as to avoid stress accumulation during the suspension adjustment of the vehicle, thereby avoiding the noise and vibration caused by stress accumulation and improving the user's driving experience.

[0082] Furthermore, the above method for avoiding suspension stress accumulation may further include the following steps: obtaining the vehicle speed, the status of the auto hold function, and the braking pedal travel; if the vehicle speed is less than a preset speed threshold, the braking pedal travel is greater than 0 and / or the auto hold function is in the activated state, it is determined that the vehicle is in the stationary braking state.

[0083] Wherein, the preset speed threshold is a speed threshold pre-calibrated by developers for judging whether the vehicle is in a stationary state. In actual application, the preset speed threshold can be 0 or a speed threshold close to 0.

[0084] The auto hold function means that when the driver steps on the braking pedal and temporarily stops the vehicle, after the vehicle stops and the braking pedal is lifted, the vehicle braking system still maintains the braking force on the vehicle to keep the vehicle in the braking state.

[0085] In one embodiment, when the brake pedal travel is greater than 0 and the automatic parking function is in an active state, the braking force corresponding to the brake pedal travel is compared with the braking force corresponding to the automatic parking function: if the braking force corresponding to the brake pedal travel is greater than the braking force corresponding to the automatic parking function, when releasing the braking force of the vehicle based on a braking force release request, the total braking force received by the vehicle is maintained as the braking force corresponding to the brake pedal travel; if the braking force corresponding to the brake pedal travel is less than the braking force corresponding to the automatic parking function, when releasing the braking force of the vehicle based on a braking force release request, the total braking force received by the vehicle is maintained as the braking force corresponding to the automatic parking function.

[0086] It should be further noted that, in actual application, the execution subject of the method for avoiding suspension stress accumulation provided by one or more embodiments of the present invention may be a program for avoiding suspension stress accumulation. This program can be set in the active suspension system and the braking system.

[0087] In a feasible implementation manner, the program for avoiding suspension stress accumulation in the active suspension system obtains the vehicle speed. When detecting that the vehicle speed is 0, the program for avoiding suspension stress accumulation detects the working state of the suspension actuator. In response to monitoring that the suspension actuator adjusts the suspension height based on a suspension height adjustment signal, it estimates the suspension cumulative stress generated by adjusting the suspension height based on the suspension height adjustment signal. If the suspension cumulative stress is greater than a preset stress threshold, it generates a braking force release request and sends the braking force release request to the program for avoiding suspension stress accumulation in the braking system; the program for avoiding suspension stress accumulation in the braking system obtains the automatic parking function state and the brake pedal travel. If the brake pedal travel is greater than 0 and / or the automatic parking function is in an active state, it determines that the vehicle is in a braking state. At this time, it releases the braking force of the vehicle according to the braking force release request. Releasing the braking force of the vehicle according to the braking force release request may be: reducing the rear axle braking force and increasing the front axle braking force while keeping the total braking force received by the vehicle unchanged; or, reducing the front axle braking force and increasing the rear axle braking force while keeping the total braking force received by the vehicle unchanged; or, alternately reducing the front axle braking force and the rear axle braking force, and increasing the rear axle braking force while reducing the front axle braking force, and increasing the front axle braking force while reducing the rear axle braking force to keep the total braking force received by the vehicle unchanged.

[0088] Please refer to Figure 3 which is a schematic structural diagram of a device for avoiding suspension stress accumulation provided by an embodiment of the present invention. As Figure 3 shown, the device 01 for avoiding suspension stress accumulation can be implemented as all or part of a vehicle controller through software, hardware, or a combination of both. According to some embodiments, the device 01 for avoiding suspension stress accumulation may include a state monitoring module 11, a braking force release request module 12, and a braking force release execution module 13, specifically including:

[0089] A status monitoring module 11, configured to monitor the working status of a suspension actuator in response to detecting that the vehicle is in a stationary braking state;

[0090] A braking force release request module 12, configured to generate a braking force release request based on the suspension height adjustment signal in response to monitoring that the suspension actuator adjusts the suspension height based on the suspension height adjustment signal;

[0091] A braking force release execution module 13, configured to release the braking force of the vehicle based on the braking force release request.

[0092] Optionally, the braking force release request module 12 is specifically configured to:

[0093] Estimate the cumulative suspension stress generated by adjusting the suspension height based on the suspension height adjustment signal;

[0094] If the cumulative suspension stress is greater than a preset stress threshold, generate a braking force release request.

[0095] Optionally, the suspension height adjustment signal includes a current suspension height and a target suspension height. When the braking force release request module 12 executes the operation of estimating the cumulative suspension stress generated by adjusting the suspension height based on the suspension height adjustment signal, it is specifically configured to:

[0096] Determine a suspension adjustment stroke based on the current suspension height and the target suspension height;

[0097] Determine the cumulative suspension stress corresponding to the suspension adjustment stroke.

[0098] Optionally, when the braking force release request module 12 executes the operation of determining the cumulative suspension stress corresponding to the suspension adjustment stroke, it is specifically configured to:

[0099] Based on the suspension adjustment stroke, determine the cumulative suspension stress corresponding to the suspension adjustment stroke in a preset stroke-stress mapping table, where the stroke-stress mapping table includes a mapping relationship between different suspension adjustment strokes and corresponding cumulative suspension stresses.

[0100] Optionally, the braking force release execution module 13 is specifically configured to:

[0101] Reduce the rear axle braking force and increase the front axle braking force while keeping the total braking force received by the vehicle unchanged; or,

[0102] Reduce the front axle braking force and increase the rear axle braking force while keeping the total braking force received by the vehicle unchanged.

[0103] Optionally, the braking force release execution module 13 is specifically configured to:

[0104] Alternately reduce the front axle braking force and the rear axle braking force, and while reducing the front axle braking force, increase the rear axle braking force, and while reducing the rear axle braking force, increase the front axle braking force, so as to keep the total braking force received by the vehicle unchanged.

[0105] Optionally, the state monitoring module 11 is further configured to:

[0106] Obtain the vehicle speed, the status of the automatic parking function, and the braking pedal travel;

[0107] If the vehicle speed is less than a preset speed threshold, the braking pedal travel is greater than 0 and / or the automatic parking function is in an activated state, it is determined that the vehicle is in a stationary braking state.

[0108] The above device embodiment corresponds to the method embodiment. For specific descriptions, reference can be made to the description in the method embodiment part, which will not be elaborated here. The device embodiment is obtained based on the corresponding method embodiment and has the same technical effect as the corresponding method embodiment. For specific descriptions, reference can be made to the corresponding method embodiment.

[0109] In one embodiment, the present invention further provides a computer program product. The computer program product can store a computer program, and the computer program can be loaded and executed to perform the method for avoiding suspension stress accumulation in the above embodiments. For the specific execution process, reference can be made to the specific descriptions in the above embodiments, which will not be elaborated here.

[0110] In one embodiment, the present invention further provides a storage medium. The storage medium can store multiple instructions, and the instructions are suitable for being loaded and executed by a processor to perform the method for avoiding suspension stress accumulation in the above embodiments. For the specific execution process, reference can be made to the specific descriptions in the above embodiments, which will not be elaborated here.

[0111] In one embodiment, the present invention further provides Figure 4 The structural schematic diagram of the vehicle controller shown. As Figure 4 , at the hardware level, the vehicle controller includes a processor 31, an internal bus 32, a network interface 33, a memory 34, and a non-volatile memory 35. Of course, there may also be other hardware required for other services. The vehicle controller can be set in a vehicle, and the processor 31 reads the corresponding computer program from the non-volatile memory 35 into the memory and then runs it to implement the above method for avoiding suspension stress accumulation.

[0112] In one embodiment, the present invention further provides a vehicle, which may include a vehicle controller as described above to execute a method for avoiding suspension stress accumulation through the vehicle controller, so that no large stress accumulation occurs in the vehicle suspension during the suspension adjustment process, thereby avoiding noise and vibration caused by stress accumulation and improving the user's vehicle use experience.

[0113] Finally, the embodiments of the present invention are all described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment.

[0114] The above are only the embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. A method for avoiding suspension stress accumulation, comprising: Monitoring the working state of a suspension actuator in response to detecting that the vehicle is in a stationary braking state; Generating a braking force release request based on the suspension height adjustment signal in response to monitoring that the suspension actuator adjusts the suspension height based on the suspension height adjustment signal; Releasing the braking force of the vehicle based on the braking force release request.

2. The method according to claim 1, wherein generating the braking force release request based on the suspension height adjustment signal comprises: Estimating the suspension cumulative stress generated by adjusting the suspension height based on the suspension height adjustment signal; If the suspension cumulative stress is greater than a preset stress threshold, generating a braking force release request.

3. The method according to claim 2, wherein the suspension height adjustment signal comprises a current suspension height and a target suspension height; The estimating the suspension cumulative stress generated by adjusting the suspension height based on the suspension height adjustment signal comprises: Determining a suspension adjustment stroke based on the current suspension height and the target suspension height; Determining the suspension cumulative stress corresponding to the suspension adjustment stroke.

4. The method according to claim 3, wherein determining the suspension cumulative stress corresponding to the suspension adjustment stroke comprises: Determining the suspension cumulative stress corresponding to the suspension adjustment stroke in a preset stroke-stress mapping table based on the suspension adjustment stroke, the stroke-stress mapping table comprising a mapping relationship between different suspension adjustment strokes and corresponding suspension cumulative stresses.

5. The method according to claim 1, wherein releasing the braking force of the vehicle based on the braking force release request comprises: Reducing the rear axle braking force and increasing the front axle braking force while keeping the total braking force received by the vehicle unchanged; Or, Reducing the front axle braking force and increasing the rear axle braking force while keeping the total braking force received by the vehicle unchanged.

6. The method according to claim 1, wherein releasing the braking force of the vehicle based on the braking force release request comprises: Alternately reducing the front axle braking force and the rear axle braking force, and increasing the rear axle braking force while reducing the front axle braking force, and increasing the front axle braking force while reducing the rear axle braking force, so as to keep the total braking force received by the vehicle unchanged.

7. The method according to claim 1, further comprising: Obtaining the vehicle speed, the status of the automatic parking function, and the braking pedal stroke; Determining that the vehicle is in a stationary braking state if the vehicle speed is less than a preset speed threshold, the braking pedal stroke is greater than 0, and / or the automatic parking function is in an activated state.

8. A device for avoiding suspension stress accumulation, comprising: A status monitoring module for monitoring the working state of a suspension actuator in response to detecting that the vehicle is in a stationary braking state; A braking force release request module for generating a braking force release request based on the suspension height adjustment signal in response to monitoring that the suspension actuator adjusts the suspension height based on the suspension height adjustment signal; A braking force release execution module for releasing the braking force of the vehicle based on the braking force release request.

9. A computer program product, comprising a computer program which, when executed, implements the steps of the method according to any one of claims 1 to 7.

10. A vehicle controller, comprising: A processor and a memory; wherein the memory stores a computer program which is adapted to be loaded and executed by the processor to perform the steps of the method according to any one of claims 1 to 7.

11. A vehicle, comprising the device for avoiding suspension stress accumulation according to claim 8 or the vehicle controller according to claim 10.

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