Vehicle deviation suppression method, device, vehicle and medium

Abstract

The present invention relates to the field of vehicle control technology, and discloses a vehicle deviation suppression method, device, vehicle and medium. The present invention calculates the lateral force of the vehicle during the driving process of the actual vehicle by utilizing the dynamic equation of the suspension height adjustment amount and the vehicle lateral force, and uses the deviation amount under the action of the lateral force as the basis for suspension height adjustment. In combination with preset control parameters, the updated suspension height adjustment amount of each wheel is determined to update the performance parameters of the actual vehicle, and the lateral force is recalculated, the preset control parameters are optimized, and the deviation suppression effect is repeatedly judged until the preset conditions are met. The target suspension height adjustment amount of each wheel is determined to perform suspension height adjustment, and the effect is verified by utilizing theoretical verification methods, so that the final suspension height adjustment scheme can suppress the lateral deviation of the vehicle, thereby improving the accuracy and precision of vehicle deviation suppression, effectively ensuring the safety of the vehicle during driving, and enhancing the user experience.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle deviation suppression method, device, vehicle and medium. Background Art

[0002] When a car is traveling straight on a flat road and the line connecting the centers of its front and rear axles misaligns with the centerline of its driving trajectory, this phenomenon is called vehicle deviation. Most of the time, the impact of vehicle deviation is minimal, but at higher speeds, especially highways, the impact can be significant: at best, it can affect the driving experience, and at worst, it can cause a traffic accident. The factors that cause vehicle deviation can be broadly categorized into two types: internal factors, such as chassis parameter deviations, inconsistent tire pressure, inconsistent left and right braking force, and inconsistent wheel-end torque; and external factors, such as road surface and crosswinds. External factors can be eliminated by the vehicle's environment, requiring no specific countermeasures. However, internal factors cannot be eliminated with the vehicle's environment and, instead, can cause vehicle deviation to worsen with use. Therefore, addressing vehicle deviation caused by internal factors is crucial to vehicle safety at high speeds. Summary of the Invention

[0003] In view of this, the present invention provides a vehicle deviation suppression method, device, vehicle and medium to solve the problem in the related art that the vehicle deviates due to internal factors of the vehicle, affecting the safety of the vehicle at high speed.

[0004] In a first aspect, the present invention provides a method for suppressing vehicle deviation, the method comprising:

[0005] Obtaining a dynamic equation between a suspension height adjustment amount of each wheel of the vehicle and a lateral force of the vehicle, and obtaining current characteristic parameters and current state parameters of the vehicle, wherein the dynamic equation is established based on the characteristic parameters and state parameters of the vehicle;

[0006] Substituting the suspension height adjustment value of each wheel, the current characteristic parameter, and the current state parameter into the dynamic equation to calculate a lateral force of the vehicle, and calculating a lateral deviation amount of the vehicle under the action of the lateral force within a set time, wherein an initial value of the suspension height adjustment value of each wheel is 0;

[0007] Calculating an updated suspension height adjustment value corresponding to each wheel based on the lateral deviation amount using preset control parameters;

[0008] updating the current characteristic parameter based on the updated suspension height adjustment value corresponding to each wheel, returning to the step of substituting the suspension height adjustment value of each wheel, the current characteristic parameter, and the current state parameter into the dynamic equation to calculate the lateral force of the vehicle, and optimizing the preset control parameters until the updated lateral deviation amount is less than a preset deviation amount threshold, thereby obtaining a target suspension height adjustment value corresponding to each wheel;

[0009] Control each wheel to adjust the suspension height according to the target suspension height adjustment amount corresponding to each wheel.

[0010] The present invention calculates the lateral force of the vehicle during the driving process of the actual vehicle by utilizing the suspension height adjustment amount of the vehicle in the initial state and the dynamic equation of the suspension height adjustment amount and the lateral force of the vehicle, and calculates the deviation amount of the actual vehicle under the action of the lateral force as the basis for suspension height adjustment, and determines the updated suspension height adjustment amount of each wheel in combination with the preset control parameters to update the performance parameters of the actual vehicle, and re-calculates the lateral force by utilizing the dynamic equation, and repeatedly calculates the suppression effect of the lateral deviation amount of the vehicle by optimizing the preset control parameters until the preset deviation amount threshold condition is met, determines the target suspension height adjustment amount of each wheel, and adjusts the suspension height of each wheel separately, thereby pre-verifying the effect of the suspension height adjustment scheme by utilizing theoretical verification, and optimizing the scheme according to the effect verification result, so that the final suspension height adjustment scheme can suppress the lateral deviation of the vehicle, thereby improving the accuracy and precision of the vehicle deviation suppression, effectively ensuring the safety of the vehicle during driving, and enhancing the user experience.

[0011] In an optional embodiment, before updating the current characteristic parameter based on the updated suspension height adjustment value corresponding to each wheel, the method further includes:

[0012] Determining whether the updated suspension height adjustment corresponding to each wheel exceeds a preset suspension height adjustment range;

[0013] When the updated suspension height adjustment amount corresponding to any wheel exceeds the preset suspension height adjustment range, the updated suspension height adjustment amount corresponding to the wheel is configured as the upper limit value or the lower limit value of the preset suspension height adjustment range.

[0014] The present invention uses a preset suspension height adjustment range in the process of calculating the suspension height adjustment amount of each wheel to ensure that the vehicle suspension height adjustment can suppress vehicle deviation while ensuring that driving comfort and the suspension height requirements of the vehicle in the current suspension mode are not affected, thereby further improving the user's driving experience.

[0015] In an optional embodiment, the method further includes:

[0016] Determining whether the updated suspension height adjustment value corresponding to each wheel is an upper limit or a lower limit of a preset suspension height adjustment range;

[0017] When the updated suspension height adjustment amount corresponding to each wheel is an upper limit or a lower limit of a preset suspension height adjustment range, determining the updated suspension height adjustment amount corresponding to each wheel as a target suspension height adjustment amount corresponding to the wheel;

[0018] Control each wheel to adjust the suspension height according to the target suspension height adjustment amount corresponding to each wheel.

[0019] According to the present invention, when the suspension height adjustment amounts calculated for each wheel of the vehicle are all the upper limit or lower limit of the preset suspension height adjustment range, it means that the suspension height adjustment of the current vehicle has reached its limit. At this time, by directly using the limit suspension height adjustment amount as the target suspension height adjustment amount for the corresponding wheel, the vehicle deviation phenomenon can be improved as much as possible while ensuring that the driving comfort and the suspension height requirements under the current suspension mode of the vehicle are not affected, thereby improving the user driving experience, avoiding repeated calculations to reduce the amount of data processing, and improving the efficiency of suppressing vehicle deviation.

[0020] In an optional embodiment, the method further includes:

[0021] When the updated suspension height adjustment amount corresponding to any wheel is not the upper limit or the lower limit of the preset suspension height adjustment range, the process returns to the step of updating the current characteristic parameter based on the updated suspension height adjustment amount corresponding to each wheel.

[0022] When the suspension height adjustment amount calculated by the present invention for any wheel is not the upper limit or the lower limit of the preset suspension height adjustment range, it indicates that there is still room for further adjustment of the suspension height adjustment amount of the vehicle. By updating the current characteristic parameters and recalculating the suspension height adjustment amount, the vehicle deviation suppression effect can be improved, thereby further enhancing the user's driving experience.

[0023] In an optional embodiment, the preset control parameter is a regulating parameter of a PID control algorithm, and the optimizing the preset control parameter includes:

[0024] Constructing an objective function using the lateral deviation amount, the suspension height adjustment amount, and the suspension temperature as decision variables;

[0025] Based on the corresponding relationship between the suspension height adjustment amount, the preset control parameter and the lateral deviation amount, the adjustment parameters of the PID control algorithm corresponding to each wheel are optimized and updated using the objective function.

[0026] The present invention realizes the control of the suspension height adjustment amount by utilizing the PID control algorithm, and constructs the optimization objective function of the PID adjustment parameters by comprehensively considering the influence of the lateral deviation amount, the suspension height adjustment amount and the suspension temperature. In this way, the problem of excessive suspension temperature caused by frequent adjustment of the suspension height is avoided during the process of suppressing vehicle deviation, thereby protecting the service life of the suspension's actuators.

[0027] In an optional embodiment, the objective function is expressed by the following formula:

[0028]

[0029] in, is the suspension temperature, is the lateral deviation, Adjust the height of the suspension. , , is the weight coefficient, To set the time.

[0030] By minimizing the weighted sum of suspension temperature, lateral deviation and suspension adjustment height as the objective function, the present invention can simultaneously suppress vehicle deviation by utilizing the minimum suspension height adjustment scheme while providing over-temperature protection for the suspension's actuators, further extending the service life of the suspension's actuators and improving the user experience.

[0031] In an optional embodiment, the optimizing and updating the adjustment parameters of the PID control algorithm by using the objective function includes:

[0032] The objective function is used to optimize and update the adjustment parameters of the PID control algorithm based on the gradient descent algorithm.

[0033] The present invention optimizes and updates the adjustment parameters of PID control by adopting a gradient descent algorithm in combination with an objective function, thereby further improving the accuracy of the suspension height adjustment amount and ensuring the vehicle deviation suppression effect.

[0034] In an optional embodiment, controlling each wheel to adjust the suspension height according to the target suspension height adjustment amount corresponding to each wheel includes:

[0035] Obtaining a first suspension height corresponding to the vehicle in a current suspension mode;

[0036] determining a target suspension height corresponding to each wheel based on the first suspension height and the target suspension height adjustment amount corresponding to each wheel;

[0037] Based on the target suspension height corresponding to each wheel, the suspension height of each wheel is adjusted separately.

[0038] The present invention determines the target suspension height corresponding to each wheel by utilizing the suspension height of each wheel of the vehicle in the current suspension mode and the target suspension height adjustment amount, and controls the suspension of each wheel to be adjusted to the target suspension height respectively. In this way, the vehicle deviation can be suppressed by utilizing only the vehicle's own adjustable suspension function, thereby improving the user experience.

[0039] In an optional embodiment, before calculating the updated suspension height adjustment value corresponding to each wheel based on the lateral deviation amount using preset control parameters, the method further includes:

[0040] Determining whether the lateral deviation amount is less than a preset deviation amount threshold;

[0041] When the lateral deviation amount is not less than a preset deviation amount threshold, a step of respectively calculating an updated suspension height adjustment amount corresponding to each wheel based on the lateral deviation amount using preset control parameters is performed.

[0042] Since a slight deviation of the vehicle has little impact on driving safety, a more serious deviation may pose a driving safety hazard. The present invention compares the lateral deviation amount with a preset deviation amount threshold. Only when the lateral deviation amount is large will the vehicle suspension height be used to suppress the deviation. While ensuring vehicle driving safety and driving experience, it avoids the problem of frequent vehicle suspension height adjustment affecting the service life of the suspension's actuators, further improving the user experience.

[0043] In an optional embodiment, before obtaining a dynamic equation between a suspension height adjustment amount of each wheel of the vehicle and a lateral force of the vehicle, established based on characteristic parameters and state parameters of the vehicle, and obtaining current characteristic parameters and current state parameters of the vehicle, the method further includes:

[0044] Obtaining the current speed of the vehicle;

[0045] Determining whether the duration for which the current vehicle speed is greater than a preset vehicle speed threshold exceeds a preset duration;

[0046] When the duration for which the current vehicle speed is greater than the preset vehicle speed threshold is greater than the preset duration, the steps of obtaining a dynamic equation between the suspension height adjustment amount of each wheel of the vehicle and the lateral force of the vehicle, and obtaining the current characteristic parameters and current state parameters of the vehicle are executed.

[0047] Since the driver can ensure driving safety by driving operations when the vehicle deviates at low speeds, but the vehicle deviates during high-speed driving, which poses a great driving safety hazard, the present invention judges the enabling conditions of the actual vehicle speed. Only when the vehicle speed reaches a preset speed threshold for a period of time exceeding the preset time, the solution of using the vehicle suspension height to suppress the deviation is triggered. By suppressing the vehicle deviation, the life of the suspension's actuators can be protected while ensuring the vehicle's high-speed driving safety, thereby improving the user experience.

[0048] In a second aspect, the present invention provides a vehicle deviation suppression device, the device comprising:

[0049] an acquisition module, configured to acquire a dynamic equation between the suspension height adjustment amount of each wheel of the vehicle and the lateral force of the vehicle, established based on the characteristic parameters and state parameters of the vehicle, and to acquire the current characteristic parameters and current state parameters of the vehicle;

[0050] a first processing module, configured to substitute the suspension height adjustment value of each wheel, the current characteristic parameter, and the current state parameter into the dynamic equation to calculate a lateral force of the vehicle, and to calculate a lateral deviation of the vehicle within a set time under the action of the lateral force, wherein an initial value of the suspension height adjustment value of each wheel is 0;

[0051] a second processing module, configured to calculate an updated suspension height adjustment value corresponding to each wheel based on the lateral deviation value using preset control parameters;

[0052] a third processing module, configured to update the current characteristic parameter based on the updated suspension height adjustment value corresponding to each wheel, return to the step of substituting the suspension height adjustment value of each wheel, the current characteristic parameter, and the current state parameter into the dynamic equation to calculate the lateral force of the vehicle, and optimize the preset control parameters until the updated lateral deviation amount is less than a preset deviation amount threshold, thereby obtaining a target suspension height adjustment value corresponding to each wheel;

[0053] The fourth processing module is used to control each wheel to adjust the suspension height according to the target suspension height adjustment amount corresponding to each wheel.

[0054] In a third aspect, the present invention provides a vehicle, comprising: a controller, wherein:

[0055] The memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method described in the first aspect and any one of its optional embodiments by executing the computer instructions.

[0056] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the method provided in the first aspect or any corresponding embodiment thereof.

[0057] Beneficial effects of the present invention:

[0058] The present invention calculates the lateral force of the vehicle during the driving process of the actual vehicle by utilizing the suspension height adjustment amount of the vehicle in the initial state and the dynamic equation of the suspension height adjustment amount and the lateral force of the vehicle, and calculates the deviation amount of the actual vehicle under the action of the lateral force as the basis for suspension height adjustment, and determines the updated suspension height adjustment amount of each wheel in combination with the preset control parameters to update the performance parameters of the actual vehicle, and re-calculates the lateral force by utilizing the dynamic equation, and repeatedly calculates the suppression effect of the lateral deviation amount of the vehicle by optimizing the preset control parameters until the preset deviation amount threshold condition is met, determines the target suspension height adjustment amount of each wheel, and adjusts the suspension height of each wheel separately, thereby pre-verifying the effect of the suspension height adjustment scheme by utilizing theoretical verification, and optimizing the scheme according to the effect verification result, so that the final suspension height adjustment scheme can suppress the lateral deviation of the vehicle, thereby improving the accuracy and precision of the vehicle deviation suppression, effectively ensuring the safety of the vehicle during driving, and enhancing the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0060] Figure 1 It is a structural diagram of the height adjustable suspension system;

[0061] Figure 2 It is a schematic diagram of the communication connection of multiple control devices in the vehicle;

[0062] Figure 3 is a flow chart of a vehicle deviation suppression method according to an embodiment of the present invention;

[0063] Figure 4 is a flow chart of another vehicle deviation suppression method according to an embodiment of the present invention;

[0064] Figure 5 is an example flow chart of vehicle deviation suppression according to an embodiment of the present invention;

[0065] Figure 6is an example flow chart of altitude correction calculation according to an embodiment of the present invention;

[0066] Figure 7 is an example flow chart of target height calculation according to an embodiment of the present invention;

[0067] Figure 8 is an example flow chart of driving control of a suspension according to an embodiment of the present invention;

[0068] Figure 9 is a functional module block diagram of a vehicle deviation suppression system according to an embodiment of the present invention;

[0069] Figure 10 is a schematic structural diagram of a vehicle deviation suppression device according to an embodiment of the present invention;

[0070] Figure 11 2 is a schematic structural diagram of a vehicle controller according to an embodiment of the present invention. DETAILED DESCRIPTION

[0071] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0072] In related technologies, battery thermal management control parameters and activation thresholds are typically fixed, lacking efficient, systematic self-learning and self-adaptation. The increasingly globalized automotive market necessitates either preemptive thermal management system intervention or improved thermal management performance to accommodate regional applications, sacrificing energy efficiency, or differentiated designs, with different models designed for different regions. This creates a wide variety of vehicle states and prevents the implementation of a platform.

[0073] Based on this, embodiments of the present invention provide a vehicle deviation control solution. Through theoretical analysis of suspension structures, it was discovered that varying the suspension height can alter the vehicle's trajectory, thereby mitigating deviation. Currently, an increasing number of vehicles are equipped with height-adjustable electronically controlled suspensions, which can be leveraged to mitigate deviation. This height adjustment can automatically adjust based on the vehicle's deviation.

[0074] According to an embodiment of the present invention, an embodiment of a method for suppressing vehicle deviation is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0075] In this embodiment, a vehicle deviation suppression method is provided, which can be applied to a controller of a vehicle with a height-adjustable suspension system, such as a single-chip microcomputer, an MCU, or other control chips. The vehicle has a height-adjustable suspension system, an IMU sensing system, an electronic steering system, and an electronic braking system.

[0076] The height-adjustable suspension system includes an electronically controlled suspension controller, a suspension actuator, and a suspension height sensor. Specifically, in the embodiment of the present invention, the vehicle deviation suppression solution provided by the embodiment of the present invention is implemented through the electronically controlled suspension controller.

[0077] The suspension actuator is connected to the electronic suspension controller through a hard line and is driven and controlled by the electronic suspension controller to achieve height adjustment of the suspension.

[0078] The suspension height sensor is connected to the electronic suspension controller through a hard line and sends a suspension height signal to the electronic suspension controller.

[0079] The IMU sensing system is used to provide the vehicle's lateral and longitudinal acceleration signals.

[0080] The electronic steering system is used to provide steering wheel angle signals.

[0081] The electronically controlled brake system is used to provide a speed signal.

[0082] The height-adjustable suspension system, IMU sensor system, electronic steering system and electronic brake system interact via the CAN bus.

[0083] For example, Figure 1 As shown, the height-adjustable suspension system includes: four height-adjustable suspensions, i.e., suspension actuators (left front suspension 101, right front suspension 102, left rear suspension 103, and right rear suspension 104), four suspension height sensors (left front sensor 105, right front sensor 106, left rear sensor 107, and right rear sensor 108), and an electronically controlled suspension controller 109. Specifically, electronically controlled suspension controller 109 may be an electronic control unit (ECU).

[0084] Further, if Figure 2As shown, the vehicle deviation suppression method provided by the embodiment of the present invention mainly involves three controllers, namely the electronic steering controller 200, the electronic brake controller 300, and the electronic suspension controller 109, which interact through CAN signals. Figure 1 The left front sensor 105, the right front sensor 106, the left rear sensor 107, the right rear sensor 108) and the IMU sensor 400 are connected to the electronically controlled suspension controller 109 through hard wires, and the electronically controlled suspension controller 109 drives the suspension actuator assembly 11 (i.e. Figure 1 The left front suspension 101, right front suspension 102, left rear suspension 103, and right rear suspension 104 are actuated. The suspension height sensor assembly 12 provides real-time suspension height information, while the IMU sensor 400 provides real-time lateral and longitudinal acceleration information. The CAN signal matrix is shown in Table 1.

[0085] Table 1

[0086]

[0087] Figure 3 FIG. 1 is a flow chart of a method for suppressing vehicle deviation according to an embodiment of the present invention. Figure 3 As shown, the process includes the following steps:

[0088] Step S31 , obtaining a dynamic equation between the suspension height adjustment amount of each wheel of the vehicle and the lateral force of the vehicle, and obtaining the current characteristic parameters and current state parameters of the vehicle.

[0089] Among them, the dynamic equation is established based on the characteristic parameters and state parameters of the vehicle.

[0090] Specifically, vehicle characteristic parameters include at least one of the following: body system parameters such as sprung mass, unsprung mass, wheelbase, track width, center of mass coordinates, and inertia; powertrain parameters such as drive configuration, transmission type, and drivetrain moment of inertia; steering system parameters such as steering axis type and gear ratio constant; suspension parameters such as suspension type, spring compression travel data, spring extension travel data, damping force data, tire force data, and component dimensions; and aerodynamic parameters such as longitudinal frontal area, vehicle length, and wind pressure center. Vehicle status parameters include at least one of the following: actual height of each adjustable suspension, target height of each adjustable suspension, vehicle lateral acceleration, longitudinal acceleration, vehicle speed, steering wheel angle, and height correction.

[0091] Furthermore, based on the state parameters and characteristic parameters of the vehicle, the vehicle model and kinematic model can be accurately constructed. For example, the dynamic equations designed based on the kinematic model are as follows:

[0092] (1)

[0093] in, are the longitudinal and lateral velocities of the vehicle, where the lateral velocity can be obtained by integrating the lateral acceleration; is the yaw angular velocity; is the vehicle mass; is the vehicle's moment of inertia around the Z axis; is the distance from the front and rear axles of the vehicle to the center of mass; is the lateral force on the vehicle's front and rear wheels. It should be noted that the distances from the vehicle's front and rear axles to the center of mass also change after the vehicle's suspension height is adjusted. Calculating the distances from the vehicle's front and rear axles to the center of mass based on the vehicle's suspension height adjustment is a well-known technique and will not be further elaborated here.

[0094] Due to the suspension height adjustment Wheel load Satisfy a certain functional relationship:

[0095] (2)

[0096] And the wheel lateral stiffness and wheel load Satisfies the linear relationship:

[0097] (3)

[0098] in, and are the lateral stiffness of the front and rear wheels of the vehicle, and is the linear coefficient, and Represent the vehicle's front wheel load and rear wheel load respectively.

[0099] The sideslip angle can be calculated from the vehicle speed, lateral velocity, and yaw rate:

[0100] (4)

[0101] in, are the front wheel slip angle and the rear wheel slip angle, , are the front wheel steering angle and the rear wheel steering angle respectively. , Via steering wheel angle For conversion, this is the existing technology. For vehicles with only front wheel steering, you can take .

[0102] The tire lateral force can be approximately expressed as:

[0103] (5)

[0104] in, and are the front wheel lateral force and the rear wheel lateral force respectively.

[0105] Calculate the lateral force of the vehicle by the lateral force of the vehicle :

[0106] (6)

[0107] In summary, by combining the above formulas (1) and (6), the dynamic equation between the suspension height adjustment amount of each wheel of the vehicle and the vehicle lateral force can be obtained. The dynamic equation between the suspension height adjustment amount of each wheel of the vehicle and the vehicle lateral force can also be obtained by combining the above formulas (2) to (6). The specific equation form will not be repeated here.

[0108] Step S32: Substitute the suspension height adjustment value, current characteristic parameters, and current state parameters of each wheel into the dynamic equation to calculate the lateral force of the vehicle, and calculate the lateral deviation of the vehicle within a set time under the action of the lateral force.

[0109] The initial value of the suspension height adjustment amount of each wheel is 0. Specifically, the lateral force of the vehicle can be calculated by using the above formulas (1) to (6). The above setting time can be flexibly set according to the actual requirements of the vehicle deviation detection accuracy. For example, the setting time can be 5s, 10s, etc., but the present invention is not limited to this. Specifically, the lateral deviation amount can be calculated by the following formula :

[0110] (7)

[0111] Step S33 : Calculating the updated suspension height adjustment value corresponding to each wheel based on the lateral deviation amount using preset control parameters.

[0112] Specifically, since changes in suspension height can affect the vehicle's trajectory—for example, raising the left suspension will cause the vehicle's trajectory to shift to the right, while raising the right suspension will cause the vehicle's trajectory to shift to the left—the suspension height adjustment can be determined based on the vehicle's lateral runout. To achieve effective correction, the corresponding relationship between lateral runout and suspension height adjustment can be learned using various control algorithms, such as PID control algorithms, PI control algorithms, and fuzzy control algorithms, though the present invention is not limited thereto. By selecting preset control parameters corresponding to the control algorithm, the suspension height adjustment corresponding to each wheel under the lateral runout can be calculated.

[0113] Step S34: Update the current characteristic parameters based on the updated suspension height adjustment amount corresponding to each wheel, return to the step of substituting the suspension height adjustment amount, current characteristic parameters and current state parameters of each wheel into the dynamic equation to calculate the lateral force of the vehicle, and optimize the preset control parameters until the updated lateral deviation amount is less than the preset deviation amount threshold, thereby obtaining the target suspension height adjustment amount corresponding to each wheel.

[0114] Specifically, the above analysis shows that the distances from the vehicle's front and rear axles to the center of mass will also change after the vehicle's suspension height is adjusted. Therefore, the current characteristic parameter, namely the distances from the vehicle's front and rear axles to the center of mass after the suspension height adjustment, can be updated using the updated suspension height adjustment amount. This in turn recalculates the lateral deviation.

[0115] Furthermore, the preset deviation threshold is set based on the actual vehicle deviation suppression accuracy and effectiveness. For example, the preset deviation threshold may be 3 meters or 2 meters, but the present invention is not limited thereto. When the updated lateral deviation is not less than the preset deviation threshold, the preset control parameters are optimized and the lateral deviation calculation is repeated until the updated lateral deviation is less than the preset deviation threshold, thus theoretically verifying that the deviation suppression effect has achieved the desired effect. The updated suspension height adjustment corresponding to each wheel at this point is then used as the target suspension height adjustment corresponding to each wheel.

[0116] Step S35 , controlling each wheel to adjust the suspension height according to the target suspension height adjustment amount corresponding to each wheel.

[0117] Specifically, since the actual vehicle may be in a certain suspension mode during driving, in which the suspension height of each wheel is fixed, vehicle deviation is suppressed by adjusting the suspension height based on the fixed suspension height according to the target suspension height adjustment value corresponding to each wheel. For example, if the vehicle's suspension height is A at each wheel in the current suspension mode, and the target suspension height adjustment value for a particular wheel is +1cm, the suspension height of that wheel is adjusted to increase by 1cm based on A. Conversely, if the target suspension height adjustment value is -1cm, the suspension height of that wheel is adjusted to decrease by 1cm based on A.

[0118] The embodiment of the present invention calculates the lateral force of the vehicle during the driving process of the actual vehicle by utilizing the suspension height adjustment amount of the vehicle in the initial state and the dynamic equation of the suspension height adjustment amount and the lateral force of the vehicle, and calculates the deviation amount of the actual vehicle under the action of the lateral force as the basis for suspension height adjustment, and determines the updated suspension height adjustment amount of each wheel in combination with the preset control parameters to update the performance parameters of the actual vehicle, and re-calculates the lateral force by utilizing the dynamic equation, and repeatedly calculates the suppression effect of the lateral deviation amount of the vehicle by optimizing the preset control parameters until the preset deviation amount threshold condition is met, determines the target suspension height adjustment amount of each wheel, and adjusts the suspension height of each wheel separately, thereby pre-verifying the effect of the suspension height adjustment scheme by utilizing theoretical verification, and optimizing the scheme according to the effect verification result, so that the final suspension height adjustment scheme can suppress the lateral deviation of the vehicle, thereby improving the accuracy and precision of the vehicle deviation suppression, effectively ensuring the safety of the vehicle during driving, and enhancing the user experience.

[0119] According to an embodiment of the present invention, an embodiment of a method for suppressing vehicle deviation is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0120] In this embodiment, a vehicle deviation suppression method is also provided, which can be applied to a controller of a vehicle with a height adjustable suspension system, such as a single chip microcomputer, an MCU or other control chip. Figure 4 FIG. 1 is a flow chart of a method for suppressing vehicle deviation according to an embodiment of the present invention. Figure 4 As shown, the process includes the following steps:

[0121] Step S41, obtain the dynamic equation between the suspension height adjustment amount of each wheel of the vehicle and the vehicle lateral force, and obtain the current characteristic parameters and current state parameters of the vehicle, wherein the dynamic equation is established based on the characteristic parameters and state parameters of the vehicle. Figure 3 The description of step S31 will not be repeated here.

[0122] In step S42, the suspension height adjustment value, current characteristic parameters, and current state parameters of each wheel are substituted into the dynamic equation to calculate the lateral force of the vehicle, and the lateral deviation of the vehicle under the action of the lateral force within a set time is calculated. The initial value of the suspension height adjustment value of each wheel is 0. For details, see Figure 3 The description of step S32 is omitted here.

[0123] Step S43 : Calculating the updated suspension height adjustment value corresponding to each wheel based on the lateral deviation amount using preset control parameters.

[0124] Specifically, taking the preset control parameter as the adjustment parameter of the PID control algorithm as an example, the updated suspension height adjustment amount corresponding to each wheel is calculated by the following formula:

[0125] (8)

[0126] in, Indicates the suspension height adjustment amount, are PID controller parameters, which can be preliminarily set and adjusted through subsequent parameter optimization. The subscript _1 indicates the left front suspension of the left front wheel, _2 indicates the right front suspension corresponding to the right front wheel, _3 indicates the left rear suspension corresponding to the left rear wheel, and _4 indicates the right rear suspension corresponding to the right rear wheel.

[0127] Step S44 , determining whether the updated suspension height adjustment value corresponding to each wheel exceeds a preset suspension height adjustment range.

[0128] The preset suspension height adjustment range is determined based on vehicle performance, such as the basic suspension height requirements for the current suspension mode, and the driver's comfort requirements. Excessive suspension height adjustment can cause the driver to noticeably tilt the vehicle. Furthermore, certain suspension modes, such as off-road mode, require a higher suspension height and cannot be adjusted too low, as this can affect vehicle handling. For example, the preset suspension height adjustment range is [-15cm, +15cm]. This is merely an example and is not intended to limit the present invention.

[0129] Step S45 , when the updated suspension height adjustment value corresponding to any wheel exceeds the preset suspension height adjustment range, configuring the updated suspension height adjustment value corresponding to the wheel as the upper limit or lower limit of the preset suspension height adjustment range.

[0130] Specifically, if the updated suspension height adjustment amount corresponding to a certain wheel exceeds the upper limit value of the preset suspension height adjustment range, the updated suspension height adjustment amount will be configured as the upper limit value. Conversely, if the updated suspension height adjustment amount corresponding to a certain wheel is lower than the lower limit value of the preset suspension height adjustment range, the updated suspension height adjustment amount will be configured as the lower limit value.

[0131] The embodiment of the present invention uses a preset suspension height adjustment range in the process of calculating the suspension height adjustment amount of each wheel to ensure that the vehicle suspension height adjustment can suppress vehicle deviation while ensuring that driving comfort and the suspension height requirements of the vehicle in the current suspension mode are not affected, thereby further improving the user's driving experience.

[0132] Step S46 , determining whether the updated suspension height adjustment value corresponding to each wheel is the upper limit or the lower limit of the preset suspension height adjustment range.

[0133] Specifically, when the updated suspension height adjustment amount corresponding to each wheel is the upper limit or lower limit of the preset suspension height adjustment range, the updated suspension height adjustment amount corresponding to each wheel is determined as the target suspension height adjustment amount corresponding to the wheel; each wheel is controlled to adjust the suspension height according to the target suspension height adjustment amount corresponding to each wheel.

[0134] In an embodiment of the present invention, when the suspension height adjustment amounts calculated for each wheel of the vehicle are all the upper limit or lower limit of the preset suspension height adjustment range, it means that the suspension height adjustment of the current vehicle has reached its limit. At this time, by directly using the limit suspension height adjustment amount as the target suspension height adjustment amount for the corresponding wheel, the vehicle deviation phenomenon can be improved as much as possible while ensuring that the driving comfort and the suspension height requirements under the current suspension mode of the vehicle are not affected, thereby improving the user driving experience, avoiding repeated calculations to reduce the amount of data processing, and improving the efficiency of suppressing vehicle deviation.

[0135] Furthermore, when the updated suspension height adjustment amount corresponding to any wheel is not the upper limit or the lower limit of the preset suspension height adjustment range, step S47 is executed.

[0136] In an embodiment of the present invention, when the suspension height adjustment amount calculated for any wheel is not the upper limit or lower limit of the preset suspension height adjustment range, it indicates that there is still room for further adjustment of the suspension height adjustment amount of the vehicle. By updating the current characteristic parameters and recalculating the suspension height adjustment amount, the vehicle deviation suppression effect can be improved, thereby further enhancing the user's driving experience.

[0137] Step S47: Update the current characteristic parameters based on the updated suspension height adjustment amount corresponding to each wheel, return to the step of substituting the suspension height adjustment amount, current characteristic parameters and current state parameters of each wheel into the dynamic equation to calculate the lateral force of the vehicle, and optimize the preset control parameters until the updated lateral deviation amount is less than the preset deviation amount threshold, thereby obtaining the target suspension height adjustment amount corresponding to each wheel.

[0138] The lateral deviation of the vehicle is recalculated by using the above formula (8) and the dynamic equation between the suspension height adjustment of each wheel and the lateral force of the vehicle. The specific calculation process can be found in Figure 3 The description of step S32 is omitted here. For example, the corrected lateral deviation is recalculated. It can be expressed by the following formula:

[0139] (9)

[0140] in, The calculation function representing the lateral deviation is obtained by integrating the above formula (8) and the dynamic equation between the suspension height adjustment of each wheel and the vehicle lateral force.

[0141] Then, based on the size of the recalculated and corrected lateral deviation, it is determined whether the suspension height adjustment amount calculated above has significantly improved the vehicle deviation suppression. The specific judgment rule is that if the corrected lateral deviation is less than the above-mentioned preset deviation threshold, it is considered to be obviously effective. Otherwise, it is not obviously effective and the suspension height adjustment amount needs to be optimized. The optimization of the suspension height adjustment amount is specifically achieved by optimizing the preset control parameters.

[0142] Specifically, the preset control parameter is a regulating parameter of the PID control algorithm. The optimization of the preset control parameter in step S47 specifically includes the following steps:

[0143] In step a1, the objective function is constructed using the lateral deviation, suspension height adjustment and suspension temperature as decision variables.

[0144] Step a2: Based on the correspondence between the suspension height adjustment amount, the preset control parameters, and the lateral deviation amount, the adjustment parameters of the PID control algorithm corresponding to each wheel are optimized and updated using the objective function.

[0145] The embodiment of the present invention realizes the control of the suspension height adjustment amount by utilizing a PID control algorithm, and constructs an optimization objective function of the PID adjustment parameters by comprehensively considering the influence of the lateral deviation amount, the suspension height adjustment amount and the suspension temperature. In this way, the problem of excessive suspension temperature caused by frequent adjustment of the suspension height is avoided during the process of suppressing vehicle deviation, thereby protecting the service life of the suspension's actuator components.

[0146] Specifically, in some optional implementations, the adjustment parameters of the PID control algorithm are optimized and updated using an objective function based on a gradient descent algorithm.

[0147] The embodiment of the present invention optimizes and updates the adjustment parameters of PID control by adopting a gradient descent algorithm in combination with an objective function, thereby further improving the accuracy of the suspension height adjustment amount and ensuring the vehicle deviation suppression effect.

[0148] For example, the objective function is expressed by the following formula:

[0149] (10)

[0150] in, is the suspension temperature, is the lateral deviation, Adjust the height of the suspension. , , is the weight coefficient, In actual application, the set time can be set as needed, such as 5s, 10s, etc.

[0151] By minimizing the weighted sum of suspension temperature, lateral deviation and suspension adjustment height as the objective function, the embodiment of the present invention can simultaneously suppress vehicle deviation by utilizing the minimum suspension height adjustment scheme while providing over-temperature protection for the suspension's actuators, further extending the service life of the suspension's actuators and improving the user experience.

[0152] Furthermore, the three adjustment parameters of the above PID algorithm are dynamically updated by the gradient descent method:

[0153] (11)

[0154] in, Represents the three adjustment parameters of the PID algorithm ( ); represents the dynamic learning rate, which is expressed as:

[0155] (12)

[0156] in Indicates the preset deviation threshold (e.g. 2.7m); represents the initial dynamic learning rate, confirmed by actual vehicle calibration, and t represents the number of lateral deviation corrections. By adjusting the dynamic learning rate, the optimization process can more flexibly adjust the step size based on the error, thereby obtaining the appropriate PID control parameters.

[0157] Step S48: Control each wheel to adjust the suspension height according to the target suspension height adjustment amount corresponding to each wheel.

[0158] Specifically, the above step S48 includes the following steps:

[0159] Step b1: Obtain a first suspension height corresponding to the vehicle in the current suspension mode.

[0160] Specifically, during actual vehicle operation, the user selects different suspension modes, and the suspension heights corresponding to each wheel of the vehicle are different to adapt to the needs of different driving scenarios. This is existing technology and will not be elaborated here.

[0161] Step b2: determining a target suspension height corresponding to each wheel based on the first suspension height and the target suspension height adjustment amount corresponding to each wheel.

[0162] Specifically, the target suspension height corresponding to no wheel can be obtained by adding the first suspension height and the target suspension height adjustment amount corresponding to each wheel. Since the positive and negative values of the target suspension height adjustment amount represent the suspension height adjustment direction, illustratively, when the target suspension height adjustment amount is greater than 0, the corresponding target suspension height is higher than the first suspension height. Conversely, when the target suspension height adjustment amount is less than 0, the corresponding target suspension height is lower than the first suspension height.

[0163] Step b3: adjusting the suspension height of each wheel based on the target suspension height corresponding to each wheel.

[0164] In actual applications, since the vehicle's suspension height is adjustable, if the actual vehicle has deviated during operation and the deviation has been suppressed by adjusting the vehicle suspension height, the vehicle's suspension height at this time is not at the initial height under the current suspension mode. If the vehicle deviates again and needs to be suppressed by adjusting the suspension, it is necessary to obtain the vehicle's current actual suspension height, and then calculate the difference between the actual suspension height and the target suspension height calculated above, such as calculating the height difference between the target suspension height and the actual suspension height, and then raising or lowering the suspension height according to the height difference until the target suspension height is reached.

[0165] The embodiment of the present invention determines the target suspension height corresponding to each wheel by utilizing the suspension height of each wheel of the vehicle in the current suspension mode and the target suspension height adjustment amount, and controls the suspension of each wheel to be adjusted to the target suspension height respectively, thereby suppressing the vehicle's deviation by utilizing only the vehicle's own adjustable suspension function, thereby improving the user experience.

[0166] In an optional embodiment, before executing the above step S43, the vehicle deviation suppression method provided by the embodiment of the present invention further includes the following steps:

[0167] Step c1, determining whether the lateral deviation is less than a preset deviation threshold.

[0168] Among them, the preset deviation threshold is flexibly set according to the deviation suppression requirements of the entire vehicle and the life requirements of the suspension actuator. For example, the preset deviation threshold is 3.7m. This is only an example and the present invention is not limited to this.

[0169] Specifically, if the lateral deviation is not less than the preset deviation threshold, step S43 is executed. If the lateral deviation is less than the preset deviation threshold, the vehicle deviation suppression function is temporarily deactivated to avoid frequent suspension adjustments, and the process returns to step S41 to continue monitoring the lateral deviation.

[0170] Since a slight deviation of the vehicle has little impact on driving safety, a more serious deviation may pose a driving safety hazard. In this embodiment of the present invention, the lateral deviation amount is compared with a preset deviation amount threshold. Only when the lateral deviation amount is large, the deviation suppression scheme using the vehicle suspension height is executed. While ensuring vehicle driving safety and driving experience, it avoids the problem of frequent vehicle suspension height adjustment affecting the service life of the suspension's actuator components, further improving the user experience.

[0171] In some optional implementations, before executing step S41, the vehicle deviation suppression method provided by the embodiment of the present invention further includes the following steps:

[0172] Step d1, obtaining the current speed of the vehicle.

[0173] Specifically, the current speed of the vehicle can be acquired through the vehicle's electrical control system, or through a speed sensor mounted on the vehicle.

[0174] Step d2: Determine whether the duration during which the current vehicle speed is greater than a preset vehicle speed threshold exceeds a preset duration.

[0175] Among them, the preset vehicle speed threshold and the preset time are flexibly set according to the vehicle high-speed driving safety requirements and the life requirements of the suspension actuator. For example, the preset vehicle speed threshold is 60km / h and the preset time is 10s. This is only an example, and the present invention is not limited to this.

[0176] Specifically, if the current vehicle speed exceeds the preset speed threshold for a period longer than the preset time, step S401 is executed. If the current vehicle speed does not exceed the preset speed threshold for a period longer than the preset time, or if the current vehicle speed does not exceed the preset speed threshold, the vehicle deviation suppression function is temporarily deactivated to avoid frequent suspension adjustments, and the process returns to step S41 to continue monitoring the lateral deviation amount.

[0177] Since the driver's driving operation can ensure driving safety when the vehicle deviates at low speeds, while the vehicle deviates during high-speed driving, it poses a great driving safety hazard. In the embodiment of the present invention, the enabling condition judgment is made based on the actual vehicle speed. Only when the vehicle speed reaches a preset speed threshold for a period of time exceeding the preset time, the solution of using the vehicle suspension height to suppress deviation is triggered. By suppressing the vehicle deviation, the life of the suspension's actuators can be protected while ensuring the vehicle's high-speed driving safety, thereby improving the user experience.

[0178] The following will describe in detail the working process and working principle of the vehicle deviation suppression method provided by the embodiment of the present invention with reference to specific application examples.

[0179] The main process of suppressing vehicle deviation in the embodiment of the present invention is as follows:

[0180] Monitor the vehicle status in real time, calculate the first deviation amount of the vehicle based on the kinematic model and determine whether deviation suppression is needed. When suppression is needed, determine the first suspension height correction amount based on the first deviation amount and the kinematic model; determine the deviation amount after deviation suppression based on the first height correction amount and the kinematic model and verify the effect; determine the second suspension height correction amount based on the effect verification result, or optimize the height correction amount calculation parameters based on the verification effect and re-perform the first height correction amount and effect verification; confirm the second target height based on the current first target height and the second suspension height correction amount; adjust the suspension height based on the second target height until the suspension height reaches the second target height.

[0181] The first target height is determined by the mode of the height-adjustable suspension system.

[0182] Furthermore, the need for deviation control can be determined based on the vehicle speed and the magnitude of the first deviation in the vehicle state. If deviation control is determined not to be necessary, the second height correction value is assigned a value of 0 mm. If deviation control is determined to be necessary, the first suspension height correction value is calculated based on the first deviation and the kinematic model. The first height correction value is returned to the kinematic model, and the second deviation value is recalculated for the corrected suspension height. The difference between the second deviation value and the acceptable deviation value is used to determine whether the optimization effect meets the requirements. If the optimization effect does not meet the requirements, the height correction calculation parameters in the kinematic model are optimized, and the optimized parameters are used to replace the coefficients in the first height correction calculation formula. The above process is repeated until the results meet the requirements, at which point the first height correction value becomes the second height correction value.

[0183] Furthermore, when it is confirmed that the effect verification meets the requirements, the first height correction amount at this time is assigned to the second height correction amount; when it is confirmed that the effect verification does not meet the requirements, the height correction amount calculation parameters in the kinematic model will be optimized, and the first height correction amount will be recalculated based on the optimized kinematic model until the verification effect meets the requirements.

[0184] Embodiments of the present invention accurately construct a vehicle model and kinematic model based on the vehicle's state and characteristic parameters. These models are then continuously applied during the calculation process to determine suspension height corrections. This improves the accuracy of the calculations used to determine the deviation and height corrections using vehicle dynamics equations based on these models. Furthermore, if the results do not meet expectations, the kinematic model parameters can be optimized to further enhance the robustness and accuracy of the system.

[0185] In addition, since the adjustment of the height-adjustable suspension requires the actuator to work, frequent adjustments will inevitably cause the actuator to heat up. In order to protect the actuator, it is also necessary to introduce a speed duration judgment when making the deviation suppression enable judgment. When the vehicle speed is greater than the threshold and lasts for a period of time, the enabling condition is met and the deviation suppression scheme is executed.

[0186] Through the above process, this embodiment of the present invention monitors vehicle deviation and adjusts the suspension height to mitigate it, based on the vehicle's state and characteristic parameters. Furthermore, based on factors such as vehicle speed and the amount of deviation, it reduces the frequency of adjustments while mitigating deviation. It also minimizes most deviations caused by external factors, ensuring a balanced driving experience and protecting components.

[0187] In practice, the height correction calculation utilizes a PID control algorithm, with the first or second deviation amount as input and the first height correction value as output. The initial height correction calculation parameters are determined during the design phase based on vehicle kinematics theory.

[0188] Furthermore, when the verification result of the second deviation amount does not meet the requirements, the height correction amount calculation parameters can be optimized by an improved gradient descent method based on the difference between the second deviation amount and the acceptable deviation amount, and the optimized parameters are used to replace the coefficients in the first height correction amount calculation formula.

[0189] According to the above technical means, the embodiment of the present invention can determine the first height correction amount based on the first deviation amount or the second deviation amount, and finally determine the second height correction amount, which is finally used to calculate the second target height. At the same time, when the suppression effect is not obvious, the parameters of the control algorithm can also be optimized to determine a more accurate control algorithm.

[0190] Specifically, by using Figure 1 The electronically controlled suspension controller 109 shown executes the aforementioned vehicle deviation control scheme, specifically by obtaining actual vehicle state parameters, calculating a first deviation amount based on the vehicle model and kinematic model, and calculating a first height correction based on the first deviation amount. The controller then combines these results to output a second height correction. The controller then calculates a second target height based on the first target height. Finally, based on the difference between the second target height and the actual suspension height, the controller activates the suspension actuator to adjust the height and achieve deviation control. The vehicle model and kinematic model are pre-built based on the actual vehicle state parameters and characteristic parameters.

[0191] For example, Figure 5 As shown in the figure, the example process of vehicle deviation prevention consists of 6 steps, including:

[0192] Step S001: Acquire signals: including but not limited to signals that can represent the vehicle status, such as the suspension height represented by the height sensor , the lateral acceleration of the vehicle represented by the IMU sensor , longitudinal acceleration , the steering wheel angle sent by the electronic steering controller , the vehicle speed sent by the electronic brake controller wait.

[0193] Step S002, signal processing: processing the acquired signal, including but not limited to filtering, type conversion, unit conversion, etc., for subsequent use.

[0194] Step S003: Altitude correction Calculation: Calculate the height correction value by obtaining the actual state signal of the vehicle and based on the constructed vehicle model and kinematic model .

[0195] Step S004, target height calculation: based on the height correction amount and the mode height of the height-adjustable suspension, the target height is calculated according to specific rules.

[0196] Step S005 , drive control: based on the target height and the actual height of the height-adjustable suspension, drive the height-adjustable suspension to actuate until the target height is reached.

[0197] Further, if Figure 6 As shown, the example process of calculating the altitude correction includes:

[0198] Step S301, initial enablement judgment: Initial enablement judgment of deviation suppression is performed based on vehicle speed and duration. The specific judgment rule is: vehicle speed > threshold (e.g., 60 km / h) and lasts for 10 seconds.

[0199] Step S302, calculation of the first deviation amount: based on the acquired vehicle state, and the vehicle model and kinematic model constructed based on the vehicle characteristic parameters and state parameters, the vehicle model and kinematic model are then used to establish a dynamic equation between the suspension height adjustment amount of each wheel of the vehicle and the vehicle lateral force.

[0200] Step S303, final enable judgment: a final enable judgment of deviation suppression is performed based on the first deviation amount. The specific judgment rule is: the first deviation amount > a threshold value (eg, 3.7 m).

[0201] Step S304, calculating the first height correction value: calculating the first height correction value based on the first deviation value or the second deviation value and the vehicle dynamics model Due to the limited vehicle performance, the height correction value cannot exceed the threshold range: within the range, Take the calculation result, if it exceeds the upper threshold, assign the upper limit to , which is lower than the lower threshold, then the lower limit is assigned to Based on performance calibration experience, the threshold range is [-15cm, +15cm].

[0202] Step S305, calculation of the second deviation amount: based on the first height correction amount of the four suspensions The vehicle dynamics model is used to calculate the deviation amount after the suspension height correction, and this deviation amount is defined as the second deviation amount.

[0203] Step S306, Effect Verification: If the first height correction values for all four suspension heights are within the upper or lower thresholds, the process proceeds to Step S307. Otherwise, based on the magnitude of the second deviation, the process determines whether the first height correction value significantly improves deviation control. The specific judgment rule is: if the second deviation value is less than the threshold (e.g., 3 meters), the result is considered significant and the process proceeds to Step S307. Otherwise, the first height correction value is optimized.

[0204] Step S307, calculating the second height correction value: assigning the first height correction value to the second height correction value.

[0205] Further, if Figure 7 As shown, the example process of the target height calculation includes:

[0206] Step S401, obtaining a first target height: obtaining the height of the height-adjustable suspension mode, and defining the height as a first target height.

[0207] Step S402, calculating the second target height: combining the first target height and the second height correction value to calculate the second target height = first target height + second height correction value.

[0208] Further, if Figure 8 As shown in FIG, an example process for driving and controlling the suspension includes:

[0209] Step S501, height difference calculation: Calculate the difference between the current actual suspension height and the second target height. The rule is height difference = second target height - actual suspension height.

[0210] Step S502 , actuator driving: raising or lowering the suspension height according to the height difference and the second target height until the height reaches the second target height.

[0211] For example, Figure 9As shown, the vehicle deviation suppression system constructed by the above-mentioned vehicle deviation suppression solution includes: a signal acquisition module 510, a signal processing module 520, a deviation suppression solution module 530, a target height calculation module 540 and a drive control module 550.

[0212] The signal acquisition module 510 is used to obtain the real-time status signals of the vehicle, including the suspension height sent by the height sensor, the lateral acceleration and longitudinal acceleration of the vehicle sent by the IMU sensor, the steering wheel angle sent by the electronic steering controller, and the vehicle speed sent by the electronic brake controller.

[0213] Signal processing module 520 is used to process the signal from signal acquisition module 510, including but not limited to filtering, type conversion, and unit conversion, and use it as a vehicle state parameter for use by subsequent modules. Vehicle state parameters include at least one of the following: the actual height of each adjustable suspension, the target height of each adjustable suspension, the vehicle's lateral acceleration, longitudinal acceleration, vehicle speed, steering wheel angle, and height correction.

[0214] The deviation suppression solution module 530 is used to calculate a first deviation amount based on a vehicle model and a kinematic model, where the vehicle model and the kinematic model are pre-constructed models based on vehicle state parameters and characteristic parameters. The deviation suppression solution module 530 is also used to confirm whether the deviation suppression function is to be enabled based on the first deviation amount and vehicle speed, and if not enabled, assign the second height correction amount to 0. The deviation suppression solution module 530 is also used to calculate a first height correction amount based on the vehicle dynamics model when it is confirmed that deviation suppression is required, and assign the first height correction amount to the second height correction amount based on the verification result.

[0215] The deviation suppression solution module 530 is divided into a kinematic solution module 531 , a deviation amount calculation module 532 , a deviation correction module 533 , an enable judgment module 534 and an effect confirmation module 535 .

[0216] Kinematics solution module 531 includes a vehicle parameter storage module 531-1, a vehicle model, and a kinematic model 531-2. Vehicle parameter storage module 531-1 is used to store vehicle characteristic parameters for use by kinematic model 531-2. Vehicle characteristic parameters include at least one of the following: body system parameters such as sprung mass, unsprung mass, wheelbase, track width, center of mass coordinates, and inertia; powertrain parameters such as drive configuration, transmission type, and drivetrain moment of inertia; steering system parameters such as steering axis type and transmission ratio constant; suspension parameters such as suspension type, spring compression travel data, spring extension travel data, damping force data, tire force data, and component dimensions; and aerodynamic parameters such as longitudinal frontal area, body length, and wind pressure center. The vehicle model and kinematic model 531-2 are used to construct the vehicle model and the kinematic model, and are pre-constructed models based on vehicle characteristic parameters and state parameters, and have reserved interfaces for other modules to call; the vehicle model and kinematic model 531-2 are also used to calculate the first deviation amount, the second deviation amount, and the first height correction amount; wherein, when calculating the first deviation amount, the calculation is based on the vehicle state parameters of the signal processing module 520, the vehicle characteristic parameters of the parameter storage module 531-1, and the vehicle model and the kinematic model; when calculating the first height correction amount, the calculation is based on the vehicle state parameters of the signal processing module 520, the vehicle characteristic parameters of the parameter storage module 531-1 and the first deviation amount or the second deviation amount, as well as the vehicle model and the kinematic model; when calculating the second deviation amount, the calculation is based on the vehicle state parameters of the signal processing module 520, the vehicle characteristic parameters of the parameter storage module 531-1, the first height correction amount, and the vehicle model and the kinematic model. The deviation amount calculation module 532 includes two modules: a first deviation amount 532-1 and a second deviation amount 532-2. The first deviation amount 532-1 is pre-set with an interface corresponding to the vehicle model and the kinematic model 531-2. When the first deviation amount calculation is required, the vehicle model and the kinematic model are directly called for calculation. The second deviation amount 532-2 is pre-set with an interface corresponding to the vehicle model and the kinematic model 531-2. When the second deviation amount calculation is required, the vehicle model and the kinematic model are directly called for calculation. The deviation correction module 533 includes a height correction calculation module 533-1 and a height correction calculation parameter optimization module 533-2; wherein the height correction calculation module 533-1 is preset with an interface corresponding to the kinematic solution module 531, and when the first height correction calculation is required, the vehicle model and the kinematic model 531-2 are directly called for calculation; the height correction calculation parameter optimization module 533-2 is used to optimize the first height correction calculation parameters in the vehicle model and kinematic model 531-2 modules when the effect is confirmed to be unsatisfactory.The enabling determination module 534 is configured to compare the vehicle speed, duration, and first deviation amount with a preset threshold. If the vehicle speed, duration, and first deviation amount are all greater than the preset deviation amount, the deviation function is enabled; otherwise, it is disabled and the second height correction value is assigned to 0. The vehicle speed determination constitutes the initial enabling determination, while the first deviation amount determination constitutes the final enabling determination. The effect confirmation module 535 is configured to compare the second deviation amount with a preset threshold. If the second deviation amount is greater than the preset threshold, the effect is deemed unsatisfactory; otherwise, the effect is satisfied and the first height correction value is assigned to the second height correction value.

[0217] The target height calculation module 540 is used to calculate the second target height based on the first target height and the second height correction amount. The target height calculation module 540 is divided into a first height acquisition module 541 and a second target height calculation module 542. Among them, the first target height acquisition module 541 obtains the target height corresponding to the mode of the height-adjustable suspension; the second target height calculation module calculates the target height based on the first target height and the second height correction amount. The calculation rule is: second target height = first target height + second height correction amount. The second target height is then limited. The limiting rule is: left suspension second target height - right suspension second target height ≤ 20mm. If it exceeds 20mm, the larger second target height is reduced until the left suspension second target height - right suspension second target height ≤ 20mm. Otherwise, the second target height does not need to be limited.

[0218] The drive control module 550 is used to increase or decrease the suspension height according to the difference between the current actual suspension height and the second target height, with the rule being height difference = second target height - actual suspension height; the drive control module 550 is also used to increase or decrease the suspension height according to the height difference and the second target height until the height reaches the second target height.

[0219] This embodiment also provides a vehicle deviation suppression device for implementing the aforementioned embodiments and preferred implementations. Details already described will not be repeated. As used below, the term "module" may refer to a combination of software and / or hardware that implements a predetermined function. While the devices described in the following embodiments are preferably implemented using software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0220] The embodiment of the present invention provides a vehicle deviation suppression device, such as Figure 10 As shown, the device includes:

[0221] An acquisition module 1001 is configured to acquire a dynamic equation between the suspension height adjustment amount of each wheel of the vehicle and the lateral force of the vehicle, established based on the characteristic parameters and state parameters of the vehicle, and to acquire the current characteristic parameters and current state parameters of the vehicle;

[0222] The first processing module 1002 is configured to substitute the suspension height adjustment value, current characteristic parameters, and current state parameters of each wheel into a dynamic equation to calculate the lateral force of the vehicle, and to calculate the lateral deviation of the vehicle within a set time under the action of the lateral force, wherein the initial value of the suspension height adjustment value of each wheel is 0;

[0223] The second processing module 1003 is configured to calculate the updated suspension height adjustment value corresponding to each wheel based on the lateral deviation value using the preset control parameters;

[0224] The third processing module 1004 is configured to update the current characteristic parameters based on the updated suspension height adjustment value corresponding to each wheel, return to the step of substituting the suspension height adjustment value, current characteristic parameters, and current state parameters of each wheel into the dynamic equation to calculate the lateral force of the vehicle, and optimize the preset control parameters until the updated lateral deviation is less than the preset deviation threshold, thereby obtaining the target suspension height adjustment value corresponding to each wheel;

[0225] The fourth processing module 1005 is used to control each wheel to adjust the suspension height according to the target suspension height adjustment amount corresponding to each wheel.

[0226] In some optional implementations, the vehicle deviation suppression device provided by the embodiment of the present invention further includes:

[0227] a fifth processing module, configured to determine whether the updated suspension height adjustment value corresponding to each wheel exceeds a preset suspension height adjustment range;

[0228] The sixth processing module is used to configure the updated suspension height adjustment amount corresponding to any wheel to the upper limit or lower limit of the preset suspension height adjustment range when the updated suspension height adjustment amount corresponding to the wheel exceeds the preset suspension height adjustment range.

[0229] In some optional implementations, the vehicle deviation suppression device provided by the embodiment of the present invention further includes:

[0230] a seventh processing module, configured to determine whether the updated suspension height adjustment value corresponding to each wheel is an upper limit or a lower limit of a preset suspension height adjustment range;

[0231] an eighth processing module, configured to determine the updated suspension height adjustment amount corresponding to each wheel as a target suspension height adjustment amount corresponding to the wheel when the updated suspension height adjustment amount corresponding to each wheel is an upper limit value or a lower limit value of a preset suspension height adjustment range;

[0232] The ninth processing module is used to control each wheel to adjust the suspension height according to the target suspension height adjustment amount corresponding to each wheel.

[0233] In some optional implementations, the vehicle deviation suppression device provided by the embodiment of the present invention further includes:

[0234] The tenth processing module is configured to call the third processing module to execute when the updated suspension height adjustment value corresponding to any wheel is not an upper limit or a lower limit of a preset suspension height adjustment range.

[0235] In some optional implementations, the third processing module 1004 includes:

[0236] The first processing unit is configured to construct an objective function using the lateral deviation amount, the suspension height adjustment amount, and the suspension temperature as decision variables;

[0237] The second processing unit is used to optimize and update the adjustment parameters of the PID control algorithm corresponding to each wheel using the objective function based on the corresponding relationship between the suspension height adjustment amount, the preset control parameters and the lateral deviation amount.

[0238] In some optional implementations, the objective function is expressed by the following formula:

[0239] (13)

[0240] in, is the suspension temperature, is the lateral deviation, Adjust the height of the suspension. , , is the weight coefficient, To set the time.

[0241] In some optional implementations, the second processing unit includes:

[0242] The first processing subunit is used to optimize and update the adjustment parameters of the PID control algorithm using the objective function based on the gradient descent algorithm.

[0243] In some optional implementations, the fourth processing module 1005 includes:

[0244] A first obtaining unit, configured to obtain a first suspension height corresponding to the vehicle in a current suspension mode;

[0245] a third processing unit, configured to determine a target suspension height corresponding to each wheel based on the first suspension height and the target suspension height adjustment amount corresponding to each wheel;

[0246] The fourth processing unit is configured to adjust the suspension height of each wheel based on the target suspension height corresponding to each wheel.

[0247] In some optional implementations, the vehicle deviation suppression device provided by the embodiment of the present invention further includes:

[0248] An eleventh processing module is used to determine whether the lateral deviation is less than a preset deviation threshold;

[0249] The twelfth processing module is configured to, when the lateral deviation amount is not less than a preset deviation amount threshold, execute the step of calculating the updated suspension height adjustment amount corresponding to each wheel based on the lateral deviation amount using preset control parameters.

[0250] In some optional implementations, the vehicle deviation suppression device provided by the embodiment of the present invention further includes:

[0251] A thirteenth processing module is used to obtain the current speed of the vehicle;

[0252] A fourteenth processing module is used to determine whether the current vehicle speed is greater than a preset vehicle speed threshold and whether the duration exceeds a preset time period;

[0253] The fifteenth processing module is used to execute the steps of obtaining the dynamic equation between the suspension height adjustment amount of each wheel of the vehicle and the lateral force of the vehicle, and obtaining the current characteristic parameters and current state parameters of the vehicle when the current vehicle speed is greater than the preset vehicle speed threshold for a time period greater than the preset time period.

[0254] The further functional description of each of the above modules and units is the same as that of the above corresponding method embodiments and will not be repeated here.

[0255] An embodiment of the present invention further provides a vehicle having an electrically controlled suspension system with adjustable height, the vehicle including a controller, such as Figure 11 As shown, the controller includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components utilize different buses to communicate with each other and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the computer device, including instructions stored in or on the memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 11 A processor 10 is taken as an example.

[0256] The processor 10 may be a central processing unit, a network processor, or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic, or any combination thereof.

[0257] The memory 20 stores instructions that can be executed by at least one processor 10, so as to enable at least one processor 10 to execute the method shown in the above embodiment.

[0258] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created based on the use of a computer device for displaying a small program landing page, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0259] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0260] The controller further includes a communication interface 30 for the vehicle to communicate with other devices or a communication network.

[0261] The embodiment of the present invention also provides a computer-readable storage medium. The above-mentioned method according to the embodiment of the present invention can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor or hardware, the method shown in the above embodiment is implemented.

[0262] A portion of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the form in which the computer program instruction exists in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc. Accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium that can be accessed by the computer.

[0263] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for suppressing vehicle deviation, characterized in that: The method comprises: Obtaining a dynamic equation between a suspension height adjustment amount of each wheel of the vehicle and a lateral force of the vehicle, and obtaining current characteristic parameters and current state parameters of the vehicle, wherein the dynamic equation is established based on the characteristic parameters and state parameters of the vehicle; Substituting the suspension height adjustment value of each wheel, the current characteristic parameter, and the current state parameter into the dynamic equation to calculate a lateral force of the vehicle, and calculating a lateral deviation amount of the vehicle under the action of the lateral force within a set time, wherein an initial value of the suspension height adjustment value of each wheel is 0; Calculating an updated suspension height adjustment value corresponding to each wheel based on the lateral deviation amount using preset control parameters; updating the current characteristic parameter based on the updated suspension height adjustment value corresponding to each wheel, returning to the step of substituting the suspension height adjustment value of each wheel, the current characteristic parameter, and the current state parameter into the dynamic equation to calculate the lateral force of the vehicle, and optimizing the preset control parameters until the updated lateral deviation amount is less than a preset deviation amount threshold, thereby obtaining a target suspension height adjustment value corresponding to each wheel; Control each wheel to adjust the suspension height according to the target suspension height adjustment amount corresponding to each wheel.

2. The method according to claim 1, characterized in that Before updating the current characteristic parameter based on the updated suspension height adjustment value corresponding to each wheel, the method further includes: Determining whether the updated suspension height adjustment value corresponding to each wheel exceeds a preset suspension height adjustment range; When the updated suspension height adjustment amount corresponding to any wheel exceeds the preset suspension height adjustment range, the updated suspension height adjustment amount corresponding to the wheel is configured as the upper limit value or the lower limit value of the preset suspension height adjustment range.

3. The method according to claim 2, characterized in that The method further comprises: Determining whether the updated suspension height adjustment value corresponding to each wheel is an upper limit or a lower limit of a preset suspension height adjustment range; When the updated suspension height adjustment amount corresponding to each wheel is an upper limit or a lower limit of a preset suspension height adjustment range, determining the updated suspension height adjustment amount corresponding to each wheel as a target suspension height adjustment amount corresponding to the wheel; Control each wheel to adjust the suspension height according to the target suspension height adjustment amount corresponding to each wheel.

4. The method according to claim 3, characterized in that The method further comprises: When the updated suspension height adjustment amount corresponding to any wheel is not the upper limit or the lower limit of the preset suspension height adjustment range, the process returns to the step of updating the current characteristic parameter based on the updated suspension height adjustment amount corresponding to each wheel.

5. The method according to claim 1, wherein The preset control parameters are adjustment parameters of the PID control algorithm, and the optimization of the preset control parameters includes: Constructing an objective function using the lateral deviation amount, the suspension height adjustment amount, and the suspension temperature as decision variables; Based on the corresponding relationship between the suspension height adjustment amount, the preset control parameter and the lateral deviation amount, the adjustment parameters of the PID control algorithm corresponding to each wheel are optimized and updated using the objective function.

6. The method according to claim 5, characterized in that The objective function is expressed by the following formula: in, is the suspension temperature, is the lateral deviation, Adjust the height of the suspension. , , is the weight coefficient, To set the time.

7. The method according to claim 5, characterized in that The optimizing and updating of the adjustment parameters of the PID control algorithm corresponding to each wheel by using the objective function includes: Based on the gradient descent algorithm, the objective function is used to optimize and update the adjustment parameters of the PID control algorithm corresponding to each wheel.

8. The method according to claim 1, characterized in that Controlling each wheel to adjust the suspension height according to the target suspension height adjustment amount corresponding to each wheel, including: Obtaining a first suspension height corresponding to the vehicle in a current suspension mode; determining a target suspension height corresponding to each wheel based on the first suspension height and the target suspension height adjustment amount corresponding to each wheel; Based on the target suspension height corresponding to each wheel, the suspension height of each wheel is adjusted separately.

9. The method according to any one of claims 1 to 8, characterized in that Before respectively calculating the updated suspension height adjustment value corresponding to each wheel using preset control parameters based on the lateral deviation amount, the method further includes: Determining whether the lateral deviation amount is less than a preset deviation amount threshold; When the lateral deviation amount is not less than a preset deviation amount threshold, a step of respectively calculating an updated suspension height adjustment amount corresponding to each wheel based on the lateral deviation amount using preset control parameters is performed.

10. The method according to any one of claims 1 to 8, characterized in that Before obtaining a dynamic equation between the suspension height adjustment amount of each wheel of the vehicle and the vehicle lateral force, established based on the characteristic parameters and state parameters of the vehicle, and obtaining the current characteristic parameters and current state parameters of the vehicle, the method further includes: Obtaining the current speed of the vehicle; Determining whether the duration for which the current vehicle speed is greater than a preset vehicle speed threshold exceeds a preset duration; When the duration for which the current vehicle speed is greater than the preset vehicle speed threshold is greater than the preset duration, the steps of obtaining a dynamic equation between the suspension height adjustment amount of each wheel of the vehicle and the lateral force of the vehicle, and obtaining the current characteristic parameters and current state parameters of the vehicle are executed.

11. A vehicle deviation suppression device, characterized in that: The device comprises: an acquisition module, configured to acquire a dynamic equation between the suspension height adjustment amount of each wheel of the vehicle and the lateral force of the vehicle, established based on the characteristic parameters and state parameters of the vehicle, and to acquire the current characteristic parameters and current state parameters of the vehicle; a first processing module, configured to substitute the suspension height adjustment value of each wheel, the current characteristic parameter, and the current state parameter into the dynamic equation to calculate a lateral force of the vehicle, and to calculate a lateral deviation of the vehicle within a set time under the action of the lateral force, wherein an initial value of the suspension height adjustment value of each wheel is 0; a second processing module, configured to calculate an updated suspension height adjustment value corresponding to each wheel based on the lateral deviation value using preset control parameters; a third processing module, configured to update the current characteristic parameter based on the updated suspension height adjustment value corresponding to each wheel, return to the step of substituting the suspension height adjustment value of each wheel, the current characteristic parameter, and the current state parameter into the dynamic equation to calculate the lateral force of the vehicle, and optimize the preset control parameters until the updated lateral deviation amount is less than a preset deviation amount threshold, thereby obtaining a target suspension height adjustment value corresponding to each wheel; The fourth processing module is used to control each wheel to adjust the suspension height according to the target suspension height adjustment amount corresponding to each wheel.

12. A vehicle, characterized in that: The vehicle includes a controller, the controller including: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 10 by executing the computer instructions.

13. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 10.

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