Damping control method, device and equipment of vehicle and medium

Abstract

The invention provides a damping control method, device and equipment for a vehicle and a medium. The method comprises the steps that the unsprung acceleration, the unsprung speed and the vehicle speed of the vehicle in the running process are obtained, and at least one of the height, the pitch angle speed and the pitch angle acceleration of a front axle suspension is obtained; determining pavement leveling information based on the unsprung acceleration and the unsprung speed; based on the vehicle speed and at least one of the front axle suspension height, the pitch angle speed and the pitch angle acceleration, whether the suspension stretching limiting risk exists or not is determined; and if the suspension stretching limiting risk exists and the road surface leveling information meets the preset road surface leveling requirement, the damping of the vehicle is controlled to be increased. The control strength of the vehicle body can be effectively enhanced under the corresponding working condition, and therefore the risk of stretching and limiting of the suspension is effectively reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle control, and particularly relates to a damping control method, device, equipment and medium for a vehicle. Background Art

[0002] The damping of a vehicle is an important factor determining the softness and hardness of the suspension system. In the case of relatively small damping, the control strength of the vehicle body is weak, allowing a large deformation space for the suspension spring, so that the impact of the road surface can be better absorbed, which is beneficial to vehicle comfort; in the case of relatively large damping, the control strength of the vehicle body is strong, and the movement of the vehicle body can be controlled more effectively.

[0003] In the related art, in order to avoid the decline in comfort caused by relatively large damping, part of the vehicle body control performance is usually sacrificed, resulting in the risk of suspension stretching limit in some working conditions because the suspension spring deforms too much when subjected to a large impact. Summary of the Invention

[0004] In view of the above-mentioned disadvantages of the prior art, the purpose of the present invention is to provide a damping control method, device, equipment and medium for a vehicle to solve the above problems.

[0005] The damping control method for a vehicle provided by the present invention includes:

[0006] Obtaining the unsprung acceleration, unsprung speed and vehicle speed during the driving process of the vehicle, and obtaining at least one of the front axle suspension height, pitch angular velocity and pitch angular acceleration;

[0007] Determining the road surface flatness information based on the unsprung acceleration and the unsprung speed;

[0008] Determining whether there is a risk of suspension stretching limit based on the vehicle speed and at least one of the front axle suspension height, the pitch angular velocity and the pitch angular acceleration;

[0009] If there is a risk of suspension stretching limit and the road surface flatness information meets the preset flat road surface requirement, controlling the damping of the vehicle to increase.

[0010] Optionally, the determining whether there is a risk of suspension stretching limit based on the vehicle speed and at least one of the front axle suspension height, the pitch angular velocity and the pitch angular acceleration includes:

[0011] Judging whether the front axle suspension height, the pitch angular velocity and the pitch angular acceleration progressively meet the preset conditions within a continuous driving duration;

[0012] Judging whether the vehicle speed is greater than a first preset threshold;

[0013] If the vehicle speed is greater than a first preset threshold, and the front axle suspension height, the pitch angular velocity, and the pitch angular acceleration progressively satisfy the preset conditions within a continuous driving duration, it is determined that there is a risk of suspension stretching limit.

[0014] Optionally, determining whether the front axle suspension height, the pitch angular velocity, and the pitch angular acceleration progressively satisfy the preset conditions within a continuous driving duration includes:

[0015] Determine whether the front axle suspension height is less than a second preset threshold;

[0016] If it is less than the second preset threshold, then determine whether the pitch angular velocity is continuously greater than a third preset threshold within a first driving duration;

[0017] If it is continuously greater than the third preset threshold, then determine whether the pitch angular acceleration is continuously greater than a fourth preset threshold within a second driving duration after the first driving duration;

[0018] If it is continuously greater than the fourth preset threshold, then determine that the front axle suspension height, the pitch angular velocity, and the pitch angular acceleration progressively satisfy the preset conditions within the continuous driving duration.

[0019] Optionally, the method further includes:

[0020] If the pitch angular acceleration is continuously greater than the fourth preset threshold within the second driving duration, then determine whether the change amount of the front axle suspension height within a first third driving duration is greater than a fifth preset threshold, where the third driving duration is less than the second driving duration;

[0021] If the pitch angular acceleration is continuously greater than the fourth preset threshold within the second driving duration, and the change amount of the front axle suspension height within the first third driving duration is greater than the fifth preset threshold, then determine that the front axle suspension height, the pitch angular velocity, and the pitch angular acceleration progressively satisfy the preset conditions within a continuous driving duration.

[0022] Optionally, if there is a risk of suspension stretching limit and the road surface flatness information meets the preset flat road surface requirements, controlling the damping of the vehicle to increase includes:

[0023] If there is a risk of suspension stretching limit and the road surface flatness information meets the preset flat road surface requirements, then control both the front axle damping and the rear axle damping of the vehicle to increase, and the increased front axle damping is greater than the increased rear axle damping.

[0024] Optionally, the road surface flatness information meets the preset flat road surface requirements, including:

[0025] If the road surface flatness information indicates a first-class road surface or a second-class road surface, it is determined that the road surface flatness information meets the flat road surface requirement, and the flatness of the first-class road surface is higher than that of the second-class road surface.

[0026] The controlling the damping of the vehicle to increase includes:

[0027] Controlling the damping of the vehicle to increase according to the road surface flatness information, wherein the increased damping of the second-class road surface is less than the increased damping of the first-class road surface.

[0028] Optionally, the controlling the damping of the vehicle to increase includes:

[0029] Controlling the damping of the vehicle to increase according to the vehicle speed, and the vehicle speed is positively correlated with the magnitude of the increased damping.

[0030] Optionally, when controlling the damping of the vehicle to increase, the vehicle enters a target control mode, and the method further includes:

[0031] If the road surface flatness information does not meet the preset flat road surface requirement, or the vehicle speed is less than or equal to the first preset threshold, or the pitch angular velocity continuously is less than or equal to the sixth preset threshold within the fourth driving duration, or a control instruction with a priority higher than the target control mode is received, then exit the target control mode, wherein the sixth preset threshold is less than the third preset threshold.

[0032] The vehicle damping control device provided by the present invention includes:

[0033] A first acquisition module, configured to acquire the unsprung acceleration, unsprung speed and vehicle speed of the vehicle during driving, and acquire at least one of the front axle suspension height, pitch angular velocity and pitch angular acceleration;

[0034] A first determination module, configured to determine road surface flatness information based on the unsprung acceleration and the unsprung speed;

[0035] A second determination module, configured to determine whether there is a risk of suspension stretching limit based on the vehicle speed and at least one of the front axle suspension height, the pitch angular velocity, and the pitch angular acceleration;

[0036] A control module, configured to control the damping of the vehicle to increase if there is a risk of suspension stretching limit and the road surface flatness information meets the preset flat road surface requirement.

[0037] Optionally, the second determination module is specifically configured to:

[0038] Determine whether the front axle suspension height, the pitch angular velocity, and the pitch angular acceleration progressively satisfy a preset condition within a continuous driving duration;

[0039] Determine whether the vehicle speed is greater than a first preset threshold;

[0040] If the vehicle speed is greater than the first preset threshold, and the front axle suspension height, the pitch angular velocity, and the pitch angular acceleration progressively satisfy the preset condition within a continuous driving duration, determine that there is a risk of suspension stretching limit.

[0041] Optionally, the second determination module is specifically further configured to:

[0042] Determine whether the front axle suspension height is less than a second preset threshold;

[0043] If it is less than the second preset threshold, then determine whether the pitch angular velocity is continuously greater than a third preset threshold within a first driving duration;

[0044] If it is continuously greater than the third preset threshold, then determine whether the pitch angular acceleration is continuously greater than a fourth preset threshold within a second driving duration after the first driving duration;

[0045] If it is continuously greater than the fourth preset threshold, then determine that the front axle suspension height, the pitch angular velocity, and the pitch angular acceleration progressively satisfy the preset condition within the continuous driving duration.

[0046] Optionally, the second determination module is specifically further configured to:

[0047] If the pitch angular acceleration is continuously greater than the fourth preset threshold within the second driving duration, then determine whether the change amount of the front axle suspension height within a first third driving duration is greater than a fifth preset threshold, where the first third driving duration is less than the second driving duration;

[0048] If the pitch angular acceleration is continuously greater than the fourth preset threshold within the second driving duration, and the change amount of the front axle suspension height within the first third driving duration is greater than the fifth preset threshold, then determine that the front axle suspension height, the pitch angular velocity, and the pitch angular acceleration progressively satisfy the preset condition within a continuous driving duration.

[0049] Optionally, the control module is specifically configured to:

[0050] If there is a risk of suspension stretching limit and the road surface flatness information meets the preset flat road requirement, then control both the front axle damping and the rear axle damping of the vehicle to increase, and the increased front axle damping is greater than the increased rear axle damping.

[0051] Optionally, the control module is further specifically configured to:

[0052] If the road surface flatness information indicates a first-class road surface or a second-class road surface, it is determined that the road surface flatness information meets the flat road surface requirement, and the flatness of the first-class road surface is higher than that of the second-class road surface;

[0053] According to the road surface grade information, control the damping of the vehicle to increase, wherein the increased damping of the second-class road surface is less than the increased damping of the first-class road surface.

[0054] Optionally, the control module is further specifically configured to:

[0055] According to the vehicle speed, control the damping of the vehicle to increase, and the vehicle speed is positively correlated with the magnitude of the increased damping.

[0056] Optionally, when controlling the damping of the vehicle to increase, the vehicle enters a target control mode, and the device further includes:

[0057] A target control mode exit module, configured to exit the target control mode if the road surface flatness information does not meet the preset flat road surface requirement, or the vehicle speed is less than or equal to the first preset threshold, or the pitch angular velocity continuously is less than or equal to the sixth preset threshold within a fourth driving duration, or a control instruction with a priority higher than the target control mode is received, wherein the sixth preset threshold is less than the third preset threshold.

[0058] The electronic device provided by the present invention, the electronic device includes:

[0059] One or more processors;

[0060] A storage device, configured to store one or more programs, and when the one or more programs are executed by the one or more processors, enable the electronic device to implement the vehicle damping control method described above.

[0061] The computer-readable storage medium provided by the present invention, on which a computer program is stored, and when the computer program is executed by a processor of a computer, enable the computer to execute the vehicle damping control method described above.

[0062] Beneficial effects of this technical solution: In this technical solution, the road surface flatness information is determined by the acceleration under the spring and the speed under the spring; whether there is a risk of suspension stretching limit is determined by the vehicle speed and at least one of the front axle suspension height, pitch angular velocity, and pitch angular acceleration; when there is a risk of suspension stretching limit and the road surface flatness information meets the preset flat road surface requirement, by controlling the damping of the vehicle to increase, the control intensity of the vehicle body can be effectively enhanced in this working condition, thereby effectively reducing the risk of suspension stretching limit.

[0063] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and do not limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] The accompanying drawings herein are incorporated into and constitute a part of this specification, showing embodiments consistent with the present invention, and are used together with the specification to explain the principles of the present invention. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts. In the drawings:

[0065] Figure 1 is a flowchart of a damping control method for a vehicle shown in an exemplary embodiment of the present invention;

[0066] Figure 2 is a block diagram of a damping control device for a vehicle shown in an exemplary embodiment of the present invention;

[0067] Figure 3 shows a schematic structural diagram of a computer system of an electronic device suitable for implementing the embodiments of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0068] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for explaining the present invention and not for limiting the protection scope of the present invention.

[0069] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention schematically. Therefore, only the components related to the present invention are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0070] In the following description, a large number of details are explored to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0071] To better understand the technical solutions of the embodiments of the present invention, the relevant content is described below.

[0072] The damping of a vehicle is an important factor determining the softness and hardness of the suspension system. The present invention is applied to an application scenario with adjustable damping, and the vehicle damping control method in the present invention can be executed by a damping control system. For example, currently, some vehicles are equipped with a Continuously Variable Damping Control (CDC) system, and the vehicle damping control method in the embodiments of the present invention can be applied to the CDC system. The CDC system can adjust the damping by controlling the magnitude of the current in the suspension system. In the case of a larger current, the damping is greater, that is, the control intensity on the vehicle body is greater.

[0073] The vehicle damping control method in the present invention is described below.

[0074] Please refer to Figure 1 , Figure 1 which is a flowchart of the vehicle damping control method shown in an exemplary embodiment of the present invention. As Figure 1 shown, in an exemplary embodiment, the vehicle damping control method includes steps S110 to S140, and each step is introduced in detail below.

[0075] Step S110, obtain the unsprung acceleration, unsprung speed and vehicle speed of the vehicle during driving, and obtain at least one of the front axle suspension height, pitch angular velocity and pitch angular acceleration.

[0076] The present invention obtains the above parameters in real time during the driving of the vehicle. The above parameters can all be collected by sensors configured in the vehicle, and the time interval of sensor collection can be preset, for example, set to 1 ms.

[0077] Step S120, determine the road surface flatness information based on the unsprung acceleration and the unsprung speed.

[0078] The unsprung acceleration and unsprung speed refer to the acceleration and speed of the part below the spring (including the wheels and brakes, etc.) in the suspension system, and are usually closely related to the unevenness of the road surface.

[0079] Based on this, in the embodiments of the present invention, the road surface flatness information can be obtained according to the above unsprung acceleration and unsprung speed. The road surface flatness information can reflect the road surface flatness.

[0080] In some embodiments, the road surface flatness information can be determined based on the sliding target value of the product of the unsprung acceleration and the unsprung speed within a calibrated time period. The calibrated time period is a pre-calibrated time period, which can be calibrated separately according to different vehicle types, etc., for example, it can be calibrated to 1.6 s.

[0081] For ease of understanding, the following is an exemplary description of how to determine the above-mentioned sliding target value and how to determine the road surface smoothness information based on the sliding target value.

[0082] Assume that the product of unsprung acceleration and unsprung velocity is determined every 4 ms, set the sliding window size to 400, and calculate the sliding target value of 400 data included in the sliding window of 1.6 s. The formula is as follows:

[0083]

[0084] Among them, a u is the unsprung acceleration, v u represents the unsprung speed, a u,1 and v u,1 The product of is the first window data in the window, totaling 400.

[0085] In some embodiments, when the vehicle speed is high, the sliding target value may also be determined in combination with the vehicle speed, and the formula is as follows:

[0086]

[0087] Wherein, v represents the vehicle speed. When the vehicle speed is greater than 100 kph, the vehicle speed can be introduced to calculate the sliding target value.

[0088] The sliding target value is continuously updated during the driving process of the vehicle, which is described in detail below.

[0089] After adding 4ms of sensor data, the latest product of unsprung acceleration and unsprung velocity is calculated again to obtain the newly added window data; after obtaining the newly added window data, the window slides 1 step, the above-mentioned newly added window data is moved into the window and the first window data in the window is discarded; then, based on the window data in the window, the updated sliding target value can be obtained.

[0090] The above sliding target value is negatively correlated with the road surface flatness, that is, the lower the sliding target value, the higher the road surface flatness. In the embodiment of the present invention, determining the road surface flatness information may include determining the road surface grade. By predetermining the mapping relationship between the sliding target value and the road surface grade, the road surface grade can be determined based on the sliding target value. The road surface grade reflects the flatness of the road surface. As the road surface grade increases, the road surface flatness decreases. As an example, the sliding target value below 1200m 2 / s 3 The road is determined as the first-class road, 1200m 2 / s 3 ~1800m 2 / s 3 The road is determined as a secondary road, which is greater than 1800m2 / s 3 is determined to be a road surface of grade three or above.

[0091] Step S130: Based on the vehicle speed and at least one of the front axle suspension height, the pitch angular velocity, and the pitch angular acceleration, determine whether there is a risk of suspension stretching limit.

[0092] The risk of suspension stretching limit refers to the risk that the suspension system reaches its travel limit during driving.

[0093] The front axle suspension height, the pitch angular velocity, and the pitch angular acceleration all reflect the stretching and compression of the suspension to a certain extent, and the vehicle speed will affect the amplitude of suspension stretching. Based on this, according to the vehicle speed and at least one of the front axle suspension height, the pitch angular velocity, and the pitch angular acceleration, it can be determined whether there is the above-mentioned risk of suspension stretching limit. The following specifically describes each parameter.

[0094] In the embodiment of the present invention, the front axle suspension height refers to the average value of the left front axle suspension height and the right front axle suspension height, and the front axle suspension height directly reflects the current compression or stretching degree of the suspension.

[0095] The pitch angular velocity reflects the dynamic change speed of the vehicle in the vertical direction. If the pitch angular velocity is large, it indicates that the body attitude is changing rapidly, and there may be rapid stretching or compression of the suspension.

[0096] The pitch angular acceleration reflects the acceleration of the body attitude change. If the pitch angular acceleration is large, there may be rapid stretching or compression of the suspension.

[0097] The vehicle speed affects the dynamic response of the suspension. When the suspension is stretched, the higher the vehicle speed, the more intense the dynamic response of the suspension, and there may be a risk of suspension stretching limit.

[0098] Step S140: If there is a risk of suspension stretching limit and the road surface flatness information meets the preset flat road surface requirements, control the damping of the vehicle to increase.

[0099] When the road surface flatness information meets the preset flat road surface requirements, it indicates that the road surface is relatively flat as a whole. Increasing the damping control will not deteriorate the impact feeling and tactile feeling of the road surface input. Among them, in the case where it is executed by the CDC system in the embodiment of the present invention, the above-mentioned increase in damping can be achieved by increasing the current of the suspension system.

[0100] It is worth noting that in the case where the above-mentioned road surface is relatively flat as a whole, there may also be some undulations, thus causing the above-mentioned risk of suspension stretching limit.

[0101] In the embodiment of the present invention, when there is a risk of suspension stretching limit and the road surface flatness information meets the preset flat road surface requirement, the damping of the vehicle is controlled to increase, which will not deteriorate the impact feeling and touch feeling of the road surface input, and can strengthen the vehicle body control and reduce the risk of suspension stretching limit.

[0102] Optionally, determining whether there is a risk of suspension stretching limit based on the vehicle speed and at least one of the front axle suspension height, the pitch angular velocity, and the pitch angular acceleration includes:

[0103] Judging whether the front axle suspension height, the pitch angular velocity, and the pitch angular acceleration progressively meet the preset conditions within a continuous driving duration;

[0104] Judging whether the vehicle speed is greater than a first preset threshold;

[0105] If the vehicle speed is greater than the first preset threshold and the front axle suspension height, the pitch angular velocity, and the pitch angular acceleration progressively meet the preset conditions within a continuous driving duration, it is determined that there is the risk of suspension stretching limit.

[0106] The above judgment of whether each parameter progressively meets the preset conditions includes first judging whether the front axle suspension height meets the preset conditions; if it is satisfied, then judging whether the pitch angular velocity meets the preset conditions; if it is satisfied, finally judging whether the pitch angular acceleration meets the preset conditions. When the pitch angular acceleration also meets the above preset conditions finally, it indicates that the road surface condition causes a large vehicle body response, and the vehicle body response is not an accidental instantaneous change, that is, there may be undulations on the road surface.

[0107] The above first preset threshold is a calibrated value, for example, it can be calibrated as 60 kph. When the vehicle speed is greater than the first preset threshold, it indicates that the vehicle speed is relatively high. When encountering undulations, the higher the vehicle speed, the higher the vehicle will be thrown up, which may cause suspension stretching limit.

[0108] The embodiment of the present invention judges whether there is a risk of suspension stretching limit through the above steps, including judging whether each parameter progressively meets the preset conditions, which can effectively avoid misjudgment due to accidental instantaneous changes and is beneficial to improving the stability and reliability of the system.

[0109] Optionally, judging whether the front axle suspension height, the pitch angular velocity, and the pitch angular acceleration progressively meet the preset conditions within a continuous driving duration includes:

[0110] Judging whether the front axle suspension height is less than a second preset threshold;

[0111] If the front axle suspension height is less than the second preset threshold, then judge whether the pitch angular velocity continuously is greater than a third preset threshold within a first driving duration;

[0112] If the pitch angular velocity continuously exceeds the third preset threshold within the first driving duration, it is determined whether the pitch angular acceleration continuously exceeds the fourth preset threshold within the second driving duration after the first driving duration;

[0113] If the pitch angular acceleration continuously exceeds the fourth preset threshold within the second driving duration, it is determined that the front axle suspension height, the pitch angular velocity, and the pitch angular acceleration progressively meet the preset conditions within consecutive driving durations.

[0114] The above-mentioned second preset threshold, third preset threshold, fourth preset threshold, first driving duration, and second driving duration are all calibration values, which can be calibrated based on different vehicle types.

[0115] During vehicle driving, if the vehicle encounters a section of undulating road surface that causes a body response, it usually may first cause the front axle suspension height to compress, then cause the pitch angular acceleration to continuously increase, and the pitch angular acceleration to continuously increase. Based on this, the above-mentioned second preset threshold of the present invention is less than 0, the third preset threshold is greater than 0, and the fourth preset threshold is greater than 0. When the above-mentioned front axle suspension height, pitch angular acceleration, and pitch angular acceleration respectively meet the above corresponding conditions, it indicates that the vehicle may currently be driving on an undulating road surface, and thus there may be a risk of suspension stretching limit when the current speed also exceeds the above-mentioned first preset threshold.

[0116] In the embodiment of the present invention, by first determining whether the front axle suspension height is less than the second preset threshold through the above method, and then sequentially determining whether the pitch angular velocity and the pitch angular acceleration continuously meet the corresponding conditions, it is beneficial to further effectively avoid misjudgment due to accidental instantaneous changes and improve the stability and reliability of the system.

[0117] Optionally, the method further includes:

[0118] If the pitch angular acceleration continuously exceeds the fourth preset threshold within the second driving duration, it is determined whether the change amount of the front axle suspension height within the first third driving duration is greater than the fifth preset threshold, where the third driving duration is less than the second driving duration;

[0119] If the pitch angular acceleration continuously exceeds the fourth preset threshold within the second driving duration, and the change amount of the front axle suspension height within the first third driving duration is greater than the fifth preset threshold, it is determined that the front axle suspension height, the pitch angular velocity, and the pitch angular acceleration progressively meet the preset conditions within consecutive driving durations.

[0120] The above-mentioned pre-third driving duration refers to the driving duration before the end moment of the second driving duration. For example, if it is determined that the pitch angular acceleration continuously exceeds the fourth preset threshold during the second driving duration, and the current moment is a, then the pre-third driving duration refers to the third driving duration before moment a. Both the third driving duration and the above-mentioned fifth preset threshold are calibration values.

[0121] In the embodiments of the present invention, before finally determining whether the above preset conditions are met, it is also determined whether the change amount of the front axle suspension height within the pre-third driving duration is greater than the above-mentioned fifth preset threshold, which can further determine whether it is likely to be driving on an undulating road surface and thus whether it is likely to cause a risk of suspension stretching limit, which is beneficial to improving accuracy.

[0122] In some embodiments, a flag bit can be used to determine whether to control the damping of the vehicle to increase. An exemplary description is given below.

[0123] The conditions for controlling the damping of the vehicle to increase are as follows:

[0124] A. The road surface flatness information meets the preset flat road requirements.

[0125] B. The vehicle speed is greater than the first preset threshold (for example, calibrated at 60 kph).

[0126] C. The displacement flag, the pitch angular velocity flag, and the pitch angular acceleration flag are set to 1. Specific descriptions are given below.

[0127] C1. First, if the front axle suspension height is lower than the second preset threshold (calibration value, for example, -40 mm), then at this time, the displacement flag is triggered to be set from 0 to 1 and lasts for 100 ms.

[0128] C2. Then, on the premise that the displacement flag is 1, if the pitch angular velocity continuously exceeds the third preset threshold (calibration value, for example, 0.12 radian / second) for the first driving duration (calibration value, for example, 80 ms), at this time, the pitch angular velocity flag is triggered to be set from 0 to 1 and lasts for 100 ms.

[0129] C3. Finally, on the premise that the pitch angular velocity flag is set from 0 to 1, if the pitch angular acceleration continuously exceeds the fourth preset threshold (calibration value, for example, 0.14 radian per second squared) for the second driving duration (calibration value, for example, 20 ms), and within the pre-third driving duration (calibration value, for example, 10 ms) at this moment, the change amount of the front axle suspension height is greater than the fifth preset threshold (calibration value, for example, 20 mm), at this time, the pitch angular acceleration flag is triggered to be set from 0 to 1.

[0130] When the above three conditions A, B, and C are met at the current moment, the mode flag is set to 1; when the mode flag is set to 1, it indicates that the road surface flatness information meets the preset flat road surface requirements and there is a risk of suspension stretching limit, and the damping of the vehicle can be controlled to increase.

[0131] Optionally, if there is a risk of suspension stretching limit and the road surface flatness information meets the preset flat road surface requirements, controlling the damping of the vehicle to increase includes:

[0132] If there is a risk of suspension stretching limit and the road surface flatness information meets the preset flat road surface requirements, control both the front axle damping and the rear axle damping of the vehicle to increase, and the increased front axle damping is greater than the increased rear axle damping.

[0133] During the driving process of the vehicle, when encountering an uneven road surface that causes the body to respond, usually the front axle responds to the uneven road surface first; it takes a certain judgment time for the front axle to respond to control the damping of the vehicle to increase. Based on this, in the embodiments of the present invention, the increased front axle damping is set to be greater than the increased rear axle damping, and the front axle is effectively controlled by a higher current, which is beneficial to further improving the vehicle body stability.

[0134] Optionally, the road surface flatness information meets the preset flat road surface requirements, including:

[0135] If the road surface flatness information indicates a first-class road surface or a second-class road surface, it is determined that the road surface flatness information meets the flat road surface requirements, and the flatness of the first-class road surface is higher than that of the second-class road surface;

[0136] Controlling the damping of the vehicle to increase includes:

[0137] According to the road surface flatness information, control the damping of the vehicle to increase, wherein the increased damping of the second-class road surface is less than the increased damping of the first-class road surface.

[0138] The determination methods of the first-class road surface and the second-class road surface can refer to the description of the road surface grade in the above embodiments. To avoid repetition, it will not be elaborated here.

[0139] The flatness of the first-class road surface is higher than that of the second-class road surface. In the embodiments of the present invention, by setting the increased damping of the second-class road surface to be less than the increased damping of the first-class road surface, it is beneficial to avoid deteriorating the impact feeling and touch feeling of the road surface input on the second-class road surface.

[0140] Optionally, controlling the damping of the vehicle to increase includes:

[0141] According to the vehicle speed, control the damping of the vehicle to increase, and the vehicle speed is positively correlated with the magnitude of the increased damping.

[0142] When the vehicle is driving on an uneven road surface, the higher the vehicle speed, the higher the body is lifted. Based on this, in the embodiments of the present invention, the vehicle speed is set to be positively correlated with the increased damping. When the vehicle speed is higher, the increased damping is greater. In this way, when the vehicle is driving at a high speed, the body control can be further strengthened, thereby further improving the body stability.

[0143] In some embodiments, the damping increase of the vehicle can be controlled according to the above vehicle speed and road surface flatness information at the same time. Taking current control of damping as an example, a specific description is given below.

[0144] In the embodiments of the present invention, the vehicle speed-current mapping table corresponding to the front axle of the first-class road surface and the vehicle speed-current mapping table corresponding to the rear axle, as well as the vehicle speed-current mapping table corresponding to the front axle of the second-class road surface and the vehicle speed-current mapping table corresponding to the rear axle can be calibrated respectively. The above mapping tables satisfy that under the same-class road surface and the same vehicle speed, the current of the front axle is greater than that of the rear axle, and under the same vehicle speed of the same axle, the current corresponding to the second-class road surface is less than that of the first-class road surface, and the current increases as the vehicle speed increases. As an example, the vehicle speed-current mapping table corresponding to the front axle of the first-class road surface and the vehicle speed-current mapping table corresponding to the rear axle can be calibrated first, and then the current in the table is multiplied by a coefficient less than 1 and greater than 0.8 to obtain the mapping table of the second-class road surface.

[0145] Before controlling the damping increase of the vehicle, the corresponding current can be obtained by querying the corresponding table, and the control of the damping increase of the vehicle can be realized by controlling through the corresponding current.

[0146] It is worth noting that after obtaining the corresponding current, the front and rear axles can be immediately raised to the corresponding current at the fastest current rising speed without going through any current gradient to prevent damping response lag. In the embodiments of the present invention, the front axle current can generally be set between 1200 mA and 1600 mA, and the rear axle current can generally be set between 600 mA and 1000 mA.

[0147] Optionally, when controlling the damping increase of the vehicle, the vehicle enters the target control mode, and the method further includes:

[0148] If the road surface flatness information does not meet the preset flat road surface requirement, or the vehicle speed is less than or equal to the first preset threshold, or the pitch angular velocity is continuously less than or equal to the sixth preset threshold within the fourth driving duration, or a control instruction with a priority higher than the target control mode is received, then the target control mode is exited, where the sixth preset threshold is less than the third preset threshold.

[0149] In this embodiment, controlling the damping increase of the vehicle means entering the target control mode. After entering the target control mode, it can be determined whether to exit the target control mode through the above judgment.

[0150] The above road surface leveling information does not meet the preset requirements for a flat road surface, for example, the road surface grade is greater than or equal to level three.

[0151] Both the above fourth driving duration and the sixth preset threshold are calibrated values. As an example, the fourth driving duration can be set to 500 milliseconds, and the sixth preset threshold can be set to 0.1 radian / second. The sixth preset threshold is less than the third preset threshold. By determining to exit the target control mode when the pitch angular velocity continuously is less than the sixth preset threshold within the fourth driving duration, the convergence control effect of the suspension action can be effectively improved, and repeated advancing and retreating under sine wave motion can be prevented.

[0152] In the embodiment of the present invention, through the above steps, it is beneficial to quickly exit the target control mode when encountering a bad road or after the vehicle body is stable, preventing the subsequent deterioration of road surface comfort.

[0153] During the process of vehicle verification, by using the damping control method of the vehicle in the embodiment of the present invention, while not affecting the secondary comfort of driving performance, the problem of suspension stretching limit on undulating road surfaces can be effectively solved, and stretching abnormal noise can be prevented. Specifically, in the related art, when passing through an undulating road surface at a speed above 60 kph, when the suspension stretching stroke reaches 99 mm, there will be a stretching limit impact. After using the damping control method of the vehicle in the embodiment of the present invention, the maximum stretching stroke moves to 75 mm, and there will be no stretching limit abnormal noise, and the overall control effect is improved by about 25%; and after passing through the undulating condition, the convergence of the vehicle body movement is improved, the number of perceptible movements in the movement stroke is reduced by one, and the suppression of the second peak value of the rear axle acceleration is improved by about 35%.

[0154] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The order of execution of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0155] Figure 2 is a block diagram of a damping control device of a vehicle shown in an exemplary embodiment of the present invention. As Figure 2 shown, the exemplary damping control device of the vehicle includes:

[0156] A first acquisition module 210, configured to acquire the unsprung acceleration, unsprung speed, and vehicle speed of the vehicle during driving, and acquire at least one of the front axle suspension height, pitch angular velocity, and pitch angular acceleration;

[0157] A first determination module 220, configured to determine road surface leveling information based on the unsprung acceleration and the unsprung speed;

[0158] The second determination module 230 is configured to determine whether there is a risk of suspension stretching limit based on the vehicle speed and at least one of the front axle suspension height, the pitch angular velocity, and the pitch angular acceleration;

[0159] The control module 240 is configured to increase the damping of the vehicle if there is a risk of suspension stretching limit and the road surface flatness information meets the preset flat road requirement.

[0160] Optionally, the second determination module 230 is specifically configured to:

[0161] Determine whether the front axle suspension height, the pitch angular velocity, and the pitch angular acceleration progressively meet the preset conditions within a continuous driving duration;

[0162] Determine whether the vehicle speed is greater than a first preset threshold;

[0163] If the vehicle speed is greater than the first preset threshold and the front axle suspension height, the pitch angular velocity, and the pitch angular acceleration progressively meet the preset conditions within a continuous driving duration, it is determined that there is a risk of suspension stretching limit.

[0164] Optionally, the second determination module 230 is specifically further configured to:

[0165] Determine whether the front axle suspension height is less than a second preset threshold;

[0166] If it is less than the second preset threshold, determine whether the pitch angular velocity is continuously greater than a third preset threshold within a first driving duration;

[0167] If it is continuously greater than the third preset threshold, determine whether the pitch angular acceleration is continuously greater than a fourth preset threshold within a second driving duration after the first driving duration;

[0168] If it is continuously greater than the fourth preset threshold, it is determined that the front axle suspension height, the pitch angular velocity, and the pitch angular acceleration progressively meet the preset conditions within the continuous driving duration.

[0169] Optionally, the second determination module 230 is specifically further configured to:

[0170] If the pitch angular acceleration is continuously greater than the fourth preset threshold within the second driving duration, determine whether the change amount of the front axle suspension height within a first third driving duration is greater than a fifth preset threshold, where the third driving duration is less than the second driving duration;

[0171] If the pitch angular acceleration continuously exceeds the fourth preset threshold within the second driving duration, and the change in the front axle suspension height within the first three driving durations exceeds the fifth preset threshold, it is determined that the front axle suspension height, the pitch angular velocity, and the pitch angular acceleration progressively meet the preset conditions within consecutive driving durations.

[0172] Optionally, the control module 240 is specifically configured to:

[0173] If there is a risk of suspension stretching limit and the road surface flatness information meets the requirements for a preset flat road surface, control both the front axle damping and the rear axle damping of the vehicle to increase, and the increased front axle damping is greater than the increased rear axle damping.

[0174] Optionally, the device further includes:

[0175] If the road surface flatness information indicates a first-level road surface or a second-level road surface, it is determined that the road surface flatness information meets the requirements for a flat road surface, and the flatness of the first-level road surface is higher than that of the second-level road surface;

[0176] The control module is specifically configured to:

[0177] According to the road surface grade information, control the damping of the vehicle to increase, where the increased damping of the second-level road surface is less than the increased damping of the first-level road surface.

[0178] Optionally, the control module 240 is further specifically configured to:

[0179] According to the vehicle speed, control the damping of the vehicle to increase, and the vehicle speed is positively correlated with the magnitude of the increased damping.

[0180] Optionally, when controlling the damping of the vehicle to increase, the vehicle enters the target control mode, and the device further includes:

[0181] A target control mode exit module, configured to exit the target control mode if the road surface flatness information does not meet the requirements for a preset flat road surface, or the vehicle speed is less than or equal to the first preset threshold, or the pitch angular velocity continuously is less than or equal to the sixth preset threshold within the fourth driving duration, or a control instruction with a priority higher than that of the target control mode is received, where the sixth preset threshold is less than the third preset threshold.

[0182] It should be noted that the damping control device of the vehicle provided in the above embodiments and the damping control method of the vehicle provided in the above embodiments belong to the same concept. The specific manners in which each module and unit perform operations have been described in detail in the method embodiments, and will not be elaborated herein. In practical applications, the damping control device of the vehicle provided in the above embodiments can, according to needs, allocate the above functions to different functional modules to complete, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above. This is not limited herein either.

[0183] An embodiment of the present invention further provides an electronic device, including: one or more processors; a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the damping control method of the vehicle provided in each of the above embodiments.

[0184] Figure 3 The structural schematic diagram of a computer system of an electronic device suitable for implementing the embodiments of the present invention is shown. It should be noted that Figure 3 The computer system 300 of the electronic device shown is only an example and should not impose any limitation on the functions and scope of use of the embodiments of the present invention.

[0185] As Figure 3 shown, the computer system 300 includes a central processing unit (CPU) 301, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 302 or the program loaded from the storage section 308 into the random access memory (RAM) 303, such as executing the method described in the above embodiments. In the RAM 303, various programs and data required for system operation are also stored. The CPU 301, ROM 302, and RAM 303 are connected to each other through a bus 304. The input / output (I / O) interface 305 is also connected to the bus 304.

[0186] The following components are connected to the I / O interface 305: an input section 306 including a keyboard, a mouse, etc.; an output section 307 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc. as well as a speaker, etc.; a storage section 308 including a hard disk, etc.; and a communication section 309 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 309 performs communication processing via a network such as the Internet. A drive 310 is also connected to the I / O interface 305 as required. A removable medium 311 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is mounted on the drive 310 as required so that a computer program read therefrom is installed into the storage section 308 as required.

[0187] Specifically, according to an embodiment of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, an embodiment of the present invention includes a computer program product that includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for performing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 309, and / or installed from the removable medium 311. When the computer program is executed by a central processing unit (CPU) 301, various functions defined in the system of the present invention are executed.

[0188] It should be noted that the computer-readable medium shown in the embodiments of the present invention can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable computer program. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted by any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0189] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present invention. Among them, each block in the flowchart or block diagram can represent a module, a program segment, or a part of code, and the above module, program segment, or part of code contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0190] The units involved in the embodiments of the present invention can be implemented in software or in hardware, and the described units can also be provided in a processor. Among them, the names of these units do not constitute a limitation to the unit itself in some cases.

[0191] Another aspect of the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor of a computer, the computer is caused to execute the damping control method of the vehicle as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiments, or may exist alone without being assembled into the electronic device.

[0192] Another aspect of the present invention also provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the damping control method of the vehicle provided in the above various embodiments.

[0193] The above embodiments are only used to exemplarily illustrate the principles and effects of the present invention, rather than to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A damping control method for a vehicle, characterized in that, Including: Obtaining the unsprung acceleration, unsprung speed and vehicle speed of the vehicle during driving, and obtaining at least one of the front axle suspension height, pitch angular velocity and pitch angular acceleration; Determining road surface flatness information based on the unsprung acceleration and the unsprung speed; Determining whether there is a risk of suspension stretching limit based on the vehicle speed and at least one of the front axle suspension height, the pitch angular velocity and the pitch angular acceleration; If there is a risk of suspension stretching limit and the road surface flatness information meets the preset flat road surface requirement, controlling the damping of the vehicle to increase.

2. The damping control method of a vehicle according to claim 1, characterized in that, The determining whether there is a risk of suspension stretching limit based on the vehicle speed and at least one of the front axle suspension height, the pitch angular velocity and the pitch angular acceleration includes: Judging whether the front axle suspension height, the pitch angular velocity and the pitch angular acceleration progressively meet the preset conditions within a continuous driving duration; Judging whether the vehicle speed is greater than a first preset threshold; If the vehicle speed is greater than the first preset threshold and the front axle suspension height, the pitch angular velocity and the pitch angular acceleration progressively meet the preset conditions within a continuous driving duration, determining that there is the risk of suspension stretching limit.

3. The damping control method of a vehicle according to claim 2, characterized in that, The judging whether the front axle suspension height, the pitch angular velocity and the pitch angular acceleration progressively meet the preset conditions within a continuous driving duration includes: Judging whether the front axle suspension height is less than a second preset threshold; If it is less than the second preset threshold, judging whether the pitch angular velocity continuously is greater than a third preset threshold within a first driving duration; If it continuously is greater than the third preset threshold, judging whether the pitch angular acceleration continuously is greater than a fourth preset threshold within a second driving duration after the first driving duration; If it continuously is greater than the fourth preset threshold, determining that the front axle suspension height, the pitch angular velocity and the pitch angular acceleration progressively meet the preset conditions within a continuous driving duration.

4. The damping control method of a vehicle according to claim 3, characterized in that, The method further includes: If the pitch angular acceleration continuously is greater than the fourth preset threshold within the second driving duration, judging whether the change amount of the front axle suspension height within a first third driving duration is greater than a fifth preset threshold, where the third driving duration is less than the second driving duration; If the pitch angular acceleration continuously is greater than the fourth preset threshold within the second driving duration and the change amount of the front axle suspension height within the first third driving duration is greater than the fifth preset threshold, determining that the front axle suspension height, the pitch angular velocity and the pitch angular acceleration progressively meet the preset conditions within a continuous driving duration.

5. The damping control method for a vehicle according to claim 1, characterized in that, The if there is a risk of suspension stretching limit and the road surface flatness information meets the preset flat road surface requirement, controlling the damping of the vehicle to increase includes: If there is a risk of suspension stretching limit and the road surface flatness information meets the preset flat road surface requirement, controlling both the front axle damping and the rear axle damping of the vehicle to increase, and the increased front axle damping is greater than the increased rear axle damping.

6. The damping control method of a vehicle according to any one of claims 1 to 5, characterized in that, The road surface flatness information meets the preset flat road surface requirement, including: If the road surface flatness information indicates a first-level road surface or a second-level road surface, it is determined that the road surface flatness information meets the requirements of the flat road surface, and the flatness of the first-level road surface is higher than that of the second-level road surface; The controlling the damping of the vehicle to increase includes: Controlling the damping of the vehicle to increase according to the road surface flatness information, wherein the increased damping of the second-level road surface is less than the increased damping of the first-level road surface.

7. The damping control method for a vehicle according to any one of claims 1 to 5, characterized in that, The controlling the damping of the vehicle to increase includes: Controlling the damping of the vehicle to increase according to the vehicle speed, and the vehicle speed is positively correlated with the magnitude of the increased damping.

8. The damping control method of a vehicle according to claim 3 or 4, characterized in that, When controlling the damping of the vehicle to increase, the vehicle enters the target control mode, and the method further includes: If the road surface flatness information does not meet the preset requirements of the flat road surface, or the vehicle speed is less than or equal to the first preset threshold, or the pitch angular velocity is continuously less than or equal to the sixth preset threshold within the fourth driving duration, or a control instruction with a priority higher than the target control mode is received, then exit the target control mode, wherein the sixth preset threshold is less than the third preset threshold.

9. A damping control device for a vehicle, characterized in that, Includes: A first acquisition module, configured to acquire the unsprung acceleration, unsprung speed, and vehicle speed of the vehicle during driving, and acquire at least one of the front axle suspension height, pitch angular velocity, and pitch angular acceleration; A first determination module, configured to determine the road surface flatness information based on the unsprung acceleration and the unsprung speed; A second determination module, configured to determine whether there is a risk of suspension stretching limit based on the vehicle speed and at least one of the front axle suspension height, the pitch angular velocity, and the pitch angular acceleration; A control module, configured to control the damping of the vehicle to increase if there is a risk of suspension stretching limit and the road surface flatness information meets the preset requirements of the flat road surface.

10. A device, characterized in that, Includes: One or more processors and a memory, The memory stores a computer program, and when the one or more processors execute the computer program, the device executes the vehicle damping control method according to any one of claims 1-8.

11. A computer-readable storage medium, characterized in that, Stores a computer program thereon, and when executed by one or more processors, causes the device to execute the vehicle damping control method according to any one of claims 1-8.

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