Snow removing method and device based on vehicle suspension vibration and vehicle

Abstract

The invention provides a snow removing method and device based on vehicle suspension vibration and a vehicle. The snow removing method comprises the steps that a differential snow removing mode used for removing accumulated snow covering the surface of the vehicle is triggered in response to the vehicle when a camping mode is started, and first mode information of the vehicle in the differential snow removing mode is determined, air springs arranged on the left side and the right side of the vehicle suspension are controlled to perform cyclic differential motion, so that a vehicle body of the vehicle generates periodic differential vibration; in response to the situation that the vehicle triggers the alternate snow removal mode when the camping mode is closed, second mode information of the vehicle in the differential snow removal mode is determined; and air springs arranged on the left side and the right side or the front side and the rear side of the vehicle suspension are controlled to conduct circulating inflation and deflation movement, so that a vehicle body of the vehicle generates periodic alternate vibration, and accumulated snow covering the surface of the vehicle is removed. By means of the method, the snow removing efficiency, effect and flexibility of the vehicle are improved, and then the driving performance and safety of the vehicle are improved.

Description

Technical Field

[0001] The present application relates to the technical fields of vehicle suspension control and vehicle snow removal, and in particular to a snow removal method, device and vehicle based on vehicle suspension vibration. Background Art

[0002] When there is ice and snow, it is very easy for vehicles parked outdoors to accumulate ice and snow on the body. The traditional way to remove snow is to remove the snow on the body by manual snow removal when the vehicle is stationary, which reduces the efficiency of removing snow from the vehicle and consumes manpower. At the same time, using tools to remove snow may cause scratches and damage to the body.

[0003] At present, most of the existing vehicle snow removal equipment have problems such as complex structure, inconvenient installation and poor snow removal effect. Different snow thickness distributions have different requirements for snow removal methods. The existing artificial snow removal methods and vehicle snow removal equipment are difficult to flexibly adapt to complex snow conditions, resulting in poor vehicle snow removal effect, which in turn reduces the vehicle's driving performance and safety. Summary of the Invention

[0004] In view of this, the purpose of the present application is to provide a snow removal method, device and vehicle based on vehicle suspension vibration, by controlling the air springs respectively arranged on the left and right sides of the vehicle suspension to perform cyclic differential movement when the vehicle turns on the camping mode, so that the vehicle body produces periodic differential vibration, or by controlling the air springs respectively arranged on the left and right sides or the front and rear sides of the vehicle suspension to perform cyclic inflation and deflation movement when the vehicle turns off the camping mode, so that the vehicle body produces periodic alternating vibration, so as to remove the snow covering the surface of the vehicle, thereby improving the efficiency, effect and flexibility of vehicle snow removal, and thereby improving the driving performance and safety of the vehicle.

[0005] An embodiment of the present application provides a snow removal method based on vehicle suspension vibration, the snow removal method comprising:

[0006] In response to a differential snow removal mode for removing snow covering a surface of the vehicle being triggered when the vehicle is in a camping mode, determining first mode information of the vehicle in the differential snow removal mode;

[0007] In the differential snow removal mode indicated by the first mode information, air springs provided on the left and right sides of the vehicle suspension are controlled to perform cyclic differential motion, so as to generate periodic differential vibrations on the vehicle body to remove snow covering the vehicle surface;

[0008] In response to the vehicle triggering an alternate snow removal mode for removing snow covering a surface of the vehicle when the camping mode is turned off, determining second mode information of the vehicle in the differential snow removal mode;

[0009] In the alternating snow removal mode indicated by the second mode information, the air springs respectively arranged on the left and right sides or the front and rear sides of the vehicle suspension are controlled to perform cyclic inflation and deflation movements, so that the vehicle body produces periodic alternating vibrations to remove snow covering the vehicle surface.

[0010] Furthermore, the first mode information at least includes whether the vehicle is in one of a fixed differential snow removal mode and a random differential snow removal mode; in the differential snow removal mode indicated by the first mode information, controlling the air springs provided on the left and right sides of the vehicle suspension to perform cyclic differential motion to cause the vehicle body to generate periodic differential vibrations to remove snow covering the vehicle surface includes:

[0011] When the first mode information indicates that the vehicle is in the fixed differential snow removal mode, determining a first target side and a second target side on a left side and a right side of a vehicle suspension based on snow thickness values corresponding to snow covered on a left side and a right side of the vehicle body, respectively;

[0012] During a first startup cycle, each air spring provided on the first target side of the vehicle suspension is controlled to be compressed upward at a first preset rate so that the corresponding extension amplitude of each air spring provided on the first target side increases from an equilibrium position to a first preset amplitude. Simultaneously, each air spring provided on the second target side of the vehicle suspension is controlled to be extended upward at a second preset rate so that the corresponding extension amplitude of each air spring provided on the second target side increases from an equilibrium position to a second preset amplitude. The difference between the first preset amplitude and the second preset amplitude is a preset difference.

[0013] During a first sustained period after the first start-up period, controlling the extension amplitude of each air spring provided on the first target side to be maintained at the first preset amplitude so that the first target side of the vehicle suspension forms a lifting trend, and simultaneously controlling each air spring provided on the second target side to be extended upward at a third preset rate so that the extension amplitude of each air spring provided on the second target side increases from the second preset amplitude to a third preset amplitude;

[0014] In a first reversal period following the first sustained period, each air spring provided on the first target side is controlled to extend downward at a fourth preset rate so that the corresponding extension amplitude of each air spring provided on the first target side decreases from the first preset amplitude to a fourth preset amplitude, and at the same time, each air spring provided on the second target side is controlled to be compressed downward at a fifth preset rate so that the corresponding extension amplitude of each air spring provided on the second target side decreases from the third preset amplitude to a fifth preset amplitude;

[0015] Each air spring provided on the first target side and each air spring provided on the second target side are respectively controlled to perform cyclic differential motion in the first starting period, the first continuous period and the first reversal period, so that the body of the vehicle produces periodic differential vibration to remove snow covering the surface of the vehicle.

[0016] Furthermore, the determining of the first target side and the second target side on the left side and the right side of the vehicle suspension based on the snow thickness values corresponding to the snow covered on the left side and the snow covered on the right side of the vehicle, respectively, includes:

[0017] respectively obtaining a first snow thickness value corresponding to the snow covering the left side of the vehicle body, and a second snow thickness value corresponding to the snow covering the right side of the vehicle body;

[0018] Determining whether the first snow thickness value is greater than the second snow thickness value;

[0019] If the first snow thickness value is greater than the second snow thickness value, determining the left side of the vehicle suspension as the first target side and determining the right side of the vehicle suspension as the second target side;

[0020] If the first snow thickness value is less than or equal to the second snow thickness value, the right side of the vehicle suspension is determined as the first target side, and the left side of the vehicle suspension is determined as the second target side.

[0021] Furthermore, in the differential snow removal mode indicated by the first mode information, controlling the air springs provided on the left and right sides of the vehicle suspension to perform cyclic differential motion to cause the vehicle body to generate periodic differential vibrations to remove snow covering the vehicle surface, further comprising:

[0022] When the first mode information indicates that the vehicle is in the random differential snow removal mode, determining a first target side and a second target side on a left side and a right side of a vehicle suspension based on snow thickness values corresponding to snow covered on a left side and snow covered on a right side of the vehicle, respectively;

[0023] During a second startup cycle, each air spring provided on the first target side of the vehicle suspension is controlled to be compressed upward at a first random rate so that the corresponding extension amplitude of each air spring provided on the first target side increases from an equilibrium position to a first random amplitude. Simultaneously, each air spring provided on the second target side of the vehicle suspension is controlled to be extended upward at a second random rate so that the corresponding extension amplitude of each air spring provided on the second target side increases from an equilibrium position to a second random amplitude. The difference between the first random amplitude and the second random amplitude is a random difference.

[0024] During a second continuous period after the second start-up period, controlling the extension amplitude of each air spring provided on the first target side to be maintained at the first random amplitude, and controlling the extension amplitude of each air spring provided on the second target side to be maintained at the second random amplitude, so as to generate differential vibrations in the vehicle body;

[0025] In a second reversal period following the second sustained period, each air spring provided on the first target side is controlled to extend downward at a third random rate so that the corresponding extension amplitude of each air spring provided on the first target side decreases from the first random amplitude to the third random amplitude, and at the same time, each air spring provided on the second target side is controlled to be compressed downward at a fourth random rate so that the corresponding extension amplitude of each air spring provided on the second target side decreases from the second random amplitude to the fourth random amplitude;

[0026] Each air spring provided on the first target side and each air spring provided on the second target side are respectively controlled to perform cyclic differential motion in the second starting period, the second continuous period and the second reversal period, so that the body of the vehicle produces irregular periodic differential vibration to remove snow covering the surface of the vehicle.

[0027] Furthermore, the second mode information at least includes whether the vehicle is in one of a left-right alternating snow removal mode and a front-rear alternating snow removal mode; in the alternating snow removal mode indicated by the second mode information, controlling the air springs respectively provided on the left and right sides or the front and rear sides of the vehicle suspension to perform cyclic inflation and deflation movements to cause the vehicle body to generate periodic alternating vibrations to remove snow covering the vehicle surface, including:

[0028] When the second mode information indicates that the vehicle is in the left-right alternating snow removal mode, determining a first target side and a second target side on a left side and a right side of a vehicle suspension based on snow thickness values corresponding to snow covered on a left side and snow covered on a right side of the vehicle, respectively;

[0029] In a first left-right alternating cycle, each air spring provided on the first target side of the vehicle suspension is controlled to be inflated at a first preset inflation rate, so that the extension amplitude corresponding to each air spring provided on the first target side increases from an equilibrium position to a first preset amplitude and is maintained at the first preset amplitude;

[0030] In a second left-right alternating cycle following the first left-right alternating cycle, each air spring provided on the second target side of the vehicle suspension is controlled to be inflated at a first preset inflation rate so that the extension amplitude corresponding to each air spring provided on the second target side increases from an equilibrium position to a first preset amplitude and is maintained at the first preset amplitude; and at the same time, each air spring provided on the first target side is controlled to be deflated at a first preset deflation rate so that the extension amplitude corresponding to each air spring provided on the first target side decreases from the first preset amplitude to an equilibrium position and is maintained at the equilibrium position;

[0031] In a third left-right alternating cycle following the second left-right alternating cycle, each air spring provided on the second target side is controlled to be deflated at a first preset deflation rate, so that the corresponding extension amplitude of each air spring provided on the second target side decreases from the first preset amplitude to an equilibrium position and remains at the equilibrium position;

[0032] Each air spring provided on the first target side and each air spring provided on the second target side are respectively controlled to perform cyclic inflation and deflation movements in the first left-right alternating cycle, the second left-right alternating cycle and the third left-right alternating cycle, so that the body of the vehicle vibrates alternately left and right to remove snow covering the surface of the vehicle.

[0033] Furthermore, in the alternating snow removal mode indicated by the second mode information, controlling the air springs provided on the left and right sides or the front and rear sides of the vehicle suspension to perform cyclic inflation and deflation movements to cause the vehicle body to vibrate periodically and alternately to remove snow covering the vehicle surface, further comprising:

[0034] When the second mode information indicates that the vehicle is in the front and rear alternating snow removal mode, determining a first target side and a second target side at the front side and the rear side of the vehicle suspension based on snow thickness values corresponding to snow covered on the front side and the rear side of the vehicle, respectively;

[0035] In a first forward-backward alternating cycle, each air spring provided on the first target side of the vehicle suspension is controlled to be inflated at a second preset inflation rate, so that the extension amplitude corresponding to each air spring provided on the first target side increases from an equilibrium position to a sixth preset amplitude and is maintained at the sixth preset amplitude;

[0036] In a second front-to-rear alternating cycle following the first front-to-rear alternating cycle, each air spring provided on the second target side of the vehicle suspension is controlled to be inflated at a second preset inflation rate so that the extension amplitude corresponding to each air spring provided on the second target side increases from an equilibrium position to a sixth preset amplitude and is maintained at the sixth preset amplitude; and at the same time, each air spring provided on the first target side is controlled to be deflated at a second preset deflation rate so that the extension amplitude corresponding to each air spring provided on the first target side decreases from the sixth preset amplitude to an equilibrium position and is maintained at the equilibrium position;

[0037] Each air spring provided on the first target side and each air spring provided on the second target side are controlled to perform cyclic inflation and deflation movements in the first front-to-rear alternating cycle and the second front-to-rear alternating cycle, so that the vehicle body vibrates alternately front-to-rear to remove snow covering the surface of the vehicle.

[0038] The present application also provides a snow removal device based on vehicle suspension vibration, the snow removal device comprising:

[0039] a first mode determination module configured to determine first mode information of the vehicle in the differential snow removal mode in response to triggering the differential snow removal mode for removing snow covering a surface of the vehicle when the vehicle is in the camping mode;

[0040] a differential snow removal control module configured to, in the differential snow removal mode indicated by the first mode information, control the air springs provided on the left and right sides of the vehicle suspension to perform cyclic differential motion, thereby causing the vehicle body to generate periodic differential vibrations to remove snow covering the vehicle surface;

[0041] a second mode determination module for determining second mode information of the vehicle in the differential snow removal mode in response to the vehicle triggering an alternate snow removal mode for removing snow covering a surface of the vehicle when the camping mode is turned off;

[0042] The alternating snow removal control module is used to control the air springs respectively arranged on the left and right sides or the front and rear sides of the vehicle suspension to perform cyclic inflation and deflation movements in the alternating snow removal mode indicated by the second mode information, so as to cause the vehicle body to vibrate periodically and alternately to remove snow covering the surface of the vehicle.

[0043] Furthermore, the first mode information at least includes whether the vehicle is in one of a fixed differential snow removal mode and a random differential snow removal mode; when the differential snow removal control module is configured to, in the differential snow removal mode indicated by the first mode information, control the air springs provided on the left and right sides of the vehicle suspension to perform cyclic differential motion, thereby causing the vehicle body to generate periodic differential vibrations to remove snow covering the vehicle surface, the differential snow removal control module is configured to:

[0044] When the first mode information indicates that the vehicle is in the fixed differential snow removal mode, determining a first target side and a second target side on a left side and a right side of a vehicle suspension based on snow thickness values corresponding to snow covered on a left side and a right side of the vehicle body, respectively;

[0045] During a first startup cycle, each air spring provided on the first target side of the vehicle suspension is controlled to be compressed upward at a first preset rate so that the corresponding extension amplitude of each air spring provided on the first target side increases from an equilibrium position to a first preset amplitude. Simultaneously, each air spring provided on the second target side of the vehicle suspension is controlled to be extended upward at a second preset rate so that the corresponding extension amplitude of each air spring provided on the second target side increases from an equilibrium position to a second preset amplitude. The difference between the first preset amplitude and the second preset amplitude is a preset difference.

[0046] During a first sustained period after the first start-up period, controlling the extension amplitude of each air spring provided on the first target side to be maintained at the first preset amplitude so that the first target side of the vehicle suspension forms a lifting trend, and simultaneously controlling each air spring provided on the second target side to be extended upward at a third preset rate so that the extension amplitude of each air spring provided on the second target side increases from the second preset amplitude to a third preset amplitude;

[0047] In a first reversal period following the first sustained period, each air spring provided on the first target side is controlled to extend downward at a fourth preset rate so that the corresponding extension amplitude of each air spring provided on the first target side decreases from the first preset amplitude to a fourth preset amplitude, and at the same time, each air spring provided on the second target side is controlled to be compressed downward at a fifth preset rate so that the corresponding extension amplitude of each air spring provided on the second target side decreases from the third preset amplitude to a fifth preset amplitude;

[0048] Each air spring provided on the first target side and each air spring provided on the second target side are respectively controlled to perform cyclic differential motion in the first starting period, the first continuous period and the first reversal period, so that the body of the vehicle produces periodic differential vibration to remove snow covering the surface of the vehicle.

[0049] Furthermore, when the differential snow removal control module is configured to determine the first target side and the second target side on the left side and the right side of the vehicle suspension based on the snow thickness values corresponding to the snow covered on the left side and the snow covered on the right side of the vehicle body, the differential snow removal control module is configured to:

[0050] respectively obtaining a first snow thickness value corresponding to the snow covering the left side of the vehicle body, and a second snow thickness value corresponding to the snow covering the right side of the vehicle body;

[0051] Determining whether the first snow thickness value is greater than the second snow thickness value;

[0052] If the first snow thickness value is greater than the second snow thickness value, determining the left side of the vehicle suspension as the first target side and determining the right side of the vehicle suspension as the second target side;

[0053] If the first snow thickness value is less than or equal to the second snow thickness value, the right side of the vehicle suspension is determined as the first target side, and the left side of the vehicle suspension is determined as the second target side.

[0054] Furthermore, when the differential snow removal control module is configured to control the air springs provided on the left and right sides of the vehicle suspension to perform cyclic differential motion in the differential snow removal mode indicated by the first mode information, so as to cause the vehicle body to generate periodic differential vibrations to remove snow covering the vehicle surface, the differential snow removal control module is further configured to:

[0055] When the first mode information indicates that the vehicle is in the random differential snow removal mode, determining a first target side and a second target side on a left side and a right side of a vehicle suspension based on snow thickness values corresponding to snow covered on a left side and snow covered on a right side of the vehicle, respectively;

[0056] During a second startup cycle, each air spring provided on the first target side of the vehicle suspension is controlled to be compressed upward at a first random rate so that the corresponding extension amplitude of each air spring provided on the first target side increases from an equilibrium position to a first random amplitude. Simultaneously, each air spring provided on the second target side of the vehicle suspension is controlled to be extended upward at a second random rate so that the corresponding extension amplitude of each air spring provided on the second target side increases from an equilibrium position to a second random amplitude. The difference between the first random amplitude and the second random amplitude is a random difference.

[0057] During a second continuous period after the second start-up period, controlling the extension amplitude of each air spring provided on the first target side to be maintained at the first random amplitude, and controlling the extension amplitude of each air spring provided on the second target side to be maintained at the second random amplitude, so as to generate differential vibrations in the vehicle body;

[0058] In a second reversal period following the second sustained period, each air spring provided on the first target side is controlled to extend downward at a third random rate so that the corresponding extension amplitude of each air spring provided on the first target side decreases from the first random amplitude to the third random amplitude, and at the same time, each air spring provided on the second target side is controlled to be compressed downward at a fourth random rate so that the corresponding extension amplitude of each air spring provided on the second target side decreases from the second random amplitude to the fourth random amplitude;

[0059] Each air spring provided on the first target side and each air spring provided on the second target side are respectively controlled to perform cyclic differential motion in the second starting period, the second continuous period and the second reversal period, so that the body of the vehicle produces irregular periodic differential vibration to remove snow covering the surface of the vehicle.

[0060] Furthermore, the second mode information includes at least one of a left-right alternating snow removal mode and a front-back alternating snow removal mode. When the alternating snow removal control module is configured to, in the alternating snow removal mode indicated by the second mode information, control the air springs provided on the left and right sides or the front and back sides of the vehicle suspension to perform cyclic inflation and deflation movements, thereby causing the vehicle body to vibrate periodically and alternately to remove snow covering the vehicle surface, the alternating snow removal control module is configured to:

[0061] When the second mode information indicates that the vehicle is in the left-right alternating snow removal mode, determining a first target side and a second target side on a left side and a right side of a vehicle suspension based on snow thickness values corresponding to snow covered on a left side and snow covered on a right side of the vehicle, respectively;

[0062] In a first left-right alternating cycle, each air spring provided on the first target side of the vehicle suspension is controlled to be inflated at a first preset inflation rate, so that the extension amplitude corresponding to each air spring provided on the first target side increases from an equilibrium position to a first preset amplitude and is maintained at the first preset amplitude;

[0063] In a second left-right alternating cycle following the first left-right alternating cycle, each air spring provided on the second target side of the vehicle suspension is controlled to be inflated at a first preset inflation rate so that the extension amplitude corresponding to each air spring provided on the second target side increases from an equilibrium position to a first preset amplitude and is maintained at the first preset amplitude; and at the same time, each air spring provided on the first target side is controlled to be deflated at a first preset deflation rate so that the extension amplitude corresponding to each air spring provided on the first target side decreases from the first preset amplitude to an equilibrium position and is maintained at the equilibrium position;

[0064] In a third left-right alternating cycle following the second left-right alternating cycle, each air spring provided on the second target side is controlled to be deflated at a first preset deflation rate, so that the corresponding extension amplitude of each air spring provided on the second target side decreases from the first preset amplitude to an equilibrium position and remains at the equilibrium position;

[0065] Each air spring provided on the first target side and each air spring provided on the second target side are respectively controlled to perform cyclic inflation and deflation movements in the first left-right alternating cycle, the second left-right alternating cycle and the third left-right alternating cycle, so that the body of the vehicle vibrates alternately left and right to remove snow covering the surface of the vehicle.

[0066] Furthermore, when the alternating snow removal control module is configured to control the air springs provided on the left and right sides or the front and rear sides of the vehicle suspension to perform cyclic inflation and deflation movements in the alternating snow removal mode indicated by the second mode information, so as to cause the vehicle body to vibrate periodically and alternately to remove snow covering the vehicle surface, the alternating snow removal control module is further configured to:

[0067] When the second mode information indicates that the vehicle is in the front and rear alternating snow removal mode, determining a first target side and a second target side at the front side and the rear side of the vehicle suspension based on snow thickness values corresponding to snow covered on the front side and the rear side of the vehicle, respectively;

[0068] In a first forward-backward alternating cycle, each air spring provided on the first target side of the vehicle suspension is controlled to be inflated at a second preset inflation rate, so that the extension amplitude corresponding to each air spring provided on the first target side increases from an equilibrium position to a sixth preset amplitude and is maintained at the sixth preset amplitude;

[0069] In a second front-to-rear alternating cycle following the first front-to-rear alternating cycle, each air spring provided on the second target side of the vehicle suspension is controlled to be inflated at a second preset inflation rate so that the extension amplitude corresponding to each air spring provided on the second target side increases from an equilibrium position to a sixth preset amplitude and is maintained at the sixth preset amplitude; and at the same time, each air spring provided on the first target side is controlled to be deflated at a second preset deflation rate so that the extension amplitude corresponding to each air spring provided on the first target side decreases from the sixth preset amplitude to an equilibrium position and is maintained at the equilibrium position;

[0070] Each air spring provided on the first target side and each air spring provided on the second target side are controlled to perform cyclic inflation and deflation movements in the first front-to-rear alternating cycle and the second front-to-rear alternating cycle, so that the vehicle body vibrates alternately front-to-rear to remove snow covering the surface of the vehicle.

[0071] An embodiment of the present application also provides a vehicle that performs the steps of the above-mentioned snow removal method based on vehicle suspension vibration.

[0072] An embodiment of the present application also provides an electronic device, comprising: a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the snow removal method based on vehicle suspension vibration as described above are performed.

[0073] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned snow removal method based on vehicle suspension vibration are executed.

[0074] The embodiments of the present application provide a snow removal method, device, and vehicle based on vehicle suspension vibration. The snow removal method includes: in response to a differential snow removal mode for removing snow covering the vehicle surface being triggered when the vehicle is in camping mode, determining first mode information of the vehicle in the differential snow removal mode; in the differential snow removal mode indicated by the first mode information, controlling air springs respectively provided on the left and right sides of the vehicle suspension to perform cyclic differential motion, so that the vehicle body produces periodic differential vibrations to remove snow covering the vehicle surface; in response to an alternating snow removal mode for removing snow covering the vehicle surface being triggered when the vehicle is in camping mode, determining second mode information of the vehicle in the differential snow removal mode; in the alternating snow removal mode indicated by the second mode information, controlling air springs respectively provided on the left and right sides or front and rear sides of the vehicle suspension to perform cyclic inflation and deflation motion, so that the vehicle body produces periodic alternating vibrations to remove snow covering the vehicle surface.

[0075] Compared with the prior art method of removing snow from the vehicle body by artificial snow removal and using vehicle snow removal equipment when the vehicle is stationary, the differential snow removal mode is triggered when the vehicle turns on the camping mode, and the air springs respectively arranged on the left and right sides of the vehicle suspension are controlled to perform cyclic differential movement, so that the vehicle body produces periodic differential vibrations, or the alternating snow removal mode is triggered when the vehicle turns off the camping mode, and the air springs respectively arranged on the left and right sides or the front and rear sides of the vehicle suspension are controlled to perform cyclic inflation and deflation movement, so that the vehicle body produces periodic alternating vibrations, so as to remove the snow covering the surface of the vehicle, thereby improving the efficiency, effect and flexibility of vehicle snow removal, and thereby improving the driving performance and safety of the vehicle.

[0076] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0078] Figure 1 A flowchart of a snow removal method based on vehicle suspension vibration provided in an embodiment of the present application;

[0079] Figure 2 A curve diagram of suspension amplitude variation in a fixed differential snow removal mode provided in an embodiment of the present application;

[0080] Figure 3 A curve diagram of suspension amplitude variation in a random differential snow removal mode provided in an embodiment of the present application;

[0081] Figure 4 A curve diagram of suspension amplitude variation in a left-right alternating snow removal mode provided in an embodiment of the present application;

[0082] Figure 5 A curve diagram of suspension amplitude variation in a front-to-rear alternating snow removal mode provided in an embodiment of the present application;

[0083] Figure 6 A schematic structural diagram of a snow removal device based on vehicle suspension vibration provided in an embodiment of the present application;

[0084] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0085] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for which protection is claimed, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work falls within the scope of protection of the present application.

[0086] Research has found that when there is ice and snow, it is very easy for vehicles parked outdoors to accumulate ice and snow on the body. The traditional way to remove snow is to remove the snow on the body by manual snow removal when the vehicle is stationary, which reduces the efficiency of removing snow from the vehicle and consumes manpower. At the same time, using tools to remove snow may cause scratches and damage to the body.

[0087] At present, most of the existing vehicle snow removal equipment have problems such as complex structure, inconvenient installation and poor snow removal effect. Different snow thickness distributions have different requirements for snow removal methods. The existing artificial snow removal methods and vehicle snow removal equipment are difficult to flexibly adapt to complex snow conditions, resulting in poor vehicle snow removal effect, which in turn reduces the vehicle's driving performance and safety.

[0088] Based on this, an embodiment of the present application provides a snow removal method based on vehicle suspension vibration, which controls the air springs respectively arranged on the left and right sides of the vehicle suspension to perform cyclic differential movement through a differential snow removal mode triggered when the vehicle turns on the camping mode, causing the vehicle body to produce periodic differential vibrations, or controls the air springs respectively arranged on the left and right sides or the front and rear sides of the vehicle suspension to perform cyclic inflation and deflation movement when the vehicle turns off the camping mode, causing the vehicle body to produce periodic alternating vibrations, so as to remove the snow covering the surface of the vehicle, thereby improving the efficiency, effect and flexibility of vehicle snow removal, and thereby improving the vehicle's driving performance and safety.

[0089] See also Figure 1 , Figure 1 This is a flow chart of a snow removal method based on vehicle suspension vibration provided in an embodiment of the present application. Figure 1 As shown in , the snow removal method based on vehicle suspension vibration provided by the embodiment of the present application includes:

[0090] S100. In response to a vehicle triggering a differential snow removal mode for removing snow covering a vehicle surface when a camping mode is turned on, determining first mode information of the vehicle in the differential snow removal mode.

[0091] It should be noted that the control method for removing snow covering a vehicle provided in the embodiment of the present application can be applied to the vehicle's continuous damping control system (CDC Continuous Damping Control, CDC). The continuous damping control system is arranged in the vehicle's suspension system, and provides the driver and passengers with better driving comfort and handling stability by adjusting the extension amplitude of the shock absorber (air spring at each wheel) in real time.

[0092] Here, the camping mode is a collection of functions designed specifically to enhance the practicality and comfort of the vehicle during outdoor activities, especially camping. It aims to utilize the car's electrical system, spatial layout and other facilities to make the vehicle a versatile mobile base, supporting users to enjoy outdoor life away from cities and traditional accommodation facilities.

[0093] Among them, when the vehicle is turned on in camping mode, the user can turn on the differential snow removal mode in camping mode through the central control screen in the car or the vehicle's application to remove snow covering the vehicle surface. The differential movement of the vehicle's suspension is used to cause the vehicle body to produce periodic differential vibrations to remove snow covering the vehicle surface.

[0094] In an embodiment of the present application, the differential snow removal mode includes allowing a large amount of compressed air to flow rapidly into the air spring on the side of the vehicle body where the snow is thicker, causing the internal air pressure to rise rapidly, thereby enabling the suspension on this side to extend upward at a relatively fast speed and a large amplitude. As for the air spring on the side of the vehicle body where the snow is thinner, only a small amount of compressed air is allowed to flow slowly into the air spring, causing the internal air pressure to rise slowly, thereby enabling the suspension on this side to extend at a slower speed and a smaller amplitude. Furthermore, during the movement of the suspension on both sides, after reaching the preset amplitude and cycle time, the control signals of the charging and discharging solenoid valves of the air springs on both sides are rapidly reversed, causing the suspension on both sides to move in the opposite direction. Through this differential movement mode, the vehicle body produces a complex shaking effect, thereby improving the efficiency and effect of snow removal of the vehicle.

[0095] The first mode information at least includes whether the vehicle is in one of a fixed differential snow removal mode and a random differential snow removal mode.

[0096] Here, the fixed differential snow removal mode and the random differential snow removal mode can be selected externally by the user, or determined by the CDC controller based on the uniformity of snow accumulation and whether there is ice.

[0097] Specifically, when the snow covering the vehicle surface is uniform and not frozen, the fixed differential snow removal mode may be determined; when the snow covering the vehicle surface is uneven and frozen, the random differential snow removal mode may be determined.

[0098] Furthermore, the differences between the fixed differential snow removal mode and the random differential snow removal mode are mainly in terms of cycle time, amplitude difference and frequency characteristics. For each difference, the fixed differential snow removal mode adopts preset parameters, while the random differential snow removal mode adopts random parameters.

[0099] S200. In the differential snow removal mode indicated by the first mode information, the air springs respectively provided on the left and right sides of the vehicle suspension are controlled to perform cyclic differential motion, so that the vehicle body produces periodic differential vibrations to remove snow covering the vehicle surface.

[0100] In an embodiment of the present application, the air springs include a left front wheel air spring, a left rear wheel air spring, a right front wheel air spring and a right rear wheel air spring.

[0101] Among them, the left front wheel air spring and the left rear wheel air spring are the air springs corresponding to the left side of the vehicle suspension; the right front wheel air spring and the right rear wheel air spring are the air springs corresponding to the right side of the vehicle suspension; the left front wheel air spring and the right front wheel air spring are the air springs corresponding to the front side of the vehicle suspension; the left rear wheel air spring and the right rear wheel air spring are the air springs corresponding to the rear side of the vehicle suspension.

[0102] Here, the air springs installed on the left and right sides of the vehicle suspension perform differential movement as an inertial snow removal method. The asymmetric vibration formed causes the vehicle body to produce a roll acceleration, and the inertial force is used to destroy the adhesion between the snow and the vehicle body, which is more efficient than symmetrical vibration.

[0103] In the embodiment of the present application, the differential of the fixed differential snow removal mode is a linear sine superposition, and the differential of the random differential snow removal mode is a nonlinear random modulation, which is suitable for a continuous energy input field.

[0104] Among them, the fixed differential snow removal mode is aimed at snow with uniform but strong adhesion. It uses sinusoidal vibration of fixed frequency to generate continuous rolling torque to efficiently shake off the snow. The random differential snow removal mode is aimed at snow mixed with ice particles and thin snow layers. Through random amplitude and frequency, it covers the natural frequencies of various snow accumulations and destroys complex adhesion.

[0105] In one embodiment of the present application, during specific implementation, step S200 may include:

[0106] S211. When the first mode information indicates that the vehicle is in the fixed differential snow removal mode, based on the snow thickness values corresponding to the snow covering the left side and the snow covering the right side of the vehicle body, respectively, a first target side and a second target side are correspondingly determined on the left and right sides of the vehicle suspension.

[0107] In one embodiment of the present application, during specific implementation, step S211 may include:

[0108] S2111. Obtain a first snow thickness value corresponding to the snow covering the left side of the vehicle body, and a second snow thickness value corresponding to the snow covering the right side of the vehicle body.

[0109] In an embodiment of the present application, the vehicle is provided with ultrasonic snow thickness sensors at least in multiple locations, such as the roof, the side of the vehicle body and the bumper. When the ultrasonic snow thickness sensor is working, it transmits high-frequency ultrasonic pulses to the snow surface covered on the vehicle surface and receives the reflected ultrasonic signal. Then, based on the propagation speed of the ultrasonic wave in the air and the time difference between the transmitted and received signals, the distance from the sensor to the snow surface is calculated, and the snow thickness value corresponding to the snow covering the vehicle surface is obtained.

[0110] In this step, an ultrasonic snow thickness sensor is used to obtain a first snow thickness value (unit: cm) corresponding to the snow covering the left side of the vehicle body, and a second snow thickness value (unit: cm) corresponding to the snow covering the right side of the vehicle body.

[0111] S2112: Determine whether the first snow thickness value is greater than the second snow thickness value.

[0112] In this step, the first snow thickness value is compared with the second snow thickness value to determine whether the first snow thickness value is greater than the second snow thickness value, and a determination result is obtained.

[0113] S2113. If the first snow thickness value is greater than the second snow thickness value, determine the left side of the vehicle suspension as the first target side, and determine the right side of the vehicle suspension as the second target side.

[0114] S2114. If the first snow thickness value is less than or equal to the second snow thickness value, determine the right side of the vehicle suspension as the first target side, and determine the left side of the vehicle suspension as the second target side.

[0115] In an embodiment of the present application, the side of the vehicle with a larger snow thickness value corresponding to the snow covered on each side of the vehicle body is determined as the first target side, and the side of the vehicle with a smaller snow thickness value corresponding to the snow covered on each side of the vehicle body is determined as the second target side.

[0116] S212. In the first startup cycle, each air spring of the vehicle suspension provided on the first target side is controlled to be compressed upward at a first preset rate so that the corresponding extension amplitude of each air spring provided on the first target side increases from the equilibrium position to the first preset amplitude. At the same time, each air spring of the vehicle suspension provided on the second target side is controlled to be extended upward at a second preset rate so that the corresponding extension amplitude of each air spring provided on the second target side increases from the equilibrium position to the second preset amplitude.

[0117] The difference between the first preset amplitude and the second preset amplitude is a preset difference, and the first preset amplitude is greater than the second preset amplitude.

[0118] In an embodiment of the present application, the first starting cycle is a differentiated inflation starting cycle of the first target side and the second target side of the vehicle suspension. In the first starting cycle, the first target side suspension of the vehicle suspension is compressed to increase the ground pressure, and the second target side suspension is extended to balance the vehicle body.

[0119] In this step, for each air spring set at the front and rear wheels on the first target side, a large amount of compressed air is controlled to flow quickly into each air spring set at the front and rear wheels on the first target side, so that the internal air pressure rises rapidly, and it is compressed upward at a faster first preset rate, and the amplitude increases linearly, and rises from the equilibrium position to the first preset amplitude with the extension amplitude corresponding to each air spring set on the first target side.

[0120] Furthermore, for each air spring set at the front and rear wheels on the second target side, a small amount of compressed air is controlled to slowly flow into each air spring set at the front and rear wheels on the second target side, so that the internal air pressure thereof slowly rises, and it stretches upward at a slower second preset rate, and the amplitude increases slowly, so that the corresponding extension amplitude of each air spring set on the second target side rises from the equilibrium position to the second preset amplitude.

[0121] Among them, the first preset rate is greater than the second preset rate, the extension amplitude corresponding to the equilibrium position can be set to 0mm, the first preset amplitude can be selected within the range of 20mm to 30mm according to the actual snow removal requirements and vehicle suspension characteristics, and the second preset amplitude can be selected within the range of 10mm to 15mm according to the actual snow removal requirements and vehicle suspension characteristics.

[0122] S213. In the first continuous period after the first start-up period, the extension amplitude corresponding to each air spring set on the first target side is controlled to be maintained at the first preset amplitude, so that the first target side of the vehicle suspension forms a lifting trend, and at the same time, each air spring set on the second target side is controlled to extend upward at a third preset rate, so that the extension amplitude corresponding to each air spring set on the second target side increases from the second preset amplitude to the third preset amplitude.

[0123] In an embodiment of the present application, the first continuous period is a continuous differentiated motion period of the first target side and the second target side of the vehicle suspension. In the first continuous period, the first target side suspension and the second target side of the vehicle suspension form an asymmetric differential to concentrate energy on the first target side.

[0124] In this step, for each air spring set at the front and rear wheels on the first target side, the corresponding extension amplitude of each air spring set on the first target side is controlled to be maintained at a first preset amplitude, or to fluctuate slightly due to stable air pressure, so as to maintain a larger compression amplitude, thereby forming a lifting trend of the vehicle body on the first target side.

[0125] Furthermore, for each air spring set at the front and rear wheels of the second target side, each air spring set at the second target side is controlled to extend upward at a third preset rate, so that the corresponding extension amplitude of each air spring set on the second target side increases from the second preset amplitude to the third preset amplitude, forming an obvious amplitude difference with the first target side, causing the vehicle body to tilt and shake.

[0126] Here, the second preset amplitude and the third preset amplitude can both be selected within the range of 10 mm to 15 mm according to actual snow removal requirements and vehicle suspension characteristics, and the second preset amplitude is smaller than the third preset amplitude.

[0127] S214. In the first reversal period after the first continuous period, each air spring set on the first target side is controlled to extend downward at a fourth preset rate so that the corresponding extension amplitude of each air spring set on the first target side decreases from the first preset amplitude to the fourth preset amplitude, and at the same time, each air spring set on the second target side is controlled to be compressed downward at a fifth preset rate so that the corresponding extension amplitude of each air spring set on the second target side decreases from the third preset amplitude to the fifth preset amplitude.

[0128] In an embodiment of the present application, the first reversal cycle is the reverse movement cycle of the first target side and the second target side of the vehicle suspension. The first reversal cycle is the reset stage of the air spring. Linear reset is used to ensure the stability of the vehicle suspension system to prepare for snow removal in the next cycle.

[0129] In this step, for each air spring set at the front and rear wheels on the first target side, the charging and discharging solenoid valve of each air spring set on the first target side is controlled to be reversed, and the air spring on this side is quickly exhausted at a fourth preset rate, so that the corresponding extension amplitude of each air spring set on the first target side is reduced from the first preset amplitude to the fourth preset amplitude.

[0130] Furthermore, for each air spring set at the front and rear wheels on the second target side, the charging and discharging solenoid valve of each air spring set on the second target side is controlled to be reversed, and the air spring on this side is slowly exhausted at a fifth preset rate so that the corresponding extension amplitude of each air spring set on the second target side drops from the third preset amplitude to the fifth preset amplitude.

[0131] Among them, the fourth preset amplitude and the fifth preset amplitude are both negative values to represent the downward extension of the air spring. The fourth preset amplitude is smaller than the fifth preset amplitude. The fourth preset amplitude can be selected within the range of -25mm to -15mm according to actual snow removal needs and vehicle suspension characteristics. The fifth preset amplitude can be selected within the range of -10mm to -5mm according to actual snow removal needs and vehicle suspension characteristics.

[0132] S215. Control each air spring provided on the first target side and each air spring provided on the second target side to perform cyclic differential motion in the first starting period, the first continuous period and the first reversal period, respectively, so that the body of the vehicle generates periodic differential vibration to remove snow covering the surface of the vehicle.

[0133] In an embodiment of the present application, each air spring set on the first target side and each air spring set on the second target side are respectively controlled to perform periodic cyclic differential motion of "differential inflation to reverse exhaust" in the first starting cycle, the first continuous cycle and the first reversal cycle, so that the vehicle body produces periodic differential vibration to remove snow covering the vehicle surface.

[0134] Among them, the amplitude difference between each air spring set on the first target side and each air spring set on the second target side always exists (for example, the positive difference between the first preset amplitude and the second preset amplitude, and the negative difference between the fifth preset amplitude and the fourth preset amplitude), ensuring that the vehicle body continues to produce asymmetric vibration and shaking.

[0135] Here, the greater the difference in amplitude between each air spring provided on the first target side and each air spring provided on the second target side, the higher the complexity of vehicle body vibration and the more significant the snow removal efficiency.

[0136] In this way, the difference in the rate and amplitude of inflation or exhaust of the air springs on both sides of the vehicle's suspension causes the vehicle body to tilt and shake. The reverse movement of the suspension is achieved by reversing the control signal, thereby enhancing the vehicle body shaking effect during snow removal.

[0137] For example, see Figure 2 , Figure 2 This is a curve diagram of suspension amplitude variation in a fixed differential snow removal mode provided by an embodiment of the present application. Figure 2 As shown in , when the first preset amplitude is set to 30 mm, the second preset amplitude is set to 5 mm, the third preset amplitude is set to -5 mm, and the fourth preset amplitude is set to -20 mm, the amplitude changes of each air spring set on the first target side and each air spring set on the second target side are as follows: Figure 2 shown.

[0138] In one embodiment of the present application, during specific implementation, step S200 further includes:

[0139] S221. When the first mode information indicates that the vehicle is in the random differential snow removal mode, based on the snow thickness values corresponding to the snow covering the left side and the snow covering the right side of the vehicle body, respectively, a first target side and a second target side are correspondingly determined on the left and right sides of the vehicle suspension.

[0140] Among them, the description of S221 can refer to the description of S2111 to S2114, and can achieve the same technical effect, so it will not be repeated here.

[0141] S222. In the second startup cycle, each air spring of the vehicle suspension provided on the first target side is controlled to be compressed upward at a first random rate so that the corresponding extension amplitude of each air spring provided on the first target side increases from the equilibrium position to the first random amplitude. At the same time, each air spring of the vehicle suspension provided on the second target side is controlled to be extended upward at a second random rate so that the corresponding extension amplitude of each air spring provided on the second target side increases from the equilibrium position to the second random amplitude.

[0142] The difference between the first random amplitude and the second random amplitude is a random difference.

[0143] S223. In a second continuous period after the second start-up period, the extension amplitude corresponding to each air spring set on the first target side is controlled to be maintained at the first random amplitude, and the extension amplitude corresponding to each air spring set on the second target side is controlled to be maintained at the second random amplitude, so that the vehicle body produces differential vibration.

[0144] S224. In the second reversal period after the second continuous period, each air spring set on the first target side is controlled to extend downward at a third random rate so that the corresponding extension amplitude of each air spring set on the first target side decreases from the first random amplitude to the third random amplitude. At the same time, each air spring set on the second target side is controlled to be compressed downward at a fourth random rate so that the corresponding extension amplitude of each air spring set on the second target side decreases from the second random amplitude to the fourth random amplitude.

[0145] S225. Control each air spring provided on the first target side and each air spring provided on the second target side to perform cyclic differential motion in the second starting period, the second continuous period and the second reversal period, respectively, so that the body of the vehicle produces irregular periodic differential vibration to remove snow covering the surface of the vehicle.

[0146] Here, the description of S221 to S225 can refer to the description of S211 to S215; wherein, the parameters used in S221 to S225 include a first random rate, a first random amplitude, a second random rate, a second random amplitude, a third random rate, a third random amplitude, a fourth random rate and a fourth random amplitude, etc., and the parameters used in S211 to S215 include a first preset rate, a first preset amplitude, a second preset rate, a second preset amplitude, a third preset rate, a third preset amplitude, a fourth preset rate and a fourth preset amplitude, etc.

[0147] In an embodiment of the present application, the left and right suspensions are randomly generated with independent parameters to cause the vehicle body to vibrate irregularly. This irregular vibration can better adapt to the different thicknesses and distributions of snow and improve the snow removal effect.

[0148] For example, see Figure 3 , Figure 3 This is a curve diagram of the suspension amplitude change in a random differential snow removal mode provided by an embodiment of the present application. Figure 3 As shown in , when the first random amplitude is set to 33 mm, the second random amplitude is set to 12 mm, the third random amplitude is set to -3 mm, and the fourth random amplitude is set to -23 mm, the amplitude changes of each air spring set on the first target side and each air spring set on the second target side are as follows: Figure 3 shown.

[0149] S300: In response to the vehicle triggering an alternate snow removal mode for removing snow covering a vehicle surface when the camping mode is turned off, determining second mode information of the vehicle in the differential snow removal mode.

[0150] In an embodiment of the present application, the alternating snow removal mode includes the air springs on the left and right sides of the vehicle body or the side with thicker snow, so that a large amount of compressed air quickly flows into the air springs on that side, causing the internal air pressure to rise rapidly, thereby pushing the suspension on that side to compress upward by a certain distance, and at the same time controlling the air springs on the left and right sides of the vehicle body or the side with thinner snow to maintain a stable air pressure so that the suspension on that side does not move; then the control signal is reversed to deflate the air spring on the side with thicker snow, and the suspension on that side returns to its initial position and controls the charging and discharging solenoid valve of the air spring on the side with thinner snow to increase the internal air pressure of the air spring on that side, and the suspension on that side is compressed upward by the same distance as the other side. Through cyclic alternating vibration, the vehicle body is caused to shake alternately left and right, thereby achieving the purpose of snow removal from the vehicle.

[0151] The second mode information at least includes whether the vehicle is in one of a left-right alternating snow removal mode and a front-back alternating snow removal mode.

[0152] Here, the left-right alternating snow removal mode and the front-back alternating snow removal mode can be selected externally by the user, or determined by the CDC controller based on the uniformity of snow accumulation and whether there is ice.

[0153] Furthermore, the difference between the left-right alternating snow removal mode and the front-back alternating snow removal mode mainly lies in the selection of the direction of alternating vibration. For each difference, the left-right alternating snow removal mode adopts alternating vibration of the left and right sides of the vehicle suspension, while the front-back alternating snow removal mode adopts alternating vibration of the front and rear sides of the vehicle suspension.

[0154] In the embodiment of the present application, the left-right alternating snow removal mode and the front-back alternating snow removal mode are discrete jump controls of the vehicle suspension, which are suitable for time-sharing control in clear areas. The displacement is step-like (square wave) and has a certain regularity of movement.

[0155] Among them, the control logic includes controlling the discrete switching of suspension states (inflation / exhaust / stationary) based on time slice division, which is suitable for clear area control. The physical effect produced is to generate pulsed force (step displacement corresponds to pulse force), quickly impacting the snow, which is suitable for loose snow; for unilateral snow, the alternating mode can make the suspension on one side produce high-frequency action (square wave high level) while the other side is stationary (square wave low level), concentrating on clearing the snow on one side.

[0156] For example, if the snow on the front axle is compacted and the snow on the rear axle is light, the front and rear alternating snow removal mode can first adjust the front suspension (the first half of the square wave cycle) and then adjust the rear suspension (the second half of the square wave cycle) to avoid mutual interference.

[0157] S400. In the alternating snow removal mode indicated by the second mode information, the air springs respectively provided on the left and right sides or the front and rear sides of the vehicle suspension are controlled to perform cyclic inflation and deflation movements, so that the vehicle body generates periodic alternating vibrations to remove snow covering the vehicle surface.

[0158] For example, see Figure 4 , Figure 4 This is a curve diagram of the suspension amplitude change in a left-right alternating snow removal mode provided by an embodiment of the present application. Figure 4 As shown in the figure, the suspension on the first target side rises, maintains, falls, and then stops during the cyclic inflation and deflation movement, while the suspension on the second target side rises, maintains, and falls independently when the first target side is stationary, forming alternating shaking of the left and right suspensions. The vibration curves of the first target side and the second target side have no overlap on the time axis, and the suspension amplitude change curve shows an "asymmetric square wave" distribution.

[0159] For example, see Figure 5 , Figure 5 This is a curve diagram of the suspension amplitude change in the front and rear alternating snow removal mode provided by the embodiment of the present application. Figure 5 As shown in the figure, the suspension on the first target side rises, remains, falls, and then stops independently during the cyclic inflation and deflation movement, while the suspension on the second target side stops, rises, and remains independently, forming alternating shaking of the front and rear suspensions. The vibration curves of the first target side and the second target side have no overlap on the time axis.

[0160] In one embodiment of the present application, during specific implementation, step S400 may include:

[0161] S411. When the second mode information indicates that the vehicle is in the left-right alternating snow removal mode, a first target side and a second target side are correspondingly determined on the left and right sides of the vehicle suspension based on the snow thickness values corresponding to the snow covering the left side and the snow covering the right side of the vehicle body, respectively.

[0162] Among them, the description of S411 can refer to the description of S2111 to S2114, and can achieve the same technical effect, so it will not be repeated here.

[0163] S412. In the first left-right alternating cycle, each air spring of the vehicle suspension provided on the first target side is controlled to be inflated at a first preset inflation rate, so that the extension amplitude corresponding to each air spring provided on the first target side rises from the equilibrium position to the first preset amplitude and remains at the first preset amplitude.

[0164] In an embodiment of the present application, the time of the first left-right alternating cycle can be selected within the range of 2s to 8s according to the actual snow removal requirements and vehicle suspension characteristics, that is, the longer the time, the greater the single vibration energy.

[0165] Among them, the first preset inflation rate can be selected within the range of 10mm / s to 50mm / s according to the actual snow removal requirements and vehicle suspension characteristics. The faster the rate, the higher the vibration frequency of the vehicle suspension; and the larger the first preset amplitude, the better the snow removal effect, but the higher the energy consumption.

[0166] S413. In a second left-right alternating cycle following the first left-right alternating cycle, each air spring of the vehicle suspension provided on the second target side is controlled to be inflated at a first preset inflation rate, so that the corresponding extension amplitude of each air spring provided on the second target side rises from the equilibrium position to the first preset amplitude and is maintained at the first preset amplitude. At the same time, each air spring provided on the first target side is controlled to be deflated at a first preset deflation rate, so that the corresponding extension amplitude of each air spring provided on the first target side drops from the first preset amplitude to the equilibrium position and is maintained at the equilibrium position.

[0167] In an embodiment of the present application, the time of the second left-right alternating cycle can be selected within the range of 2s to 8s according to actual snow removal requirements and vehicle suspension characteristics. Usually, the time of the second left-right alternating cycle is equal to the time of the first left-right alternating cycle.

[0168] S414. In the third left-right alternating cycle after the second left-right alternating cycle, each air spring set on the second target side is controlled to be deflated at a first preset deflation rate so that the corresponding extension amplitude of each air spring set on the second target side drops from the first preset amplitude to the equilibrium position and remains at the equilibrium position.

[0169] In an embodiment of the present application, in order to form a vibration curve of the first target side and the second target side without overlapping on the time axis, the suspension amplitude change curve is distributed in an "asymmetric square wave", and each air spring set on the second target side is deflated in the third left and right alternating cycle to drop from the first preset amplitude to the equilibrium position and maintain it at the equilibrium position.

[0170] S415. Control each air spring provided on the first target side and each air spring provided on the second target side to perform cyclic inflation and deflation movements in the first left-right alternating cycle, the second left-right alternating cycle, and the third left-right alternating cycle, respectively, so that the vehicle body vibrates alternately left and right to remove snow covering the surface of the vehicle.

[0171] In an embodiment of the present application, a cyclic inflation and deflation movement of "first target side rising, first target side falling, second target side rising, second target side falling" is completed once every time corresponding to the first left-right alternating cycle, the second left-right alternating cycle, and the third left-right alternating cycle, so that the suspensions of the first target side and the second target side always maintain different movements, forming an alternating tilt of the vehicle body.

[0172] In one embodiment of the present application, during specific implementation, step S400 further includes:

[0173] S421. When the second mode information indicates that the vehicle is in the front and rear alternating snow removal mode, a first target side and a second target side are correspondingly determined in the front and rear sides of the vehicle suspension based on the snow thickness values corresponding to the snow covering the front side and the snow covering the rear side of the vehicle, respectively.

[0174] Among them, the description of S411 can refer to the description of S2111 to S2114. S411 is to determine the first target side and the second target side correspondingly in the front and rear sides of the vehicle suspension, while S2111 to S2114 are to determine the first target side and the second target side correspondingly in the left and right sides of the vehicle suspension. In addition, the same technical effect can be achieved, so it will not be elaborated on.

[0175] S422. In the first front-to-back alternating cycle, each air spring of the vehicle suspension provided on the first target side is controlled to be inflated at a second preset inflation rate, so that the extension amplitude corresponding to each air spring provided on the first target side rises from the equilibrium position to a sixth preset amplitude and remains at the sixth preset amplitude.

[0176] In an embodiment of the present application, the sixth preset amplitude can be selected within the range of 20 mm to 50 mm according to the actual snow removal requirements and the vehicle suspension characteristics. The sixth preset amplitude determines the square wave height of the vehicle suspension vibration. The larger the sixth preset amplitude, the greater the front and rear tilt angle of the vehicle body.

[0177] Among them, the time of the first alternating cycle can be selected in the range of 2s to 8s according to the actual snow removal requirements and vehicle suspension characteristics. That is, the longer the time, the greater the energy of a single vibration of the vehicle suspension.

[0178] The second preset inflation rate can be selected within the range of 10mm / s to 60mm / s according to the actual snow removal requirements and vehicle suspension characteristics. The second preset inflation rate determines the rising edge slope. The faster the rate, the higher the vibration frequency of the vehicle suspension.

[0179] S423. In a second front-to-rear alternating cycle following the first front-to-rear alternating cycle, each air spring of the vehicle suspension provided on the second target side is controlled to be inflated at a second preset inflation rate, so that the extension amplitude corresponding to each air spring provided on the second target side increases from the equilibrium position to a sixth preset amplitude and is maintained at the sixth preset amplitude. At the same time, each air spring provided on the first target side is controlled to be deflated at a second preset deflation rate, so that the extension amplitude corresponding to each air spring provided on the first target side decreases from the sixth preset amplitude to the equilibrium position and is maintained at the equilibrium position.

[0180] In the embodiment of the present application, the duration of the second front-to-back alternating cycle is generally equal to the duration of the first front-to-back alternating cycle.

[0181] Here, the difference between the front-to-back alternating snow removal mode and the left-to-right alternating snow removal mode is that in the second front-to-back alternating cycle in the front-to-back alternating snow removal mode, the corresponding extension amplitude of each air spring set on the second target side rises from the equilibrium position to the sixth preset amplitude, and then remains at the sixth preset amplitude, instead of returning to the equilibrium position.

[0182] S424. Control each air spring provided on the first target side and each air spring provided on the second target side to perform cyclic inflation and deflation movements in the first front-to-back alternating cycle and the second front-to-back alternating cycle, respectively, so that the vehicle body vibrates in an alternating front-to-back manner to remove snow covering the vehicle surface.

[0183] In an embodiment of the present application, each air spring set on the first target side is controlled to "rise first and then stabilize" in the first front-to-back alternating cycle and the second front-to-back alternating cycle, while each air spring set on the second target side is controlled to "stabilize first and then rise" in the first front-to-back alternating cycle and the second front-to-back alternating cycle.

[0184] The snow removal method based on vehicle suspension vibration provided in the embodiment of the present application controls the air springs respectively arranged on the left and right sides of the vehicle suspension to perform cyclic differential motion through a differential snow removal mode triggered when the vehicle turns on the camping mode, thereby causing the vehicle body to produce periodic differential vibrations. Alternatively, the alternating snow removal mode is triggered when the vehicle turns off the camping mode, thereby controlling the air springs respectively arranged on the left and right sides or the front and rear sides of the vehicle suspension to perform cyclic inflation and deflation motions, thereby causing the vehicle body to produce periodic alternating vibrations, so as to remove snow covering the surface of the vehicle, thereby improving the efficiency, effect and flexibility of vehicle snow removal, and thereby improving the driving performance and safety of the vehicle.

[0185] See also Figure 6 , Figure 6 This is a schematic diagram of the structure of a snow removal device based on vehicle suspension vibration provided in an embodiment of the present application. Figure 6 As shown in FIG, the snow removal device 600 includes:

[0186] A first mode determination module 610 is configured to determine first mode information of the vehicle in the differential snow removal mode in response to triggering the differential snow removal mode for removing snow covering a vehicle surface when the vehicle is in the camping mode;

[0187] a differential snow removal control module 620 configured to, in the differential snow removal mode indicated by the first mode information, control the air springs provided on the left and right sides of the vehicle suspension to perform cyclic differential motion, thereby causing the vehicle body to generate periodic differential vibrations to remove snow covering the vehicle surface;

[0188] a second mode determination module 630 for determining second mode information of the vehicle in the differential snow removal mode in response to the vehicle triggering an alternate snow removal mode for removing snow covering a surface of the vehicle when the camping mode is turned off;

[0189] The alternating snow removal control module 640 is used to control the air springs respectively arranged on the left and right sides or the front and rear sides of the vehicle suspension to perform cyclic inflation and deflation movements in the alternating snow removal mode indicated by the second mode information, so as to cause the vehicle body to vibrate periodically and alternately to remove snow covering the surface of the vehicle.

[0190] Furthermore, the first mode information at least includes whether the vehicle is in one of a fixed differential snow removal mode and a random differential snow removal mode; when the differential snow removal control module 620 is configured to, in the differential snow removal mode indicated by the first mode information, control the air springs provided on the left and right sides of the vehicle suspension to perform cyclic differential motion, thereby causing the vehicle body to generate periodic differential vibrations to remove snow covering the vehicle surface, the differential snow removal control module 620 is configured to:

[0191] When the first mode information indicates that the vehicle is in the fixed differential snow removal mode, determining a first target side and a second target side on a left side and a right side of a vehicle suspension based on snow thickness values corresponding to snow covered on a left side and a right side of the vehicle body, respectively;

[0192] During a first startup cycle, each air spring provided on the first target side of the vehicle suspension is controlled to be compressed upward at a first preset rate so that the corresponding extension amplitude of each air spring provided on the first target side increases from an equilibrium position to a first preset amplitude. Simultaneously, each air spring provided on the second target side of the vehicle suspension is controlled to be extended upward at a second preset rate so that the corresponding extension amplitude of each air spring provided on the second target side increases from an equilibrium position to a second preset amplitude. The difference between the first preset amplitude and the second preset amplitude is a preset difference.

[0193] During a first sustained period after the first start-up period, controlling the extension amplitude of each air spring provided on the first target side to be maintained at the first preset amplitude so that the first target side of the vehicle suspension forms a lifting trend, and simultaneously controlling each air spring provided on the second target side to be extended upward at a third preset rate so that the extension amplitude of each air spring provided on the second target side increases from the second preset amplitude to a third preset amplitude;

[0194] In a first reversal period following the first sustained period, each air spring provided on the first target side is controlled to extend downward at a fourth preset rate so that the corresponding extension amplitude of each air spring provided on the first target side decreases from the first preset amplitude to a fourth preset amplitude, and at the same time, each air spring provided on the second target side is controlled to be compressed downward at a fifth preset rate so that the corresponding extension amplitude of each air spring provided on the second target side decreases from the third preset amplitude to a fifth preset amplitude;

[0195] Each air spring provided on the first target side and each air spring provided on the second target side are respectively controlled to perform cyclic differential motion in the first starting period, the first continuous period and the first reversal period, so that the body of the vehicle produces periodic differential vibration to remove snow covering the surface of the vehicle.

[0196] Furthermore, when the differential snow removal control module 620 is configured to determine the first target side and the second target side on the left and right sides of the vehicle suspension based on the snow thickness values corresponding to the snow covered on the left side and the snow covered on the right side of the vehicle body, the differential snow removal control module 620 is configured to:

[0197] respectively obtaining a first snow thickness value corresponding to the snow covering the left side of the vehicle body, and a second snow thickness value corresponding to the snow covering the right side of the vehicle body;

[0198] Determining whether the first snow thickness value is greater than the second snow thickness value;

[0199] If the first snow thickness value is greater than the second snow thickness value, determining the left side of the vehicle suspension as the first target side and determining the right side of the vehicle suspension as the second target side;

[0200] If the first snow thickness value is less than or equal to the second snow thickness value, the right side of the vehicle suspension is determined as the first target side, and the left side of the vehicle suspension is determined as the second target side.

[0201] Furthermore, when the differential snow removal control module 620 is configured to control the air springs provided on the left and right sides of the vehicle suspension to perform cyclic differential motion in the differential snow removal mode indicated by the first mode information, so as to cause the vehicle body to generate periodic differential vibrations to remove snow covering the vehicle surface, the differential snow removal control module 620 is further configured to:

[0202] When the first mode information indicates that the vehicle is in the random differential snow removal mode, determining a first target side and a second target side on a left side and a right side of a vehicle suspension based on snow thickness values corresponding to snow covered on a left side and snow covered on a right side of the vehicle, respectively;

[0203] During a second startup cycle, each air spring provided on the first target side of the vehicle suspension is controlled to be compressed upward at a first random rate so that the corresponding extension amplitude of each air spring provided on the first target side increases from an equilibrium position to a first random amplitude. Simultaneously, each air spring provided on the second target side of the vehicle suspension is controlled to be extended upward at a second random rate so that the corresponding extension amplitude of each air spring provided on the second target side increases from an equilibrium position to a second random amplitude. The difference between the first random amplitude and the second random amplitude is a random difference.

[0204] During a second continuous period after the second start-up period, controlling the extension amplitude of each air spring provided on the first target side to be maintained at the first random amplitude, and controlling the extension amplitude of each air spring provided on the second target side to be maintained at the second random amplitude, so as to generate differential vibrations in the vehicle body;

[0205] In a second reversal period following the second sustained period, each air spring provided on the first target side is controlled to extend downward at a third random rate so that the corresponding extension amplitude of each air spring provided on the first target side decreases from the first random amplitude to the third random amplitude, and at the same time, each air spring provided on the second target side is controlled to be compressed downward at a fourth random rate so that the corresponding extension amplitude of each air spring provided on the second target side decreases from the second random amplitude to the fourth random amplitude;

[0206] Each air spring provided on the first target side and each air spring provided on the second target side are respectively controlled to perform cyclic differential motion in the second starting period, the second continuous period and the second reversal period, so that the body of the vehicle produces irregular periodic differential vibration to remove snow covering the surface of the vehicle.

[0207] Furthermore, the second mode information includes at least one of a left-right alternating snow removal mode and a front-back alternating snow removal mode. When the alternating snow removal control module 640 is configured to, in the alternating snow removal mode indicated by the second mode information, control the air springs provided on the left and right sides or the front and back sides of the vehicle suspension to perform cyclic inflation and deflation movements, thereby causing the vehicle body to vibrate periodically and alternately to remove snow covering the vehicle surface, the alternating snow removal control module 640 is configured to:

[0208] When the second mode information indicates that the vehicle is in the left-right alternating snow removal mode, determining a first target side and a second target side on a left side and a right side of a vehicle suspension based on snow thickness values corresponding to snow covered on a left side and snow covered on a right side of the vehicle, respectively;

[0209] In a first left-right alternating cycle, each air spring provided on the first target side of the vehicle suspension is controlled to be inflated at a first preset inflation rate, so that the extension amplitude corresponding to each air spring provided on the first target side increases from an equilibrium position to a first preset amplitude and is maintained at the first preset amplitude;

[0210] In a second left-right alternating cycle following the first left-right alternating cycle, each air spring provided on the second target side of the vehicle suspension is controlled to be inflated at a first preset inflation rate so that the extension amplitude corresponding to each air spring provided on the second target side increases from an equilibrium position to a first preset amplitude and is maintained at the first preset amplitude; and at the same time, each air spring provided on the first target side is controlled to be deflated at a first preset deflation rate so that the extension amplitude corresponding to each air spring provided on the first target side decreases from the first preset amplitude to an equilibrium position and is maintained at the equilibrium position;

[0211] In a third left-right alternating cycle following the second left-right alternating cycle, each air spring provided on the second target side is controlled to be deflated at a first preset deflation rate, so that the corresponding extension amplitude of each air spring provided on the second target side decreases from the first preset amplitude to an equilibrium position and remains at the equilibrium position;

[0212] Each air spring provided on the first target side and each air spring provided on the second target side are respectively controlled to perform cyclic inflation and deflation movements in the first left-right alternating cycle, the second left-right alternating cycle and the third left-right alternating cycle, so that the body of the vehicle vibrates alternately left and right to remove snow covering the surface of the vehicle.

[0213] Furthermore, when the alternating snow removal control module 640 is configured to control the air springs provided on the left and right sides or the front and rear sides of the vehicle suspension to perform cyclic inflation and deflation movements in the alternating snow removal mode indicated by the second mode information, so as to cause the vehicle body to vibrate periodically and alternately to remove snow covering the vehicle surface, the alternating snow removal control module 640 is further configured to:

[0214] When the second mode information indicates that the vehicle is in the front and rear alternating snow removal mode, determining a first target side and a second target side at the front side and the rear side of the vehicle suspension based on snow thickness values corresponding to snow covered on the front side and the rear side of the vehicle, respectively;

[0215] In a first forward-backward alternating cycle, each air spring provided on the first target side of the vehicle suspension is controlled to be inflated at a second preset inflation rate, so that the extension amplitude corresponding to each air spring provided on the first target side increases from an equilibrium position to a sixth preset amplitude and is maintained at the sixth preset amplitude;

[0216] In a second front-to-rear alternating cycle following the first front-to-rear alternating cycle, each air spring provided on the second target side of the vehicle suspension is controlled to be inflated at a second preset inflation rate so that the extension amplitude corresponding to each air spring provided on the second target side increases from an equilibrium position to a sixth preset amplitude and is maintained at the sixth preset amplitude; and at the same time, each air spring provided on the first target side is controlled to be deflated at a second preset deflation rate so that the extension amplitude corresponding to each air spring provided on the first target side decreases from the sixth preset amplitude to an equilibrium position and is maintained at the equilibrium position;

[0217] Each air spring provided on the first target side and each air spring provided on the second target side are controlled to perform cyclic inflation and deflation movements in the first front-to-rear alternating cycle and the second front-to-rear alternating cycle, so that the vehicle body vibrates alternately front-to-rear to remove snow covering the surface of the vehicle.

[0218] The snow removal device based on vehicle suspension vibration provided in the embodiment of the present application controls the air springs respectively arranged on the left and right sides of the vehicle suspension to perform cyclic differential movement through a differential snow removal mode triggered when the vehicle turns on the camping mode, thereby causing the vehicle body to produce periodic differential vibrations. Alternatively, the snow removal device controls the air springs respectively arranged on the left and right sides or the front and rear sides of the vehicle suspension to perform cyclic inflation and deflation movement through an alternating snow removal mode triggered when the vehicle turns off the camping mode, thereby causing the vehicle body to produce periodic alternating vibrations, so as to remove snow covering the surface of the vehicle, thereby improving the efficiency, effect and flexibility of vehicle snow removal, and thereby improving the driving performance and safety of the vehicle.

[0219] The embodiment of the present application also provides a vehicle, which performs the above Figure 1 Steps of a vehicle suspension vibration based snow removal method in an illustrated method embodiment.

[0220] See also Figure 7 , Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 7 As shown in FIG, the electronic device 700 includes a processor 710 , a memory 720 and a bus 730 .

[0221] The memory 720 stores machine-readable instructions executable by the processor 710. When the electronic device 700 is running, the processor 710 communicates with the memory 720 via the bus 730. When the machine-readable instructions are executed by the processor 710, the above-mentioned Figure 1 The specific implementation of the steps of the snow removal method based on vehicle suspension vibration in the method embodiment shown can be found in the method embodiment and will not be repeated here.

[0222] The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 The specific implementation of the steps of the snow removal method based on vehicle suspension vibration in the method embodiment shown can be found in the method embodiment and will not be repeated here.

[0223] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0224] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. There may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interface, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

[0225] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0226] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0227] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0228] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The scope of protection of the present application is not limited thereto. Although the present application has been described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-mentioned embodiments within the technical scope disclosed in the present application, or perform equivalent replacements for some of the technical features thereof. These modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A snow removal method based on vehicle suspension vibration, characterized in that: The snow removal method comprises: In response to a differential snow removal mode for removing snow covering a surface of the vehicle being triggered when the vehicle is in a camping mode, determining first mode information of the vehicle in the differential snow removal mode; In the differential snow removal mode indicated by the first mode information, air springs provided on the left and right sides of the vehicle suspension are controlled to perform cyclic differential motion, so as to generate periodic differential vibrations on the vehicle body to remove snow covering the vehicle surface; In response to the vehicle triggering an alternate snow removal mode for removing snow covering a surface of the vehicle when the camping mode is turned off, determining second mode information of the vehicle in the differential snow removal mode; In the alternating snow removal mode indicated by the second mode information, the air springs respectively arranged on the left and right sides or the front and rear sides of the vehicle suspension are controlled to perform cyclic inflation and deflation movements, so that the vehicle body produces periodic alternating vibrations to remove snow covering the vehicle surface.

2. The method according to claim 1, characterized in that The first mode information at least includes whether the vehicle is in one of a fixed differential snow removal mode and a random differential snow removal mode; in the differential snow removal mode indicated by the first mode information, controlling air springs provided on the left and right sides of the vehicle suspension to perform cyclic differential motion to cause the vehicle body to generate periodic differential vibrations to remove snow covering the vehicle surface, including: When the first mode information indicates that the vehicle is in the fixed differential snow removal mode, determining a first target side and a second target side on a left side and a right side of a vehicle suspension based on snow thickness values corresponding to snow covered on a left side and a right side of the vehicle body, respectively; During a first startup cycle, each air spring provided on the first target side of the vehicle suspension is controlled to be compressed upward at a first preset rate so that the corresponding extension amplitude of each air spring provided on the first target side increases from an equilibrium position to a first preset amplitude. Simultaneously, each air spring provided on the second target side of the vehicle suspension is controlled to be extended upward at a second preset rate so that the corresponding extension amplitude of each air spring provided on the second target side increases from an equilibrium position to a second preset amplitude. The difference between the first preset amplitude and the second preset amplitude is a preset difference. During a first sustained period after the first start-up period, controlling the extension amplitude of each air spring provided on the first target side to be maintained at the first preset amplitude so that the first target side of the vehicle suspension forms a lifting trend, and simultaneously controlling each air spring provided on the second target side to be extended upward at a third preset rate so that the extension amplitude of each air spring provided on the second target side increases from the second preset amplitude to a third preset amplitude; In a first reversal period following the first sustained period, each air spring provided on the first target side is controlled to extend downward at a fourth preset rate so that the corresponding extension amplitude of each air spring provided on the first target side decreases from the first preset amplitude to a fourth preset amplitude, and at the same time, each air spring provided on the second target side is controlled to be compressed downward at a fifth preset rate so that the corresponding extension amplitude of each air spring provided on the second target side decreases from the third preset amplitude to a fifth preset amplitude; Each air spring provided on the first target side and each air spring provided on the second target side are respectively controlled to perform cyclic differential motion in the first starting period, the first continuous period and the first reversal period, so that the body of the vehicle produces periodic differential vibration to remove snow covering the surface of the vehicle.

3. The method according to claim 2, characterized in that The method of determining a first target side and a second target side on the left side and the right side of the vehicle suspension based on snow thickness values corresponding to the snow covered on the left side and the snow covered on the right side of the vehicle, respectively, includes: respectively obtaining a first snow thickness value corresponding to the snow covering the left side of the vehicle body, and a second snow thickness value corresponding to the snow covering the right side of the vehicle body; Determining whether the first snow thickness value is greater than the second snow thickness value; If the first snow thickness value is greater than the second snow thickness value, determining the left side of the vehicle suspension as the first target side and determining the right side of the vehicle suspension as the second target side; If the first snow thickness value is less than or equal to the second snow thickness value, the right side of the vehicle suspension is determined as the first target side, and the left side of the vehicle suspension is determined as the second target side.

4. The method according to claim 2, characterized in that In the differential snow removal mode indicated by the first mode information, the air springs provided on the left and right sides of the vehicle suspension are controlled to perform cyclic differential motion to cause the vehicle body to generate periodic differential vibrations to remove snow covering the vehicle surface, further comprising: When the first mode information indicates that the vehicle is in the random differential snow removal mode, determining a first target side and a second target side on a left side and a right side of a vehicle suspension based on snow thickness values corresponding to snow covered on a left side and snow covered on a right side of the vehicle, respectively; During a second startup cycle, each air spring provided on the first target side of the vehicle suspension is controlled to be compressed upward at a first random rate so that the corresponding extension amplitude of each air spring provided on the first target side increases from an equilibrium position to a first random amplitude. Simultaneously, each air spring provided on the second target side of the vehicle suspension is controlled to be extended upward at a second random rate so that the corresponding extension amplitude of each air spring provided on the second target side increases from an equilibrium position to a second random amplitude. The difference between the first random amplitude and the second random amplitude is a random difference. During a second continuous period after the second start-up period, controlling the extension amplitude of each air spring provided on the first target side to be maintained at the first random amplitude, and controlling the extension amplitude of each air spring provided on the second target side to be maintained at the second random amplitude, so as to generate differential vibrations in the vehicle body; In a second reversal period following the second sustained period, each air spring provided on the first target side is controlled to extend downward at a third random rate so that the corresponding extension amplitude of each air spring provided on the first target side decreases from the first random amplitude to the third random amplitude, and at the same time, each air spring provided on the second target side is controlled to be compressed downward at a fourth random rate so that the corresponding extension amplitude of each air spring provided on the second target side decreases from the second random amplitude to the fourth random amplitude; Each air spring provided on the first target side and each air spring provided on the second target side are respectively controlled to perform cyclic differential motion in the second starting period, the second continuous period and the second reversal period, so that the body of the vehicle produces irregular periodic differential vibration to remove snow covering the surface of the vehicle.

5. The method according to claim 1, wherein The second mode information at least includes that the vehicle is in one of a left-right alternating snow removal mode and a front-rear alternating snow removal mode; in the alternating snow removal mode indicated by the second mode information, controlling the air springs respectively provided on the left and right sides or the front and rear sides of the vehicle suspension to perform cyclic inflation and deflation movements to cause the vehicle body to generate periodic alternating vibrations to remove snow covering the vehicle surface, including: When the second mode information indicates that the vehicle is in the left-right alternating snow removal mode, determining a first target side and a second target side on a left side and a right side of a vehicle suspension based on snow thickness values corresponding to snow covered on a left side and snow covered on a right side of the vehicle, respectively; In a first left-right alternating cycle, each air spring provided on the first target side of the vehicle suspension is controlled to be inflated at a first preset inflation rate, so that the extension amplitude corresponding to each air spring provided on the first target side increases from an equilibrium position to a first preset amplitude and is maintained at the first preset amplitude; In a second left-right alternating cycle following the first left-right alternating cycle, each air spring provided on the second target side of the vehicle suspension is controlled to be inflated at a first preset inflation rate so that the extension amplitude corresponding to each air spring provided on the second target side increases from an equilibrium position to a first preset amplitude and is maintained at the first preset amplitude; and at the same time, each air spring provided on the first target side is controlled to be deflated at a first preset deflation rate so that the extension amplitude corresponding to each air spring provided on the first target side decreases from the first preset amplitude to an equilibrium position and is maintained at the equilibrium position; In a third left-right alternating cycle following the second left-right alternating cycle, each air spring provided on the second target side is controlled to be deflated at a first preset deflation rate, so that the corresponding extension amplitude of each air spring provided on the second target side decreases from the first preset amplitude to an equilibrium position and remains at the equilibrium position; Each air spring provided on the first target side and each air spring provided on the second target side are respectively controlled to perform cyclic inflation and deflation movements in the first left-right alternating cycle, the second left-right alternating cycle and the third left-right alternating cycle, so that the body of the vehicle vibrates alternately left and right to remove snow covering the surface of the vehicle.

6. The method according to claim 5, characterized in that In the alternating snow removal mode indicated by the second mode information, the air springs provided on the left and right sides or the front and rear sides of the vehicle suspension are controlled to perform cyclic inflation and deflation movements, so that the vehicle body generates periodic alternating vibrations to remove snow covering the vehicle surface, further comprising: When the second mode information indicates that the vehicle is in the front and rear alternating snow removal mode, determining a first target side and a second target side at the front side and the rear side of the vehicle suspension based on snow thickness values corresponding to snow covered on the front side and the rear side of the vehicle, respectively; In a first forward-backward alternating cycle, each air spring provided on the first target side of the vehicle suspension is controlled to be inflated at a second preset inflation rate, so that the extension amplitude corresponding to each air spring provided on the first target side increases from an equilibrium position to a sixth preset amplitude and is maintained at the sixth preset amplitude; In a second front-to-rear alternating cycle following the first front-to-rear alternating cycle, each air spring provided on the second target side of the vehicle suspension is controlled to be inflated at a second preset inflation rate so that the extension amplitude corresponding to each air spring provided on the second target side increases from an equilibrium position to a sixth preset amplitude and is maintained at the sixth preset amplitude; and at the same time, each air spring provided on the first target side is controlled to be deflated at a second preset deflation rate so that the extension amplitude corresponding to each air spring provided on the first target side decreases from the sixth preset amplitude to an equilibrium position and is maintained at the equilibrium position; Each air spring provided on the first target side and each air spring provided on the second target side are controlled to perform cyclic inflation and deflation movements in the first front-to-rear alternating cycle and the second front-to-rear alternating cycle, so that the vehicle body vibrates alternately front-to-rear to remove snow covering the surface of the vehicle.

7. A snow removal device based on vehicle suspension vibration, characterized in that: The snow removal device comprises: a first mode determination module configured to determine first mode information of the vehicle in the differential snow removal mode in response to triggering the differential snow removal mode for removing snow covering a surface of the vehicle when the vehicle is in the camping mode; a differential snow removal control module configured to, in the differential snow removal mode indicated by the first mode information, control the air springs provided on the left and right sides of the vehicle suspension to perform cyclic differential motion, thereby causing the vehicle body to generate periodic differential vibrations to remove snow covering the vehicle surface; a second mode determination module for determining second mode information of the vehicle in the differential snow removal mode in response to the vehicle triggering an alternate snow removal mode for removing snow covering a surface of the vehicle when the camping mode is turned off; The alternating snow removal control module is used to control the air springs respectively arranged on the left and right sides or the front and rear sides of the vehicle suspension to perform cyclic inflation and deflation movements in the alternating snow removal mode indicated by the second mode information, so as to cause the vehicle body to vibrate periodically and alternately to remove snow covering the surface of the vehicle.

8. A vehicle, characterized in that: The vehicle executes the steps of the snow removal method based on vehicle suspension vibration as claimed in any one of claims 1 to 6 when running.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate through the bus. When the processor is running, the machine-readable instructions execute the steps of the snow removal method based on vehicle suspension vibration as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the snow removal method based on vehicle suspension vibration according to any one of claims 1 to 6 are executed.

Images