Suspension control method, controller, medium, product and vehicle

Abstract

The invention relates to a suspension control method, a controller, a medium, a product and a vehicle. The method comprises the following steps: determining a target wheel needing to be lifted on the vehicle; and controlling a suspension of the vehicle to perform height change so as to lift the target wheel. On the basis, the tire is lifted off the ground through the suspension system of the vehicle, the operation process of tire replacement can be simplified without the help of external tools, and the use convenience of a user is improved.

Description

Technical Field

[0001] This application relates to the technical field of vehicle control, and particularly to a suspension control method, a controller, a medium, a product, and a vehicle. Background Art

[0002] During the use of existing vehicles, tire replacement is a common operation.

[0003] However, when replacing the tires of a vehicle, it is often necessary to use a jack or additional tools to lift the vehicle before performing tire replacement. However, since the jack or additional tools are professional tools, there is a certain degree of operation difficulty for non-professional vehicle users, resulting in a relatively high operation complexity when replacing the tires of existing vehicles. Summary of the Invention

[0004] Embodiments of this application provide a suspension control method, a device, a controller, a storage medium, a computer program product, and a vehicle. By using the vehicle's own suspension system to achieve the lifting of the tires off the ground, it is possible to simplify the operation process of tire replacement without the need to rely on external tools, thereby improving the user's convenience.

[0005] Embodiments of this application provide a suspension control method, including:

[0006] Determine the target wheel on the vehicle that needs to be lifted;

[0007] Control the height change of the suspension of the vehicle to lift the target wheel.

[0008] Correspondingly, embodiments of this application provide a suspension control device, including:

[0009] A wheel determination module, configured to determine the target wheel on the vehicle that needs to be lifted;

[0010] A lifting module, configured to control the height change of the suspension of the vehicle to lift the target wheel.

[0011] In addition, embodiments of this application further provide a controller, including one or more processors and a memory. The above memory stores a computer program, and the above processor is configured to run the computer program in the above memory to implement the suspension control method provided by embodiments of this application.

[0012] In addition, embodiments of this application further provide a storage medium, which stores a computer program. When the above computer program runs on a controller, the above computer program is configured to cause the controller to execute any one of the suspension control methods provided by embodiments of this application.

[0013] In addition, an embodiment of the present application further provides a computer program product, including a computer program or instructions, which, when executed by a processor, implement any one of the suspension control methods provided by the embodiments of the present application.

[0014] In addition, an embodiment of the present application further provides a vehicle, including a suspension and the above-mentioned controller.

[0015] In the embodiment of the present application, by determining the target wheel on the vehicle that needs to be lifted; controlling the height change of the vehicle's suspension to lift the target wheel. Based on this, the tire can be lifted off the ground through the vehicle's own suspension system, without the need to rely on external tools, which can simplify the operation process of tire replacement and improve the user's convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0017] Figure 1 is a schematic diagram of an implementation environment scenario of the suspension control method provided in the embodiment of the present application;

[0018] Figure 2 is a flowchart of the suspension control method provided in the embodiment of the present application;

[0019] Figure 3 is a schematic diagram of the wheel structure of a vehicle in the suspension control method provided in the embodiment of the present application;

[0020] Figure 4 is a specific flowchart of the suspension control method provided in the embodiment of the present application;

[0021] Figure 5 is another specific flowchart of the suspension control method provided in the embodiment of the present application;

[0022] Figure 6 is a functional schematic diagram of the suspension control method provided in the embodiment of the present application;

[0023] Figure 7 is a schematic diagram of the structure of the vehicle suspension system in the suspension control method provided in the embodiment of the present application;

[0024] Figure 8 is a schematic diagram of the structure of the suspension control device provided in the embodiment of the present application;

[0025] Figure 9It is a schematic structural diagram of the controller provided in the embodiments of the present application. Detailed implementation manners

[0026] Next, the technical solutions in the embodiments of the present application will be clearly and completely described 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 skilled in the art without creative efforts belong to the scope of protection of the present application.

[0027] In addition, "a plurality of" in the embodiments of the present application refers to two or more. "First" and "second" in the embodiments of the present application are used for distinguishing descriptions and cannot be understood as implying relative importance.

[0028] Through research, it is found that with the continuous increase in the vehicle ownership, the daily maintenance and upkeep of vehicles become more and more important. As an important part of a vehicle, the maintenance and replacement of tires are directly related to driving safety. However, the traditional tire replacement process often requires using a jack or additional tools to lift the vehicle before replacing the tires. For ordinary car owners, it is not only time-consuming and laborious but also has certain potential safety hazards.

[0029] To solve the above problems, the embodiments of the present application provide a suspension control method, device, controller, storage medium, computer program product, and vehicle. The suspension control device can be integrated in the controller. The controller can be a server such as a suspension control system or a device such as a terminal controlled by the suspension control system.

[0030] Among them, the server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, network acceleration services (Content Delivery Network, CDN), and big data and artificial intelligence platforms.

[0031] The terminal can be a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart speaker, a smart watch, etc., but is not limited thereto. The terminal and the server can be directly or indirectly connected through wired or wireless communication methods, and the present application does not make any restrictions here.

[0032] Please refer to Figure 1 , taking the suspension control device integrated in the controller as an example. Figure 1This is a schematic diagram of the implementation scenario of the suspension control method provided by the embodiments of the present application. Among them, the controller can be a terminal device, which determines the target wheel on the vehicle that needs to be lifted; controls the suspension of the vehicle to change its height to lift the target wheel. Based on this, the suspension system of the vehicle itself can be used to lift the tire off the ground, and without the need for external tools, the operation process of tire replacement can be simplified, improving the user's convenience of use.

[0033] It should be noted that Figure 1 The schematic diagram of the implementation environment scenario of the suspension control method shown is only an example. The implementation environment scenario of the suspension control method described in the embodiments of the present application is to more clearly illustrate the technical solutions of the embodiments of the present application, and does not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those of ordinary skill in the art know that with the evolution of data processing and the emergence of new business scenarios, the technical solutions provided by the present application are equally applicable to similar technical problems.

[0034] The solutions provided by the embodiments of the present application are specifically described through the following embodiments. It should be noted that the description order of the following embodiments does not limit the preferred order of the embodiments.

[0035] This embodiment will be described from the perspective of a suspension control device. The suspension control device can be specifically integrated in a controller, and the controller can be a terminal and / or a server, which is not limited in this application.

[0036] Please refer to Figure 2 , Figure 2 which is a schematic flowchart of the suspension control method provided by an embodiment of the present application. The suspension control method may include the following steps S101 to step S102:

[0037] S101. Determine the target wheel on the vehicle that needs to be lifted.

[0038] Among them, the vehicle refers to the vehicle that needs suspension control. The vehicle is configured with a suspension system that can perform height change control, or a device associated with the suspension system.

[0039] There are various implementation methods for the suspension system, which are not limited in the embodiments of the present application. For example, the suspension system can be an active suspension. Another example is that the suspension system can also utilize the existing hydraulic or pneumatic system of the vehicle, and by adding a hydraulic cylinder or a pneumatic cylinder and connecting it to the suspension system, the wheel can be lifted. When a tire needs to be replaced, the pressure of the hydraulic or pneumatic system is controlled to lift the wheel from the ground.

[0040] Among them, the target wheel refers to the wheel among the multiple wheels of the vehicle that needs to be lifted.

[0041] Among them, the lifting process refers to adjusting the position of the wheel in the vertical direction through the vehicle's own suspension system or a device associated with the suspension system, so that it is lifted from the position of contacting the ground in the normal driving state to a non-contact state above the ground, in order to perform tire disassembly, installation or other related maintenance operations.

[0042] It should be noted that there are various ways to determine the target wheel on the vehicle that needs to be lifted, and it can be adjusted according to the actual situation, which is not limited in the embodiments of the present application.

[0043] For example, the positions of multiple wheels of the vehicle (front left, front right, rear left, rear right) can be displayed through a tablet computer (Pad, portable android device), and the target wheel for lifting can be determined by the user's click operation, double-click operation, or touch operation on the target wheel on the tablet computer.

[0044] For another example, the user can select the target wheel through a hardware button. For example, the user selects the position of the target wheel through the button on the dashboard. After the system receives the target wheel selection instruction, the system will mark the target wheel and display "Target wheel selected" on the PAD or dashboard.

[0045] S102. Control the suspension of the vehicle to change its height to lift the target wheel.

[0046] Among them, the height change includes but is not limited to height holding, height reduction, and height increase, which can be adjusted according to the actual situation.

[0047] It should be noted that the purpose of the height change is not only to lift the target wheel, but also to ensure the safety of the vehicle.

[0048] It can be seen from this that the suspension control method provided by the embodiments of the present application determines the target wheel on the vehicle that needs to be lifted; controls the suspension of the vehicle to change its height to lift the target wheel. Based on this, the suspension system of the vehicle itself is used to lift the tire off the ground, and external tools are not required, which can simplify the operation process of tire replacement and improve the user's convenience.

[0049] In some embodiments, the above suspension includes multiple sub-suspensions, and each sub-suspension corresponds to a wheel of the vehicle.

[0050] Among them, the sub-suspension refers to a part of the vehicle's suspension that is used to control the height change of a wheel.

[0051] Specifically, please refer to Figure 3 , Figure 3The vehicle shown includes a target wheel, the diagonal wheel of the target wheel, the cross diagonal wheel 1, and the cross diagonal wheel 2. Then, the suspension of the vehicle includes the sub-suspension corresponding to the target wheel, the sub-suspension corresponding to the diagonal wheel of the target wheel, the sub-suspension corresponding to the cross diagonal wheel 1, and the sub-suspension corresponding to the cross diagonal wheel 2.

[0052] It should be noted that there are various ways to control the height change of the vehicle's suspension, and the purpose is to lift the target wheel. The specific height change can be adjusted according to the actual situation, and the embodiments of the present application do not make limitations.

[0053] In some embodiments, the process of controlling the height change of the vehicle's suspension may include: controlling the height change of at least one sub-suspension of the vehicle to lift the target wheel.

[0054] For example, separately controlling the height change of the sub-suspension corresponding to the target wheel of the vehicle to lift the target wheel. Another example is to separately control the height change of the sub-suspension corresponding to the diagonal wheel of the target wheel of the vehicle to lift the target wheel. Another example is to first control the height change of the sub-suspension corresponding to the diagonal wheel of the target wheel of the vehicle, and then control the height change of the sub-suspension corresponding to the target wheel of the vehicle to lift the target wheel.

[0055] Its specific content can be adjusted according to the actual situation, and the embodiments of the present application do not make limitations.

[0056] It should be noted that the target wheel is lifted at least once, and the height of the target wheel after being finally lifted meets the preset height condition.

[0057] Wherein, the height of the target wheel after being finally lifted refers to the height reached by the target wheel after being lifted at least once, and can be understood as the final height of the target wheel.

[0058] Wherein, the preset height condition refers to the height condition required to stop lifting the target wheel, and its specific content can be adjusted according to the actual situation, and the embodiments of the present application do not make limitations.

[0059] In some embodiments, the preset height condition includes not less than a preset height threshold.

[0060] Specifically, the target wheel is lifted at least once, and the height of the target wheel after being finally lifted is not less than the preset height threshold.

[0061] The specific value of the preset height threshold can be set manually, or set according to empirical values, or set according to experimental values, and it can be specifically adjusted according to the actual situation. The embodiments of the present application do not make limitations. For example, the preset height threshold is 50 millimeters, and another example is that the preset height threshold is 20 millimeters.

[0062] In some embodiments, the preset height threshold matches the vehicle parameters of the vehicle.

[0063] Among them, the vehicle parameters of the vehicle may include but are not limited to the model of the vehicle, the road surface parameters of the environment where the vehicle is located, etc., and can be adjusted according to the actual situation, and the embodiments of the present application do not limit them.

[0064] For example, when the model of the vehicle is Model A, the preset height threshold is 50 millimeters. Another example is that when the model of the vehicle is Model B, the preset height threshold is 30 millimeters.

[0065] Taking the control of at least one sub-suspension of the vehicle to change the height to lift the target wheel as an example below, the specific content of the height change will be explained.

[0066] In some embodiments, the process of controlling at least one sub-suspension of the vehicle to change the height to lift the target wheel may include: controlling the first sub-suspension of the vehicle to change the height to lift the target wheel, where the first sub-suspension is at least one sub-suspension of the vehicle; when the height of the target wheel after being lifted meets the preset height condition, stop lifting the target wheel.

[0067] Among them, the first sub-suspension refers to the sub-suspension in the suspension system of the vehicle whose height is controlled to change when the target wheel is lifted for the first time.

[0068] In the embodiments of the present application, the first sub-suspension is at least one sub-suspension of the vehicle.

[0069] Its height change includes height reduction control, or height increase control, or multi-stage height reduction control, or multi-stage height increase control, and can be adjusted according to the specific content of the first sub-suspension, and the embodiments of the present application do not limit it.

[0070] Exemplarily, the first sub-suspension includes the sub-suspension corresponding to the diagonal wheel of the target wheel.

[0071] Based on this, the above step of controlling the first sub-suspension of the vehicle to change the height may include: performing height reduction control on the first sub-suspension.

[0072] Further, the above step of performing height reduction control on the first sub-suspension may include: performing height reduction control on the first sub-suspension based on the first preset height.

[0073] Among them, the first preset height refers to the preset height required to perform height reduction control on the first sub-suspension.

[0074] When the height reduction control of the first sub-suspension is a multi-stage height reduction control, the first preset height can be any one of the preset heights corresponding to the multi-stage height reduction control.

[0075] When the height reduction control of the first sub-suspension is a single-stage height reduction control, the first preset height includes the lowest height corresponding to the first sub-suspension.

[0076] The lowest height corresponding to the first sub-suspension refers to the lowest height at which the suspension system can control the first sub-suspension to perform height reduction processing.

[0077] In some embodiments, the above suspension control method further includes: when the height after the target wheel is lifted does not meet the preset height condition, controlling the second sub-suspension of the vehicle to change its height to continue lifting the target wheel until the height after the target wheel is finally lifted meets the preset height condition, where the second sub-suspension is a sub-suspension other than the first sub-suspension in the vehicle.

[0078] Specifically, controlling the first sub-suspension of the vehicle to change its height to lift the target wheel, where the first sub-suspension is at least one sub-suspension of the vehicle; when the height after the target wheel is lifted meets the preset height condition, stop lifting the target wheel; when the height after the target wheel is lifted does not meet the preset height condition, controlling the second sub-suspension of the vehicle to change its height to continue lifting the target wheel until the height after the target wheel is finally lifted meets the preset height condition.

[0079] Wherein, the second sub-suspension refers to the sub-suspension in the vehicle suspension system whose height is controlled to change in the case of other than the first time of lifting the target wheel.

[0080] For example, the second sub-suspension is the sub-suspension in the vehicle suspension system whose height is controlled to change when the target wheel is lifted for the second time.

[0081] For another example, the second sub-suspension is the sub-suspension in the vehicle suspension system whose height is controlled to change when the target wheel is lifted for the second time and the third time.

[0082] Its height change includes height reduction control, or height increase control, or multi-stage height reduction control, or multi-stage height increase control, which can be specifically adjusted according to the specific content of the second sub-suspension, and the embodiments of the present application do not make limitations.

[0083] In some embodiments, the above second sub-suspension includes the sub-suspension corresponding to the target wheel, and / or the sub-suspension corresponding to the adjacent wheel of the target wheel.

[0084] For example, the second sub-suspension includes the sub-suspension corresponding to the target wheel. For another example, the second sub-suspension includes the sub-suspension corresponding to an adjacent wheel of the target wheel (such as the diagonal wheel 2). For another example, the second sub-suspension includes the sub-suspensions corresponding to two adjacent wheels of the target wheel (i.e., the diagonal wheel 1 and the diagonal wheel 2). For another example, the second sub-suspension includes the sub-suspension corresponding to the target wheel and the sub-suspension corresponding to an adjacent wheel of the target wheel (such as the diagonal wheel 2). For another example, the second sub-suspension includes the sub-suspension corresponding to the target wheel and the sub-suspension corresponding to an adjacent wheel of the target wheel (such as the diagonal wheel 1). For another example, the second sub-suspension includes the sub-suspension corresponding to the target wheel and the sub-suspensions corresponding to two adjacent wheels of the target wheel.

[0085] Based on this, the step of controlling the second sub-suspension of the vehicle to change its height to continue to lift the target wheel until the height of the target wheel after being finally lifted meets the preset height condition may include: performing a height increase control on the second sub-suspension to continue to lift the target wheel until the height of the target wheel after being finally lifted meets the preset height condition.

[0086] Specifically, the step of performing a height increase control on the second sub-suspension to continue to lift the target wheel until the height of the target wheel after being finally lifted meets the preset height condition may include: based on the second preset height corresponding to the second sub-suspension, performing a height increase control on the second sub-suspension to continue to lift the target wheel until the height of the target wheel after being finally lifted meets the preset height condition.

[0087] Wherein, the second preset height refers to the preset height required to perform a height increase control on the second sub-suspension.

[0088] In the case where the height increase control of the second sub-suspension is a multi-stage height increase control, the second preset height may be any one of the preset heights corresponding to the multi-stage height increase control.

[0089] In the case where the height increase control of the second sub-suspension is a single-stage height increase control, the second preset height corresponding to the second sub-suspension includes the highest height corresponding to the second sub-suspension.

[0090] The highest height corresponding to the second sub-suspension refers to the highest height that the suspension system can control the second sub-suspension to perform a height increase process.

[0091] In some embodiments, there are at least two of the above-mentioned second sub-suspensions.

[0092] Based on this, the process of controlling the height of the second sub-suspension to increase the height of the second sub-suspension based on the second preset height corresponding to the second sub-suspension to continue to lift the target wheel until the height of the target wheel after being finally lifted meets the preset height condition may include: controlling the height of any one target sub-suspension in the second sub-suspension to increase based on the second preset height corresponding to the target sub-suspension to continue to lift the target wheel; in the case where the height of the target wheel after being lifted does not meet the preset height condition, determining a new target sub-suspension from the multiple second sub-suspensions, and returning to execute the step of controlling the height of the target sub-suspension to increase based on the second preset height corresponding to the target sub-suspension in the second sub-suspension until the height of the target wheel after being finally lifted meets the preset height condition.

[0093] Among them, the target sub-suspension refers to the sub-suspension among the multiple second sub-suspensions that is currently used for height increase control.

[0094] Specifically, the above-mentioned target sub-suspension includes the sub-suspension corresponding to the target wheel, and the new target sub-suspension includes the sub-suspension corresponding to the adjacent wheel of the target wheel; or, the target sub-suspension includes the sub-suspension corresponding to the adjacent wheel of the target wheel, and the new target sub-suspension includes the sub-suspension corresponding to the target wheel.

[0095] For example, the second sub-suspension includes the sub-suspension corresponding to the target wheel and the sub-suspension corresponding to the diagonal wheel 1. The process of controlling the height of the second sub-suspension to increase based on the second preset height corresponding to the second sub-suspension to continue to lift the target wheel until the height of the target wheel after being finally lifted meets the preset height condition may include: controlling the height of the sub-suspension corresponding to the target wheel to increase based on the second preset height corresponding to the sub-suspension corresponding to the target wheel to continue to lift the target wheel; in the case where the height of the target wheel after being lifted does not meet the preset height condition, controlling the height of the sub-suspension corresponding to the diagonal wheel 1 to increase based on the second preset height corresponding to the sub-suspension corresponding to the diagonal wheel 1 to continue to lift the target wheel.

[0096] In some embodiments, the process of controlling the height change of the vehicle's suspension may include: simultaneously controlling the height change of at least two sub-suspensions of the vehicle to lift the target wheel.

[0097] For example, simultaneously controlling the sub-suspension corresponding to the diagonal wheel of the target wheel of the vehicle and the sub-suspension corresponding to the target wheel of the vehicle to change the height to lift the target wheel. Another example is to simultaneously control the sub-suspensions corresponding to all the wheels of the vehicle to change the height to lift the target wheel.

[0098] The specific content can be adjusted according to the actual situation, and the embodiments of the present application do not make limitations.

[0099] In some embodiments, the step of simultaneously controlling at least two sub - suspensions of the vehicle to change the height may include: simultaneously controlling at least two sub - suspensions of the vehicle to change the height so that the height of the target wheel after being finally lifted meets the preset height condition.

[0100] Wherein, the preset height condition refers to the height condition required to stop lifting the target wheel.

[0101] For the height of the target wheel after being finally lifted and the relevant content of the preset height condition, reference can be made to the corresponding description in the above - mentioned embodiments, and details will not be elaborated here.

[0102] In some embodiments, the step of simultaneously controlling at least two sub - suspensions of the vehicle to change the height may include: while controlling the sub - suspension corresponding to the diagonal wheel of the target wheel to lower the height, controlling the sub - suspensions other than the sub - suspension corresponding to the diagonal wheel to raise the height.

[0103] Wherein, the sub - suspensions other than the sub - suspension corresponding to the diagonal wheel include at least one or more of the sub - suspension corresponding to the target wheel and the sub - suspensions corresponding to each adjacent wheel of the target wheel.

[0104] Specifically, in the case where the sub - suspensions other than the sub - suspension corresponding to the diagonal wheel include the sub - suspension corresponding to the target wheel, the step of simultaneously controlling at least two sub - suspensions of the vehicle to change the height may include: while controlling the sub - suspension corresponding to the diagonal wheel of the target wheel to lower the height, controlling the sub - suspension corresponding to the target wheel to raise the height.

[0105] Specifically, in the case where the sub - suspensions other than the sub - suspension corresponding to the diagonal wheel include the sub - suspension corresponding to one adjacent wheel of the target wheel, the step of simultaneously controlling at least two sub - suspensions of the vehicle to change the height may include: while controlling the sub - suspension corresponding to the diagonal wheel of the target wheel to lower the height, controlling the sub - suspension corresponding to one adjacent wheel of the target wheel to raise the height.

[0106] Specifically, in the case where the sub - suspensions other than the sub - suspension corresponding to the diagonal wheel include the sub - suspension corresponding to the target wheel and the sub - suspensions corresponding to each adjacent wheel of the target wheel, the step of simultaneously controlling at least two sub - suspensions of the vehicle to change the height may include: while controlling the sub - suspension corresponding to the diagonal wheel of the target wheel to lower the height, controlling the sub - suspension corresponding to the target wheel to raise the height, and controlling the sub - suspensions corresponding to each adjacent wheel of the target wheel to raise the height.

[0107] The specific content of the sub - suspensions other than the sub - suspension corresponding to the diagonal wheel can be adjusted according to the actual situation, and the embodiments of the present application do not make limitations.

[0108] In some embodiments, the step of determining the target wheel on the vehicle that needs to be lifted may include: when the target mode of the vehicle is turned on, determining the target wheel on the vehicle that needs to be lifted.

[0109] Wherein, the target mode refers to the mode that triggers the suspension control method, and it can be adjusted according to actual situations, which is not limited in the embodiments of the present application.

[0110] For example, the target mode includes a tire-changing mode. Specifically, when the tire-changing mode of the vehicle is turned on, determine the target wheel on the vehicle that needs to be lifted.

[0111] For another example, the target mode includes a tire cleaning mode. Specifically, when the tire cleaning mode of the vehicle is turned on, determine the target wheel on the vehicle that needs to be lifted.

[0112] There are various ways to determine that the target mode of the vehicle is turned on, and it can be adjusted according to actual situations, which is not limited in the embodiments of the present application.

[0113] In some embodiments, the target mode of the vehicle can be directly turned on when the opening instruction of the target mode of the vehicle is received.

[0114] In some embodiments, when the opening instruction of the target mode of the vehicle is received, vehicle driving-related information can be obtained; when the vehicle driving-related information meets the target mode start condition, the target mode of the vehicle is turned on.

[0115] Wherein, the vehicle driving-related information refers to the information related to vehicle driving, and it can be adjusted according to actual situations, which is not limited in the embodiments of the present application.

[0116] For example, the vehicle driving-related information includes the vehicle gear, and / or the vehicle driving-related information includes the road surface information of the environment where the vehicle is located.

[0117] Wherein, the road surface information includes but is not limited to the degree of unevenness of the road surface, the degree of wetness of the road surface, etc., and it can be adjusted according to actual situations, which is not limited in the embodiments of the present application.

[0118] Based on this, the above target mode start condition includes that the vehicle gear is the target gear, and / or the target mode start condition includes that the road surface information meets the safe road surface condition.

[0119] Wherein, the target gear refers to the vehicle gear that allows the target mode to be started. For example, the target gear is the P gear.

[0120] Among them, the safe road surface condition refers to the condition that the safe road surface meeting the requirements for starting the target mode. For example, the safe road surface condition means that the degree of unevenness of the road surface is less than a predetermined unevenness threshold. Another example is that the safe road surface condition means that the degree of slipperiness of the road surface is less than a predetermined slipperiness threshold.

[0121] In this way, it is possible to determine whether to start the target mode of the vehicle according to the set conditions, improving the environmental safety of the suspension control.

[0122] In some embodiments, the above-mentioned suspension control method further includes: when the target mode of the vehicle exits, controlling the suspension of the vehicle to change in height so that the suspension of the vehicle returns to the state before the height change.

[0123] There are various ways for the target mode of the vehicle to exit, and it can be specifically adjusted according to the actual situation, which is not limited in the embodiments of the present application.

[0124] For example, when receiving an instruction to exit the target mode of the vehicle, the target mode of the vehicle is exited. Another example is that when the duration of remaining unchanged after the suspension changes in height meets a preset time, the target mode of the vehicle is exited.

[0125] In this way, the suspension of the vehicle can be automatically restored to the state before the height change, reducing user operations and improving the user experience.

[0126] In some embodiments, the above-mentioned suspension control method further includes: during the process of controlling the suspension of the vehicle to change in height, obtaining the attitude information of the vehicle; when the attitude information indicates an abnormality, stopping the control of the height change of the suspension of the vehicle.

[0127] Among them, the attitude information can be adjusted according to the actual situation, which is not limited in the embodiments of the present application.

[0128] For example, the attitude information includes the degree of body tilt, and the abnormality includes that the degree of body tilt exceeds the safe range of body tilt.

[0129] To facilitate better implementation of the suspension control method provided by the embodiments of the present application, the above content will be explained below with specific embodiments.

[0130] Taking a vehicle as shown in Figure 3 as an example, the vehicle includes a target wheel, the diagonal wheel of the target wheel, the diagonal wheel 1 and the diagonal wheel 2. Then the suspension of the vehicle includes the sub-suspension corresponding to the target wheel, the sub-suspension corresponding to the diagonal wheel of the target wheel, the sub-suspension corresponding to the diagonal wheel 1 and the sub-suspension corresponding to the diagonal wheel 2.

[0131] Based on this, as shown in Figure 4As shown in the figure, the process of the above suspension control method may include: enabling the convenient tire changing function. When entering the tire changing mode, select any tire to be replaced as the target wheel (front left / front right / rear left / rear right). Lower the diagonal wheel suspension of the target wheel and raise the lifting wheel suspension of the target wheel, so that the target wheel leaves the ground and maintains the height. After completing the tire change, exit the tire changing mode, and the vehicle body returns to the initial posture.

[0132] Specifically, as Figure 5 shown in the figure, read the vehicle gear information, calculate the road surface roughness information, and determine whether it satisfies the vehicle gear = P gear and the road surface roughness < TBD. When it satisfies the vehicle gear = P gear and the road surface roughness < TBD, select the tire to be replaced as the target wheel; lower the diagonal wheel suspension of the target wheel and lift the target wheel to make the target wheel leave the ground and maintain the height. In addition, determine whether it is necessary to further increase the ground clearance of the target wheel. If not, after completing the tire change, exit the tire changing mode, and the vehicle body returns to the initial posture. If necessary, raise the suspension of the diagonal wheel 1 and diagonal wheel 2 of the target wheel to make the ground clearance of the target wheel larger and maintain the height. Thus, after completing the tire change, exit the tire changing mode, and the vehicle body returns to the initial posture.

[0133] Among them, the user starts the convenient tire changing function through the vehicle control system, and the specific operation method is as follows: PAD operation: The user finds the "Convenient Tire Changing" function on the PAD and clicks the "Start" button. Or, the hardware switch button: The user presses the "Convenient Tire Changing" button on the vehicle dashboard.

[0134] After the suspension control system receives the user's operation instruction, it is necessary to determine whether the vehicle gear is in P gear and the road surface roughness is less than the threshold TBD (i.e., the road surface roughness threshold). Among them, the road surface roughness can be determined by ax, ay, and az read by the vehicle IMU sensor. When it satisfies the vehicle gear = P gear and the road surface roughness < TBD, a user prompt will be given, such as displaying "The convenient tire changing function has been started. Please select the target wheel" through the PAD or the dashboard.

[0135] After the target wheel is selected, the suspension starts to execute actions to adjust the vehicle body posture so that the target wheel leaves the ground and maintains the height.

[0136] For example, the diagonal wheel suspension of the target wheel can be controlled to lower first. By lowering the diagonal wheel suspension of the target wheel, the weight distribution of the vehicle body can be reduced. At the same time, the lift wheel suspension of the target wheel is controlled to rise. By raising the lift wheel suspension of the target wheel (i.e., the sub-suspension corresponding to the target wheel), the target wheel is lifted off the ground and the height is maintained. Based on this, through the preliminary suspension adjustment, the target wheel can be lifted off the ground, facilitating the user to replace the tire. If it is necessary to further increase the ground clearance of the target wheel, the suspension control system will perform the following operations: Control the suspensions of the diagonal wheel 1 and the diagonal wheel 2 to rise. By raising the suspensions of the diagonal wheel 1 and the diagonal wheel 2 of the target wheel, the ground clearance of the target wheel is further increased. Through further suspension adjustment, the ground clearance of the target wheel can be further increased, facilitating the user to perform more complex tire replacement operations.

[0137] It should be noted that during the suspension adjustment process, the system will monitor the vehicle body state in real time to ensure the safety during the adjustment process. Specifically, reference can be made to Figure 6 , during the suspension adjustment process, through vehicle body attitude monitoring and vehicle body attitude alarm, the safety during the adjustment process is ensured. The attitude of the vehicle body is monitored by sensors to ensure that the vehicle body does not tilt beyond the safe range. When the system detects abnormal conditions (such as sensor failures, suspension actuator failures, etc.), the suspension adjustment will be immediately stopped and the user will be prompted to handle the faults.

[0138] Exemplarily, the system will monitor the attitude of the vehicle body in real time. If it is found that the vehicle body tilts beyond the safe range, the suspension adjustment will be immediately stopped and the user will be prompted to make adjustments. If the vehicle IMU sensor ax ≥ TBD1 or ay ≥ TBD2, it is considered that the vehicle body tilts beyond the safe range. The system will display the real-time state of the vehicle body attitude through the PAD or the dashboard. If abnormal conditions are found, an alarm will be immediately issued to prompt the user.

[0139] After completing the tire change, the user needs to exit the tire change mode to restore the vehicle body to its initial attitude. The specific operations are as follows: PAD operation: The user clicks the "Exit Tire Change Mode" button on the PAD. Or through the hardware button operation: The user presses the "Exit Tire Change Mode" button on the dashboard. After the system receives the exit instruction, the following operations will be performed: Gradual suspension adjustment: The system will gradually adjust the suspension to restore the vehicle body to its initial attitude. User prompt: Display "The tire change mode has been exited and the vehicle body has been restored to its initial attitude" through the PAD or the dashboard.

[0140] It should be noted that the suspension of the vehicle can be an active suspension. As Figure 7 shown, the active suspension can include a vehicle body (m1), which represents the main structure of the vehicle and has a mass of m1.

[0141] A wheel (m2), which represents the wheel of the vehicle and has a mass of m2, is in direct contact with the ground.

[0142] A spring (K) that provides the elasticity of the suspension system, and its stiffness is represented by K. The spring connects the vehicle body and the wheel, allowing them to move relative to each other in the vertical direction.

[0143] A damper (C) that provides the damping force of the suspension system, and its damping coefficient is represented by C. The damper also connects the vehicle body and the wheel, and is used to absorb and dissipate vibration energy to reduce the oscillation of the vehicle body.

[0144] An actuator (M), which is the core component of the active suspension and can be a motor or other forms of actuators. The actuator inputs external energy into the suspension system to achieve the raising and lowering of the vehicle. The actuator is directly connected to the vehicle body, and adjusts the height of the vehicle body through the force generated by it.

[0145] The ground, that is, the surface on which the vehicle travels, and the wheel supports the vehicle body through contact with the ground.

[0146] The working principle of the active suspension is based on the active control of the stiffness and damping of the suspension system to adapt to different driving conditions and road surface conditions. The following is the specific process of the active suspension working: When it is necessary to raise the suspension, the actuator (M) receives an instruction from the control system and starts to work. The actuator pushes the vehicle body (m1) upward through the force generated by it, making the distance between the vehicle body and the wheel (m2) longer. During this process, the spring (K) is stretched to adapt to the increase in the height of the vehicle body. The damper (C) also works to control the vibration during the upward movement of the vehicle body to ensure the stability of the vehicle. When it is necessary to lower the suspension, the actuator (M) receives an instruction from the control system again and starts to work. The actuator pulls the vehicle body (m1) downward through the force generated by it, making the distance between the vehicle body and the wheel (m2) shorter. During this process, the spring (K) is compressed to adapt to the decrease in the height of the vehicle body. The damper (C) also works to control the vibration during the downward movement of the vehicle body to ensure the stability of the vehicle. In this way, the tire can be lifted off the ground through the vehicle's own active suspension system without external lifting tools, greatly simplifying the operation process of tire replacement and improving the user's convenience.

[0147] To facilitate the better implementation of the suspension control method provided by the embodiments of the present application, the embodiments of the present application also provide a device based on the above suspension control method. The meanings of the nouns are the same as those in the above suspension control method, and the specific implementation details can refer to the description in the method embodiments.

[0148] For example, as Figure 8 shown, the suspension control device may include a wheel determination module 201 and a lifting module 202, specifically as follows:

[0149] The wheel determination module 201 is used to determine the target wheel on the vehicle that needs to be lifted.

[0150] The lifting module 202 is used to control the suspension of the vehicle to change the height so as to lift the target wheel.

[0151] In some embodiments, the above-mentioned suspension includes a plurality of sub-suspensions, and each sub-suspension corresponds to a wheel of the vehicle.

[0152] In some embodiments, the above-mentioned controlling the suspension of the vehicle to change the height includes:

[0153] Controlling at least one sub-suspension of the vehicle to change the height so as to lift the target wheel.

[0154] In some embodiments, the above-mentioned target wheel is lifted at least once, and the height of the target wheel after being finally lifted meets the preset height condition.

[0155] In some embodiments, the above-mentioned controlling at least one sub-suspension of the vehicle to change the height so as to lift the target wheel includes:

[0156] Controlling the first sub-suspension of the vehicle to change the height so as to lift the target wheel, wherein the first sub-suspension is at least one sub-suspension of the vehicle;

[0157] Stop lifting the target wheel when the height of the target wheel after being lifted meets the preset height condition.

[0158] In some embodiments, the above-mentioned first sub-suspension includes the sub-suspension corresponding to the diagonal wheel of the target wheel.

[0159] In some embodiments, the above-mentioned controlling the first sub-suspension of the vehicle to change the height includes:

[0160] Performing height reduction control on the first sub-suspension.

[0161] In some embodiments, the above-mentioned performing height reduction control on the first sub-suspension includes:

[0162] Performing height reduction control on the first sub-suspension based on the first preset height.

[0163] In some embodiments, the above-mentioned first preset height includes the lowest height corresponding to the first sub-suspension.

[0164] In some embodiments, the above-mentioned suspension control device further includes:

[0165] When the height of the target wheel after being lifted does not meet the preset height condition, controlling the second sub-suspension of the vehicle to change the height to continue lifting the target wheel until the height of the target wheel after being finally lifted meets the preset height condition, wherein the second sub-suspension is the sub-suspension other than the first sub-suspension in the vehicle.

[0166] In some embodiments, the second sub-suspension described above includes the sub-suspension corresponding to the target wheel, and / or the sub-suspension corresponding to the adjacent wheel of the target wheel.

[0167] In some embodiments, controlling the second sub-suspension of the vehicle to change its height to continue to lift the target wheel until the height of the target wheel after final lifting meets the preset height condition includes:

[0168] Performing a height increase control on the second sub-suspension to continue to lift the target wheel until the height of the target wheel after final lifting meets the preset height condition.

[0169] In some embodiments, performing a height increase control on the second sub-suspension to continue to lift the target wheel until the height of the target wheel after final lifting meets the preset height condition includes:

[0170] Based on the second preset height corresponding to the second sub-suspension, performing a height increase control on the second sub-suspension to continue to lift the target wheel until the height of the target wheel after final lifting meets the preset height condition.

[0171] In some embodiments, the second preset height corresponding to the second sub-suspension includes the highest height corresponding to the second sub-suspension.

[0172] In some embodiments, there are at least two second sub-suspensions. Based on the second preset height corresponding to the second sub-suspension, performing a height increase control on the second sub-suspension to continue to lift the target wheel until the height of the target wheel after final lifting meets the preset height condition includes:

[0173] Based on the second preset height corresponding to any one target sub-suspension in the second sub-suspensions, performing a height increase control on the target sub-suspension to continue to lift the target wheel;

[0174] In the case where the height of the target wheel after being lifted does not meet the preset height condition, determining a new target sub-suspension from the multiple second sub-suspensions, and returning to execute the step of performing a height increase control on the target sub-suspension based on the second preset height corresponding to the target sub-suspension in the second sub-suspensions until the height of the target wheel after final lifting meets the preset height condition.

[0175] In some embodiments, the target sub-suspension includes the sub-suspension corresponding to the target wheel, and the new target sub-suspension includes the sub-suspension corresponding to the adjacent wheel of the target wheel;

[0176] Or, the target sub-suspension includes the sub-suspension corresponding to the adjacent wheel of the target wheel, and the new target sub-suspension includes the sub-suspension corresponding to the target wheel.

[0177] In some embodiments, the above-mentioned preset height condition includes being not less than a preset height threshold.

[0178] In some embodiments, the above-mentioned preset height threshold matches the vehicle parameters of the vehicle.

[0179] In some embodiments, the above-mentioned controlling at least one sub-suspension of the vehicle to change the height to raise the target wheel includes:

[0180] Controlling at least two sub-suspensions of the vehicle to change the height simultaneously to raise the target wheel.

[0181] In some embodiments, controlling at least two sub-suspensions of the vehicle to change the height simultaneously includes:

[0182] Controlling at least two sub-suspensions of the vehicle to change the height simultaneously so that the height of the target wheel after being finally raised meets the preset height condition.

[0183] In some embodiments, the above-mentioned controlling at least two sub-suspensions of the vehicle to change the height simultaneously includes:

[0184] While controlling the sub-suspension corresponding to the diagonal wheel of the target wheel to decrease in height, controlling the sub-suspensions other than the sub-suspension corresponding to the diagonal wheel to increase in height.

[0185] In some embodiments, the above-mentioned determining the target wheel on the vehicle that needs to be lifted includes:

[0186] When the target mode of the vehicle is turned on, determining the target wheel on the vehicle that needs to be lifted.

[0187] In some embodiments, the above-mentioned target mode includes a tire-changing mode.

[0188] In some embodiments, the above-mentioned suspension control device further includes:

[0189] When the target mode of the vehicle exits, controlling the suspension of the vehicle to change the height so that the suspension of the vehicle is in the state before the height change.

[0190] In some embodiments, the above-mentioned suspension control device further includes:

[0191] When receiving the opening instruction of the target mode of the vehicle, obtaining vehicle driving-related information;

[0192] When the vehicle driving-related information meets the target mode start condition, turning on the target mode of the vehicle.

[0193] In some embodiments, the above-mentioned vehicle driving-related information includes the vehicle gear, and / or the vehicle driving-related information includes the road surface information of the environment where the vehicle is located.

[0194] In some embodiments, the above target mode activation conditions include that the vehicle gear is the target gear, and / or the target mode activation conditions include that the road surface information meets the safe road surface conditions.

[0195] In some embodiments, the above suspension control device further includes:

[0196] During the process of controlling the suspension of the vehicle to change its height, obtain the attitude information of the vehicle;

[0197] In the case where the attitude information indicates an abnormality, stop the height change control of the vehicle's suspension.

[0198] In some embodiments, the above attitude information includes the degree of vehicle body tilt, and the abnormality includes that the degree of vehicle body tilt exceeds the safe range of vehicle body tilt.

[0199] It can be seen from this that the suspension control device provided by the embodiments of the present application determines the target wheels on the vehicle that need to be lifted through the wheel determination module 201; the lifting module 202 controls the suspension of the vehicle to change its height to lift the target wheels. Based on this, the suspension system of the vehicle itself is used to achieve the tire leaving the ground, without the need to rely on external tools, which can simplify the operation process of tire replacement and improve the user's convenience.

[0200] During specific implementation, each of the above modules can be implemented as an independent entity, or can be combined arbitrarily to be implemented as the same or several entities. For the specific implementation manners of each of the above modules and the corresponding beneficial effects, reference can be made to the foregoing method embodiments, which will not be elaborated herein.

[0201] The embodiments of the present application further provide a controller, as Figure 9 shown, which shows the structural schematic diagram of the controller involved in the embodiments of the present application. Specifically:

[0202] The controller may include a processor 301 with one or more processing cores, a memory 302 with one or more storage media, a power supply 303, an input unit 304 and other components. Those skilled in the art can understand that Figure 9 the controller structure shown in

[0203] The processor 301 is the control center of the controller, connecting various parts of the entire controller through various interfaces and lines. By running or executing the computer programs and / or modules stored in the memory 302, and by calling the data stored in the memory 302, it executes various functions of the controller and processes data. Optionally, the processor 301 may include one or more processing cores; preferably, the processor 301 may integrate an application processor and a modem processor. Among them, the application processor mainly processes the operating system, user interface, application programs, etc., and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor may not be integrated into the processor 301 either.

[0204] The memory 302 can be used to store computer programs and modules. The processor 301 executes various functional applications and suspension control by running the computer programs and modules stored in the memory 302. The memory 302 mainly includes a program storage area and a data storage area. Among them, the program storage area can store the operating system, computer programs required for at least one function (such as the sound and light prompt function, suspension control function, etc.); the data storage area can store the data created according to the use of the controller. In addition, the memory 302 can include high-speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage devices. Correspondingly, the memory 302 can also include a memory controller to provide the processor 301 with access to the memory 302.

[0205] The controller also includes a power supply 303 that powers each component. Preferably, the power supply 303 can be logically connected to the processor 301 through a power management system, so as to realize functions such as management of charging, discharging, and power consumption management through the power management system. The power supply 303 can also include any components such as one or more DC or AC power supplies, a recharge system, a power failure detection circuit, a power converter or inverter, and a power status indicator.

[0206] The controller may also include an input unit 304, which can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0207] Although not shown, the controller may also include a display unit, etc., which will not be elaborated here. Specifically, in this embodiment, the processor 301 in the controller will load the executable files corresponding to the processes of one or more computer programs into the memory 302 according to the following instructions, and the processor 301 will run the computer programs stored in the memory 302 to implement various functions, such as:

[0208] Determine the target wheel on the vehicle that needs to be lifted;

[0209] Control the suspension of the vehicle to change its height to lift the target wheel.

[0210] It can be seen from this that the controller provided in the embodiment of the present application determines the target wheel on the vehicle that needs to be lifted; controls the suspension of the vehicle to change its height to lift the target wheel. Based on this, the suspension system of the vehicle itself is used to lift the tire off the ground, and external tools are not required, which can simplify the operation process of tire replacement and improve the user's convenience.

[0211] For the specific implementation manners of the above operations and the corresponding beneficial effects, reference can be made to the detailed description of the suspension control method above, which will not be elaborated here.

[0212] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by a computer program, or by controlling relevant hardware through a computer program. The computer program can be stored in a storage medium and loaded and executed by a processor.

[0213] Therefore, the embodiment of the present application provides a storage medium in which a computer program is stored. The computer program can be loaded by a processor to execute the steps in any suspension control method provided by the embodiment of the present application. For example, the computer program can execute the following steps:

[0214] Determine the target wheel on the vehicle that needs to be lifted;

[0215] Control the suspension of the vehicle to change its height to lift the target wheel.

[0216] It can be seen from this that the storage medium provided in the embodiment of the present application determines the target wheel on the vehicle that needs to be lifted; controls the suspension of the vehicle to change its height to lift the target wheel. Based on this, the suspension system of the vehicle itself is used to lift the tire off the ground, and external tools are not required, which can simplify the operation process of tire replacement and improve the user's convenience.

[0217] For the specific implementation manners of the above operations and the corresponding beneficial effects, reference can be made to the previous embodiments, which will not be elaborated here.

[0218] Among them, the storage medium may include: Read Only Memory (ROM), Random Access Memory (RAM), magnetic disk or optical disc, etc.

[0219] Since the computer program stored in the storage medium can execute the steps in any of the suspension control methods provided in the embodiments of the present application, the beneficial effects achievable by any of the suspension control methods provided in the embodiments of the present application can be realized. For details, refer to the previous embodiments and will not be elaborated here.

[0220] Wherein, according to one aspect of the present application, a computer program product or a computer program is provided. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a storage medium. A processor of a computer device reads the computer instructions from the storage medium, and the processor executes the computer instructions, so that the computer device executes the above suspension control method.

[0221] The embodiments of the present application further provide a vehicle, which includes the above suspension, the above suspension control device, or the above controller, or the above computer program product.

[0222] Exemplarily, the vehicle includes the above controller, and the controller is used to determine a target wheel on the vehicle that needs to be lifted; control the suspension of the vehicle to change the height to lift the target wheel. Based on this, the suspension system of the vehicle itself can be used to lift the tire off the ground, without the need for external tools, which can simplify the operation process of tire replacement and improve the user convenience.

[0223] The specific structure of the vehicle is not limited in the present application. The specific implementation manners of the above operations of the control device and the corresponding beneficial effects are also applicable to the vehicle. For details, refer to the detailed description of the vehicle control method above and will not be elaborated here.

[0224] The above has introduced in detail a suspension control method, device, controller, storage medium, computer program product, and vehicle provided in the embodiments of the present application. Specific examples are used in this article to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those skilled in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A suspension control method, characterized in that, The method includes: Determine a target wheel on the vehicle that needs to be lifted; Control the suspension of the vehicle to change its height to lift the target wheel.

2. The suspension control method according to claim 1, characterized in that, The suspension includes a plurality of sub-suspensions, and each sub-suspension corresponds to a wheel of the vehicle.

3. The suspension control method according to claim 2, wherein, The controlling the suspension of the vehicle to change its height includes: Control at least one of the sub-suspensions of the vehicle to change its height to lift the target wheel.

4. The suspension control method according to claim 3, wherein The target wheel is lifted at least once, and the height of the target wheel after being finally lifted meets a preset height condition.

5. The suspension control method according to claim 4, characterized in that, The controlling at least one of the sub-suspensions of the vehicle to change its height to lift the target wheel includes: Control the first sub-suspension of the vehicle to change its height to lift the target wheel, where the first sub-suspension is at least one of the sub-suspensions of the vehicle; Stop lifting the target wheel when the height of the target wheel after being lifted meets the preset height condition.

6. The suspension control method according to claim 5, characterized in that, The first sub-suspension includes the sub-suspension corresponding to the diagonal wheel of the target wheel.

7. The suspension control method according to claim 6, characterized in that, The controlling the first sub-suspension of the vehicle to change its height includes: Perform a height reduction control on the first sub-suspension.

8. The suspension control method according to claim 7, wherein The performing a height reduction control on the first sub-suspension includes: Based on a first preset height, perform a height reduction control on the first sub-suspension.

9. The suspension control method according to claim 8, wherein The first preset height includes the lowest height corresponding to the first sub-suspension.

10. The suspension control method according to claim 5, characterized in that, The method further includes: When the height of the target wheel after being lifted does not meet the preset height condition, control the second sub-suspension of the vehicle to change its height to continue lifting the target wheel until the height of the target wheel after being finally lifted meets the preset height condition, where the second sub-suspension is the sub-suspension other than the first sub-suspension in the vehicle.

11. The suspension control method according to claim 10, characterized in that, The second sub-suspension includes the sub-suspension corresponding to the target wheel, and / or the sub-suspension corresponding to the adjacent wheel of the target wheel.

12. The suspension control method according to claim 11, wherein, The controlling the second sub-suspension of the vehicle to change its height to continue lifting the target wheel until the height of the target wheel after being finally lifted meets the preset height condition includes: Perform a height increase control on the second sub-suspension to continue lifting the target wheel until the height of the target wheel after being finally lifted meets the preset height condition.

13. The suspension control method according to claim 12, characterized in that, The performing a height increase control on the second sub-suspension to continue lifting the target wheel until the height of the target wheel after being finally lifted meets the preset height condition includes: Based on a second preset height corresponding to the second sub-suspension, perform a height increase control on the second sub-suspension to continue lifting the target wheel until the height of the target wheel after being finally lifted meets the preset height condition.

14. The suspension control method according to claim 13, characterized in that, The second preset height corresponding to the second sub-suspension includes the highest height corresponding to the second sub-suspension.

15. The suspension control method according to claim 13, characterized in that, The second sub-suspension includes at least two. Based on the second preset height corresponding to the second sub-suspension, performing height increase control on the second sub-suspension to continue to lift the target wheel until the height of the target wheel after final lifting meets the preset height condition, including: Based on the second preset height corresponding to any one target sub-suspension in the second sub-suspension, performing height increase control on the target sub-suspension to continue to lift the target wheel; In the case where the height of the target wheel after being lifted does not meet the preset height condition, determining a new target sub-suspension from the multiple second sub-suspensions, and returning to execute the step of performing height increase control on the target sub-suspension based on the second preset height corresponding to the target sub-suspension in the second sub-suspension until the height of the target wheel after final lifting meets the preset height condition.

16. The suspension control method according to claim 15, characterized in that, The target sub-suspension includes the sub-suspension corresponding to the target wheel, and the new target sub-suspension includes the sub-suspension corresponding to the adjacent wheel of the target wheel; Or, the target sub-suspension includes the sub-suspension corresponding to the adjacent wheel of the target wheel, and the new target sub-suspension includes the sub-suspension corresponding to the target wheel.

17. The suspension control method according to claim 4, characterized in that, The preset height condition includes being not less than a preset height threshold.

18. The suspension control method according to claim 17, wherein The preset height threshold matches the vehicle parameters of the vehicle.

19. The suspension control method according to claim 3, characterized in that Controlling at least one of the sub-suspensions of the vehicle to change height to lift the target wheel includes: Simultaneously controlling at least two of the sub-suspensions of the vehicle to change height to lift the target wheel.

20. The suspension control method according to claim 19, wherein, The simultaneously controlling at least two of the sub-suspensions of the vehicle to change height includes: Simultaneously controlling at least two of the sub-suspensions of the vehicle to change height so that the height of the target wheel after final lifting meets the preset height condition.

21. The suspension control method according to claim 19, wherein, The simultaneously controlling at least two of the sub-suspensions of the vehicle to change height includes: While controlling the sub-suspension corresponding to the diagonal wheel of the target wheel to decrease in height, controlling the sub-suspensions other than the sub-suspension corresponding to the diagonal wheel to increase in height.

22. The suspension control method according to any one of claims 1 to 21, characterized in that, Determining the target wheel on the vehicle that needs to be lifted includes: In the case where the target mode of the vehicle is turned on, determining the target wheel on the vehicle that needs to be lifted.

23. The suspension control method according to claim 22, wherein The target mode includes a tire change mode.

24. The suspension control method according to claim 22, characterized in that, The method further includes: In the case where the target mode of the vehicle exits, controlling the suspension of the vehicle to change height so that the suspension of the vehicle is in the state before the height change.

25. The suspension control method according to claim 22, characterized in that, The method further includes: In the case of receiving an opening instruction for the target mode of the vehicle, obtaining the vehicle driving related information; In the case where the vehicle driving related information meets the target mode start condition, turning on the target mode of the vehicle.

26. The suspension control method according to claim 25, wherein, The vehicle driving related information includes the vehicle gear, and / or the vehicle driving related information includes the road surface information of the environment where the vehicle is located.

27. The suspension control method according to claim 26, wherein, The target mode start condition includes that the vehicle gear is the target gear, and / or the target mode start condition includes that the road surface information meets the safe road surface condition.

28. The suspension control method according to any one of claims 1 to 21, characterized in that, The method further includes: acquiring attitude information of the vehicle during a process of controlling a suspension of the vehicle to change in height; stopping the control of the change in height of the suspension of the vehicle when the attitude information indicates an abnormality.

29. The suspension control method according to claim 28, wherein The attitude information includes a degree of vehicle body inclination, and the abnormality includes that the degree of vehicle body inclination exceeds a safe range of vehicle body inclination.

30. A controller, characterized in that, comprising one or more processors and a memory, the memory storing a computer program, which when executed by the processor, causes the processor to execute the steps of the suspension control method according to any one of claims 1 to 29.

31. A storage medium, characterized in that, comprising a computer program, which when running on a controller, is configured to cause the controller to execute the steps of the suspension control method according to any one of claims 1 to 29.

32. A computer program product, characterized in that, comprising a computer program or instructions, which when executed by a processor, implement the steps of the suspension control method according to any one of claims 1 to 29.

33. A vehicle, characterized in that, The vehicle includes a suspension and a controller as claimed in claim 30.

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