Control method and device for removing accumulated snow covering vehicle and vehicle

Abstract

The invention provides a control method and device for removing accumulated snow covering a vehicle and the vehicle, and the control method comprises the steps that in response to starting of a control function for removing the accumulated snow covering the surface of the vehicle, state parameters of the vehicle, the temperature value of the environment where the vehicle is located and thickness distribution information corresponding to the accumulated snow are obtained; based on the state parameters, the temperature values, the thickness distribution information and random factor parameters generated randomly, control parameters corresponding to all air springs arranged in a suspension of the vehicle are determined; wherein the control parameters at least comprise a vibration amplitude value, a vibration frequency value and a displacement speed value; and each air spring is controlled to vibrate correspondingly according to the control parameters, so that accumulated snow covering the surface of the vehicle is removed through vibration of the air springs. By means of the method, the efficiency, effect and flexibility of removing the accumulated snow on the vehicle are improved, the complex and changeable accumulated snow scenes can be better dealt with, 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 control method, device and vehicle for removing snow covering a vehicle. 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] In addition, different snow thickness and snow distribution have different requirements for snow removal methods. The existing artificial snow removal methods are difficult to flexibly adapt to these complex situations, resulting in poor results in removing snow from vehicles, 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 control method, device and vehicle for removing snow covering a vehicle. When the vehicle turns on the control function for removing snow covering the surface, the vehicle's state parameters, the temperature value of the environment in which it is located, and the thickness distribution information of the snow are obtained. Combined with the randomly generated random factor parameters, the control parameters including the vibration amplitude value, vibration frequency value and displacement speed value corresponding to each air spring set in the vehicle's suspension are determined, and each air spring is controlled to vibrate according to the control parameters, so as to achieve the effect of removing snow covering the surface of the vehicle, thereby improving the efficiency, effect and flexibility of removing snow from the vehicle, being able to better cope with complex and changeable snow scenes, and thereby improving the driving performance and safety of the vehicle.

[0005] The present application provides a control method for removing snow from a vehicle, the control method comprising:

[0006] In response to starting a control function for removing snow covering a vehicle surface, respectively obtaining a state parameter of the vehicle, a temperature value of an environment where the vehicle is located, and thickness distribution information corresponding to the snow;

[0007] Determining control parameters corresponding to each air spring provided in the suspension of the vehicle based on the state parameter, the temperature value, the thickness distribution information, and a randomly generated random factor parameter; wherein the control parameters include at least a vibration amplitude value, a vibration frequency value, and a displacement velocity value;

[0008] Each of the air springs is controlled to vibrate according to the control parameters, so as to remove snow covering the surface of the vehicle by utilizing the vibration of the air spring.

[0009] Furthermore, the state parameters include at least a vehicle tilt angle value and a vehicle speed value; and determining the control parameters corresponding to each air spring provided in the suspension of the vehicle based on the state parameters, the temperature value, the thickness distribution information, and a randomly generated random factor parameter includes:

[0010] Determining a hardness value corresponding to the snow based on the temperature value;

[0011] Determining a vibration amplitude value corresponding to each air spring provided in the suspension of the vehicle based on the vehicle tilt angle value, the hardness value, the temperature value, the thickness distribution information, and a randomly generated amplitude random factor parameter; wherein 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;

[0012] Determining a vibration frequency value corresponding to each of the air springs based on the vehicle speed value, the hardness value, the temperature value, and a randomly generated frequency random factor parameter;

[0013] Based on the vibration amplitude value, the vibration frequency value, the preset phase difference corresponding to each air spring and the randomly generated speed random factor parameter, the displacement speed value corresponding to each air spring at each moment under the control function is determined.

[0014] Furthermore, determining the vibration amplitude value corresponding to each air spring provided in the suspension of the vehicle based on the vehicle tilt angle value, the hardness value, the temperature value, the thickness distribution information, and the randomly generated amplitude random factor parameter includes:

[0015] Determining the tilt direction of the vehicle based on the positive and negative values of the vehicle tilt angle value to determine a tilt direction influence coefficient corresponding to each of the air springs, and determining a tilt compensation term corresponding to each of the air springs by multiplying the absolute value of the vehicle tilt angle value by the tilt direction influence coefficient;

[0016] Determine the product of the hardness value and a preset snow hardness coefficient as a snow hardness item corresponding to each air spring;

[0017] Determine the product of the snow thickness value corresponding to each air spring included in the thickness distribution information and a preset snow thickness coefficient as a snow thickness item corresponding to each air spring;

[0018] Based on the temperature value, determining a temperature compensation value using a preset temperature function, and determining a temperature correction term corresponding to each of the air springs by multiplying the temperature compensation value by a preset temperature correction coefficient;

[0019] Based on the tilt compensation item, the snow hardness item, the snow thickness item, the temperature correction item, the preset amplitude proportional coefficient and the randomly generated amplitude random factor parameter, the vibration amplitude value corresponding to each air spring set in the suspension of the vehicle is determined.

[0020] Furthermore, determining the vibration frequency value corresponding to each of the air springs based on the vehicle speed value, the hardness value, the temperature value, and a randomly generated frequency random factor parameter includes:

[0021] Based on the vehicle speed value and a preset vehicle speed attenuation coefficient, a speed attenuation term corresponding to each of the air springs is determined using a preset speed attenuation formula;

[0022] Determine the product of the hardness value and the preset snow hardness frequency-increasing coefficient as the hardness frequency-increasing item corresponding to each air spring;

[0023] Determine the temperature frequency-increasing term corresponding to each air spring by multiplying the absolute value of the temperature value by a preset temperature frequency-increasing coefficient;

[0024] The vibration frequency value corresponding to each of the air springs is determined based on the speed attenuation term, the hardness frequency-increasing term, the temperature frequency-increasing term, a preset frequency reference value, and a randomly generated frequency random factor parameter.

[0025] Furthermore, the determining of the vibration frequency value corresponding to each of the air springs based on the vehicle speed value, the hardness value, the temperature value, and the randomly generated frequency random factor parameter included in the state parameters further includes:

[0026] For each vibration frequency value corresponding to the air spring, determining whether the vibration frequency value is greater than a preset frequency threshold;

[0027] If the vibration frequency value is greater than the preset frequency threshold, the vibration frequency value is adjusted to the preset frequency threshold.

[0028] Furthermore, determining the displacement velocity value corresponding to each air spring at each moment under the control function based on the vibration amplitude value, the vibration frequency value, the preset phase difference corresponding to each air spring, and the randomly generated speed random factor parameter includes:

[0029] Determining the amplitude value corresponding to each air spring at each moment under the control function based on the vibration frequency value and a preset phase difference corresponding to each air spring;

[0030] Determine the displacement velocity value corresponding to each air spring at each moment under the control function by multiplying the vibration amplitude value, the vibration frequency value, the amplitude value, and a randomly generated speed random factor parameter;

[0031] Determining whether each of the displacement velocity values is greater than a preset displacement velocity threshold;

[0032] If there is a displacement speed value greater than the preset displacement speed threshold, the displacement speed value is adjusted to the preset displacement speed threshold.

[0033] The present application also provides a control device for removing snow from a vehicle, the control device comprising:

[0034] a data acquisition module, configured to obtain, in response to activation of a control function for removing snow from a vehicle surface, state parameters of the vehicle, a temperature value of an environment in which the vehicle is located, and thickness distribution information corresponding to the snow;

[0035] a parameter determination module, configured to determine control parameters corresponding to each air spring provided in the suspension of the vehicle based on the state parameter, the temperature value, the thickness distribution information, and a randomly generated random factor parameter; wherein the control parameters include at least a vibration amplitude value, a vibration frequency value, and a displacement velocity value;

[0036] The snow removal control module is used to control each of the air springs to vibrate according to the control parameters, so as to utilize the vibration of the air springs to remove snow covering the surface of the vehicle.

[0037] Furthermore, the state parameters include at least a vehicle tilt angle value and a vehicle speed value; when the parameter determination module is used to determine the control parameters corresponding to each air spring provided in the suspension of the vehicle based on the state parameters, the temperature value, the thickness distribution information, and a randomly generated random factor parameter, the parameter determination module is used to:

[0038] Determining a hardness value corresponding to the snow based on the temperature value;

[0039] Determining a vibration amplitude value corresponding to each air spring provided in the suspension of the vehicle based on the vehicle tilt angle value, the hardness value, the temperature value, the thickness distribution information, and a randomly generated amplitude random factor parameter; wherein 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;

[0040] Determining a vibration frequency value corresponding to each of the air springs based on the vehicle speed value, the hardness value, the temperature value, and a randomly generated frequency random factor parameter;

[0041] Based on the vibration amplitude value, the vibration frequency value, the preset phase difference corresponding to each air spring and the randomly generated speed random factor parameter, the displacement speed value corresponding to each air spring at each moment under the control function is determined.

[0042] Furthermore, when the parameter determination module is used to determine the vibration amplitude value corresponding to each air spring provided in the suspension of the vehicle based on the vehicle tilt angle value, the hardness value, the temperature value, the thickness distribution information, and the randomly generated amplitude random factor parameter, the parameter determination module is used to:

[0043] Determining the tilt direction of the vehicle based on the positive and negative values of the vehicle tilt angle value to determine a tilt direction influence coefficient corresponding to each of the air springs, and determining a tilt compensation term corresponding to each of the air springs by multiplying the absolute value of the vehicle tilt angle value by the tilt direction influence coefficient;

[0044] Determine the product of the hardness value and a preset snow hardness coefficient as a snow hardness item corresponding to each air spring;

[0045] Determine the product of the snow thickness value corresponding to each air spring included in the thickness distribution information and a preset snow thickness coefficient as a snow thickness item corresponding to each air spring;

[0046] Based on the temperature value, determining a temperature compensation value using a preset temperature function, and determining a temperature correction term corresponding to each of the air springs by multiplying the temperature compensation value by a preset temperature correction coefficient;

[0047] Based on the tilt compensation item, the snow hardness item, the snow thickness item, the temperature correction item, the preset amplitude proportional coefficient and the randomly generated amplitude random factor parameter, the vibration amplitude value corresponding to each air spring set in the suspension of the vehicle is determined.

[0048] Furthermore, when the parameter determination module is used to determine the vibration frequency value corresponding to each of the air springs based on the vehicle speed value, the hardness value, the temperature value, and the randomly generated frequency random factor parameter, the parameter determination module is used to:

[0049] Based on the vehicle speed value and a preset vehicle speed attenuation coefficient, a speed attenuation term corresponding to each of the air springs is determined using a preset speed attenuation formula;

[0050] Determine the product of the hardness value and the preset snow hardness frequency-increasing coefficient as the hardness frequency-increasing item corresponding to each air spring;

[0051] Determine the temperature frequency-increasing term corresponding to each air spring by multiplying the absolute value of the temperature value by a preset temperature frequency-increasing coefficient;

[0052] The vibration frequency value corresponding to each of the air springs is determined based on the speed attenuation term, the hardness frequency-increasing term, the temperature frequency-increasing term, a preset frequency reference value, and a randomly generated frequency random factor parameter.

[0053] Furthermore, when the parameter determination module is used to determine the vibration frequency value corresponding to each of the air springs based on the vehicle speed value, the hardness value, the temperature value, and the randomly generated frequency random factor parameter included in the state parameters, the parameter determination module is further used to:

[0054] For each vibration frequency value corresponding to the air spring, determining whether the vibration frequency value is greater than a preset frequency threshold;

[0055] If the vibration frequency value is greater than the preset frequency threshold, the vibration frequency value is adjusted to the preset frequency threshold.

[0056] Furthermore, when the parameter determination module is used to determine the displacement velocity value corresponding to each air spring at each moment under the control function based on the vibration amplitude value, the vibration frequency value, the preset phase difference corresponding to each air spring, and the randomly generated speed random factor parameter, the parameter determination module is used to:

[0057] Determining the amplitude value corresponding to each air spring at each moment under the control function based on the vibration frequency value and a preset phase difference corresponding to each air spring;

[0058] Determine the displacement velocity value corresponding to each air spring at each moment under the control function by multiplying the vibration amplitude value, the vibration frequency value, the amplitude value, and a randomly generated speed random factor parameter;

[0059] Determining whether each of the displacement velocity values is greater than a preset displacement velocity threshold;

[0060] If there is a displacement speed value greater than the preset displacement speed threshold, the displacement speed value is adjusted to the preset displacement speed threshold.

[0061] An embodiment of the present application also provides a vehicle, which executes the steps of the control method for removing snow covering the vehicle as described above.

[0062] 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 control method for removing snow covering a vehicle as described above are performed.

[0063] 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 control method for removing snow covering a vehicle as described above are executed.

[0064] The embodiments of the present application provide a control method, device, and vehicle for removing snow covering a vehicle. The control method includes: in response to turning on a control function for removing snow covering the surface of a vehicle, respectively obtaining state parameters of the vehicle, a temperature value of the environment in which the vehicle is located, and thickness distribution information corresponding to the snow; based on the state parameters, the temperature value, the thickness distribution information, and randomly generated random factor parameters, determining control parameters corresponding to each air spring provided in the suspension of the vehicle; wherein the control parameters include at least a vibration amplitude value, a vibration frequency value, and a displacement velocity value; and controlling each of the air springs to vibrate according to the control parameters, so as to utilize the vibration of the air spring to remove the snow covering the surface of the vehicle.

[0065] Compared with the method in the prior art of removing snow from the vehicle body by artificial snow removal when the vehicle is stationary, when the vehicle starts the control function of removing snow covering the surface, the vehicle's state parameters, the temperature values of the environment in which it is located, and the thickness distribution information of the snow are obtained, and combined with the randomly generated random factor parameters, the control parameters including the vibration amplitude value, vibration frequency value and displacement speed value corresponding to each air spring provided in the vehicle's suspension are determined, and each air spring is controlled to vibrate according to the control parameters to achieve the effect of removing snow covering the vehicle surface, thereby improving the efficiency, effect and flexibility of removing snow from the vehicle, and being able to better cope with complex and changeable snow scenes, thereby improving the vehicle's driving performance and safety.

[0066] 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

[0067] 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.

[0068] Figure 1 A flow chart of a control method for removing snow from a vehicle provided in an embodiment of the present application;

[0069] Figure 2 A schematic structural diagram of a control device for removing snow from a vehicle provided in an embodiment of the present application;

[0070] Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0071] 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.

[0072] 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.

[0073] In addition, different snow thickness and snow distribution have different requirements for snow removal methods. The existing artificial snow removal methods are difficult to flexibly adapt to these complex situations, resulting in poor results in removing snow from vehicles, which in turn reduces the vehicle's driving performance and safety.

[0074] Based on this, an embodiment of the present application provides a control method for removing snow covering a vehicle. When the vehicle turns on the control function for removing snow covering the surface, the vehicle's state parameters, the temperature values of the environment in which it is located, and the thickness distribution information of the snow are obtained. Combined with the randomly generated random factor parameters, the control parameters including the vibration amplitude value, vibration frequency value, and displacement speed value corresponding to each air spring set in the vehicle's suspension are determined, and each air spring is controlled to vibrate according to the control parameters to achieve the effect of removing snow covering the vehicle surface, thereby improving the efficiency, effect, and flexibility of removing snow from the vehicle, and being able to better cope with complex and changeable snow scenes, thereby improving the vehicle's driving performance and safety.

[0075] See also Figure 1 , Figure 1 This is a flow chart of a control method for removing snow from a vehicle provided in an embodiment of the present application. Figure 1 As shown in , the control method for removing snow covering a vehicle provided by the embodiment of the present application includes:

[0076] S101. In response to starting a control function for removing snow covering a vehicle surface, respectively obtaining state parameters of the vehicle, a temperature value of an environment where the vehicle is located, and thickness distribution information corresponding to the snow.

[0077] 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 hardness of the shock absorber (air spring at each wheel) in real time.

[0078] In an embodiment of the present application, the state parameters include at least a vehicle tilt angle value (unit: degree) and a vehicle driving speed value (unit: km / s); wherein, the vehicle tilt angle value refers to the vehicle body tilt angle value caused by the steering behavior of the vehicle during driving.

[0079] Here, the positive or negative value of the vehicle tilt angle value can represent the tilt direction of the vehicle body; specifically, when the vehicle tilt angle value is positive, the vehicle body is tilting to the left; when the vehicle tilt angle value is negative, the vehicle body is tilting to the right; when the vehicle tilt angle value is 0, the vehicle body is not tilted.

[0080] In an embodiment of the present application, the thickness distribution information corresponding to the snow may include the thickness values of the snow covering the left and right sides of the vehicle respectively; further, the thickness distribution information may include the snow thickness value (unit: cm) corresponding to each air spring set in the vehicle suspension.

[0081] Among them, 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. The snow thickness values corresponding to the left front wheel air spring and the left rear wheel air spring are the snow thickness values corresponding to the left side of the vehicle, and the snow thickness values corresponding to the right front wheel air spring and the right rear wheel air spring are the snow thickness values corresponding to the right side of the vehicle.

[0082] In an embodiment of the present application, the vehicle is provided with at least a body posture sensor, an ambient temperature sensor and an ultrasonic snow thickness sensor; wherein the above sensors collect data at a high frequency and quickly transmit the collected data to the CDC controller via the CAN bus.

[0083] In this step, in response to the vehicle starting the control function of removing snow covering the vehicle surface, the vehicle state parameters collected by the body posture sensor, the temperature value of the vehicle environment collected by the ambient temperature sensor (unit: ℃), and the thickness distribution information corresponding to the snow covering the vehicle surface collected by the ultrasonic snow thickness sensor are obtained respectively.

[0084] Specifically, the body posture sensor uses a high-precision MEMS (micro-electromechanical system) inertial sensor, including an accelerometer and a gyroscope. The accelerometer can accurately measure the acceleration changes of the vehicle in the three coordinate axis directions (X, Y, and Z axes). By integrating the acceleration data, it can collect information such as the vehicle's real-time vehicle speed value; the gyroscope is used to measure the vehicle's angular velocity and can monitor the vehicle's rotational motion in real time, such as the vehicle body's tilt angle, pitch angle, and roll angle, to collect the vehicle's real-time vehicle tilt angle value.

[0085] Here, the vehicle's state parameters are used to determine the vehicle's balance state in a snowy environment. If the vehicle's body tilts significantly, consider implementing more powerful vibration control on the suspension on the tilted side to help balance the body and enhance the snow removal effect. Then, by analyzing the vehicle's state change trend, the possible sliding direction of the snow is predicted, and the suspension motion parameters are adjusted in advance to guide the snow to slide down.

[0086] Furthermore, the ambient temperature sensor uses a high-precision thermistor temperature sensor to determine the temperature value of the vehicle's environment based on the characteristic that the resistance value of the thermistor changes with temperature.

[0087] Here, the temperature value of the vehicle's environment has a significant impact on the physical properties of the snow. When the temperature is low, the snow is harder, and the suspension needs to move with a larger displacement and faster speed to effectively break the adhesion between the snow and the car body; when the temperature is close to the freezing point, the viscosity of the snow increases, and the movement mode of the suspension can be adjusted, increasing the vibration frequency of the air spring, and using high-frequency vibration to shake off the snow.

[0088] Furthermore, ultrasonic snow thickness sensors are usually installed in multiple key positions of the vehicle body, such as the roof, side of the vehicle body and bumper. When the ultrasonic snow thickness sensor is working, it transmits high-frequency ultrasonic pulses to the snow surface covering the vehicle surface and receives the reflected ultrasonic signal. Then, based on the propagation speed of ultrasonic waves 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 thickness distribution information corresponding to the snow covering the vehicle surface is obtained.

[0089] Here, the thickness distribution information corresponding to the snow is an important basis for determining the suspension movement amplitude and frequency. For areas with thicker snow, the corresponding suspension movement amplitude is increased to provide sufficient force to remove the snow; for areas with thinner snow, the suspension movement amplitude is appropriately reduced to avoid excessive energy consumption and unnecessary damage to the vehicle; in addition, by comparing the snow thickness measured by sensors at different positions, the distribution difference of snow thickness on both sides of the vehicle can be determined. For local areas with thicker snow, the suspension movement parameters are dynamically adjusted to achieve precise snow removal in different areas.

[0090] S102 : Determine a control parameter corresponding to each air spring provided in the suspension of the vehicle based on the state parameter, the temperature value, the thickness distribution information, and a randomly generated random factor parameter.

[0091] The control parameters include at least a vibration amplitude value (unit: mm), a vibration frequency value (unit: HZ) and a displacement speed value (unit: mm / s).

[0092] Specifically, the vibration amplitude value refers to the distance the air spring moves from its equilibrium position to its maximum deviation position, the vibration frequency value refers to the number of times the air spring completes a complete vibration cycle per unit time, and the displacement velocity value describes the speed at which the air spring moves within its stroke, that is, the amount of displacement change that occurs per unit time.

[0093] In an embodiment of the present application, the vibration amplitude and frequency of each air spring are determined based on the temperature of the vehicle's environment and the thickness distribution information of the snow. That is, hard snow requires high energy to remove, and low temperature requires high frequency to remove, which is in line with the physical properties of snow. The required displacement of the air spring in the suspension is calculated through the vehicle's state parameters, vibration amplitude and vibration frequency to avoid excessive tilting of the vehicle body to achieve mechanical balance. A vehicle speed attenuation coefficient is introduced corresponding to the vehicle speed to balance snow removal efficiency and driving stability.

[0094] In this way, through the multi-physics field coupling of mechanical balance, physical properties of snow accumulation and vehicle motion state, as well as randomly generated random factor parameters, the periodicity of snow adhesion is broken, the inertial balance formed by snow accumulation is prevented, and the snow removal effect is improved.

[0095] Here, the random factor parameters include at least amplitude random factor parameters, frequency random factor parameters and frequency random factor parameters to enhance the diversity of vehicle suspension snow removal control. When calculating the control parameters corresponding to each air spring, each air spring will randomly generate a random factor parameter for calculating the control parameters corresponding to each air spring.

[0096] In one embodiment of the present application, during specific implementation, step S102 may include:

[0097] S1021. Determine a hardness value corresponding to the snow based on the temperature value.

[0098] In this step, since the lower the temperature, the harder the snow, that is, the temperature value and the hardness value corresponding to the snow are negatively correlated, the hardness value corresponding to the snow is determined based on the temperature value according to the pre-set mapping relationship between the temperature value and the hardness value corresponding to the snow.

[0099] The hardness value corresponding to snow accumulation is generally in the numerical range of 0 to 1. For example, when the temperature is -10°C, the hardness value corresponding to snow accumulation is 0.8.

[0100] S1022. Determine a vibration amplitude value corresponding to each air spring provided in the suspension of the vehicle based on the vehicle tilt angle value, the hardness value, the temperature value, the thickness distribution information, and a randomly generated amplitude random factor parameter.

[0101] Among them, the air springs arranged in the vehicle's suspension 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; specifically, the vehicle suspension includes a left suspension and a right side suspension, the left front wheel air spring and the left rear wheel air spring are both located on the left side suspension, and the right front wheel air spring and the right rear wheel air spring are both located on the right side suspension.

[0102] In one embodiment of the present application, during specific implementation, step S1022 may include:

[0103] S10221. Based on the positive and negative numerical expressions of the vehicle tilt angle value, determine the tilt direction of the vehicle to determine the tilt direction influence coefficient corresponding to each air spring, and determine the product of the absolute value of the vehicle tilt angle value and the tilt direction influence coefficient as the tilt compensation item corresponding to each air spring.

[0104] Here, the positive and negative values of the vehicle tilt angle value can represent the tilt direction of the vehicle body, that is, when the vehicle tilt angle value is positive, the vehicle body is tilting to the left; when the vehicle tilt angle value is negative, the vehicle body is tilting to the right; when the vehicle tilt angle value is 0, the vehicle body is not tilted.

[0105] In this step, the tilt direction influence coefficient corresponding to each air spring is determined according to the tilt direction of the vehicle; for example, when the vehicle tilts to the left, the left front wheel air spring and the left rear wheel air spring correspond to the first tilt direction influence coefficient, respectively, and the right front wheel air spring and the right rear wheel air spring correspond to the second tilt direction influence coefficient, respectively; when the vehicle tilts to the right, the left front wheel air spring and the left rear wheel air spring correspond to the second tilt direction influence coefficient, respectively, and the right front wheel air spring and the right rear wheel air spring correspond to the first tilt direction influence coefficient, respectively.

[0106] In the embodiment of the present application, the first tilt direction influence coefficient can be set to 1.2, and the second tilt direction influence coefficient can be set to 0.8, and can also be specifically calibrated according to actual scene requirements and control conditions.

[0107] Here, the product of the absolute value of the vehicle tilt angle value and the corresponding tilt direction influence coefficient is determined as the tilt compensation item corresponding to each air spring to increase the movement amplitude of the tilt side suspension and achieve the effect of balancing the vehicle body.

[0108] S10222. Determine the product of the hardness value and the preset snow hardness coefficient as the snow hardness item corresponding to each air spring.

[0109] In an embodiment of the present application, snow with higher hardness requires a larger vibration amplitude to break the adhesion of the snow. Therefore, the product of the hardness value and the preset snow hardness coefficient is determined as the snow hardness item corresponding to each air spring.

[0110] Here, the preset snow hardness coefficient can be set to 3mm / unit hardness, or it can be specifically calibrated according to actual scene requirements and control conditions.

[0111] S10223. Determine the product of the snow thickness value corresponding to each air spring included in the thickness distribution information and a preset snow thickness coefficient as a snow thickness item corresponding to each air spring.

[0112] In an embodiment of the present application, the snow thickness item corresponding to each air spring is determined to assign a greater thickness weight to areas with thicker snow.

[0113] Here, the preset snow thickness coefficient can be set to 2mm / cm, or it can be calibrated according to actual scene requirements and control conditions.

[0114] S10224. Based on the temperature value, determine a temperature compensation value using a preset temperature function, and determine the product of the temperature compensation value and a preset temperature correction coefficient as a temperature correction term corresponding to each air spring.

[0115] Here, the preset temperature correction coefficient can be set to 0.5mm / ℃, and can also be specifically calibrated according to actual scene requirements and control conditions.

[0116] In the embodiment of the present application, the expression of the preset temperature function is as follows.

[0117]

[0118] Wherein, f(T) represents the temperature compensation value corresponding to the temperature value; T represents the temperature value of the vehicle environment; and T0 represents the preset temperature threshold.

[0119] Here, since the hardness of snow increases when the environment is at a low temperature, a temperature compensation value corresponding to the temperature value is set to correct the influence of the temperature on the vibration amplitude value corresponding to each air spring.

[0120] S10225. Determine the vibration amplitude value corresponding to each air spring set in the suspension of the vehicle based on the tilt compensation item, the snow hardness item, the snow thickness item, the temperature correction item, the preset amplitude proportional coefficient and the randomly generated amplitude random factor parameter.

[0121] Here, the preset amplitude proportional coefficient is usually selected from [4,6]. Through experiments to balance snow removal efficiency and component life, the preset amplitude proportional coefficient is selected as 5. It can also be specifically calibrated according to actual scene requirements and control conditions.

[0122] In the embodiment of the present application, the expression for calculating the vibration amplitude value corresponding to each air spring is as follows.

[0123] A i =k A ·(α i |θ|+βH H+γ d ·d i +δ T ·f(T))·R i1 .

[0124] Among them, A i Indicates the vibration amplitude value corresponding to each air spring; θ indicates the vehicle tilt angle value; H indicates the hardness value of the snow; T indicates the temperature value of the vehicle environment; d i Indicates the snow thickness value corresponding to each air spring; R i1 k represents the random factor parameter of the amplitude corresponding to each air spring; A Indicates the preset amplitude proportional coefficient; α i Indicates the tilt direction influence coefficient corresponding to each air spring; β H Indicates the preset snow hardness coefficient; γ d Indicates the preset snow thickness coefficient; δ T represents the preset temperature correction coefficient; f(T) represents the temperature compensation value determined by the preset temperature function; i=1, 2, 3, 4, representing the left front wheel air spring, left rear wheel air spring, right front wheel air spring and right rear wheel air spring respectively.

[0125] Here, α i |θ| represents the tilt compensation term; β H H represents the snow hardness term; γ d ·d i represents the snow thickness term; δ T f(T) represents the temperature correction term.

[0126] In an embodiment of the present application, the amplitude random factor parameter corresponding to each air spring can be randomly selected and generated in [0.8, 1.2] to introduce 20% random fluctuations to avoid inertial adaptation of snow accumulation. Other parameter ranges can also be specifically calibrated according to actual scene requirements and control conditions.

[0127] S1023. Determine the vibration frequency value corresponding to each of the air springs based on the vehicle speed value, the hardness value, the temperature value, and a randomly generated frequency random factor parameter.

[0128] In one embodiment of the present application, during specific implementation, step S1023 may include:

[0129] S10231. Based on the vehicle speed value and a preset vehicle speed attenuation coefficient, a preset speed attenuation formula is used to determine a speed attenuation term corresponding to each of the air springs.

[0130] In the embodiment of the present application, the vehicle maintains stability during driving by determining the speed attenuation term corresponding to each air spring.

[0131] Here, the higher the vehicle speed value, the lower the speed attenuation term, which makes the calculated vibration frequency value lower. The preset vehicle speed attenuation coefficient can be set to 0.01h / km, and can also be specifically calibrated according to actual scene requirements and control conditions.

[0132] S10232. Determine the product of the hardness value and the preset snow hardness multiplication coefficient as the hardness multiplication item corresponding to each air spring.

[0133] In the embodiment of the present application, since snow with higher hardness requires high-frequency vibration to destroy the structure of the snow, the hardness frequency-increasing item corresponding to each air spring is determined to achieve an increase in the vibration frequency value brought about by the hardness of the snow.

[0134] Here, the preset snow hardness frequency-increasing coefficient can be set to 1HZ / unit hardness, or it can be specifically calibrated according to actual scene requirements and control conditions.

[0135] S10233. Determine the product of the absolute value of the temperature value and the preset temperature frequency-increasing coefficient as the temperature frequency-increasing item corresponding to each of the air springs.

[0136] In the embodiment of the present application, since the brittleness of snow is higher in a low temperature environment and the efficiency of high-frequency vibration is also higher, the temperature frequency-increasing item corresponding to each air spring is determined to achieve an increase in the vibration frequency value brought about by low temperature.

[0137] S10234. Determine the vibration frequency value corresponding to each of the air springs based on the speed attenuation term, the hardness frequency-increasing term, the temperature frequency-increasing term, a preset frequency reference value, and a randomly generated frequency random factor parameter.

[0138] In the embodiment of the present application, the expression for calculating the vibration frequency value corresponding to each air spring is as follows.

[0139]

[0140] Among them, f i Indicates the vibration frequency value corresponding to each air spring; V indicates the vehicle speed value; H indicates the hardness value of the snow; H indicates the temperature value of the vehicle environment; R i2 Indicates the frequency random factor parameter corresponding to each air spring; k f Indicates the preset frequency reference value; ∈ V Represents the preset vehicle speed attenuation coefficient; η H Indicates the preset snow hardness multiplication factor; μ TIndicates the preset temperature frequency-increasing coefficient; i=1, 2, 3, 4, representing the left front wheel air spring, left rear wheel air spring, right front wheel air spring and right rear wheel air spring respectively.

[0141] here, represents the velocity attenuation term; η H H represents the hardness multiplier term; μ T |T| represents the temperature multiplication term.

[0142] In an embodiment of the present application, the frequency random factor parameter corresponding to each air spring can be randomly selected and generated in [0.9, 1.1] to introduce 10% random fluctuations to enhance the diversity of snow removal. Other parameter ranges can also be specifically calibrated according to actual scene requirements and control conditions.

[0143] In one embodiment of the present application, during specific implementation, step S1023 further includes:

[0144] S10235. For each vibration frequency value corresponding to the air spring, determine whether the vibration frequency value is greater than a preset frequency threshold.

[0145] In an embodiment of the present application, the vibration frequency value corresponding to each air spring is compared with a preset frequency threshold to determine whether the vibration frequency value is greater than the preset frequency threshold to avoid excessive vibration of the air spring.

[0146] Here, the preset frequency threshold can be set to 10HZ, and can also be specifically calibrated according to actual scene requirements and control conditions.

[0147] S10236: If the vibration frequency value is greater than the preset frequency threshold, adjust the vibration frequency value to the preset frequency threshold.

[0148] Furthermore, if the vibration frequency value is less than or equal to the preset frequency threshold, the vibration frequency value is not adjusted.

[0149] S1024. Determine the displacement velocity value corresponding to each air spring at each moment under the control function based on the vibration amplitude value, the vibration frequency value, the preset phase difference corresponding to each air spring, and the randomly generated speed random factor parameter.

[0150] In an embodiment of the present application, the phase difference of the left front wheel air spring can be set to 0; the phase difference of the left rear wheel air spring can be set to π / 2; the phase difference of the right front wheel air spring can be set to π; the phase difference of the right rear wheel air spring can be set to 3π / 2, so as to form asymmetric vibration of each air spring to avoid resonance.

[0151] In one embodiment of the present application, during specific implementation, step S1024 may include:

[0152] S10241. Based on the vibration frequency value and the preset phase difference corresponding to each of the air springs, determine the amplitude value corresponding to each of the air springs at each moment under the control function.

[0153] In the embodiment of the present application, the expression for calculating the amplitude value corresponding to each air spring at each moment under the control function is as follows.

[0154] x i (t) = cos(2πf i y+φ i ).

[0155] Among them, x i (t) represents the amplitude value of each air spring at each moment under the control function (unit: mm); f i Indicates the vibration frequency value corresponding to each air spring; φ i Indicates the preset phase difference corresponding to each air spring; i=1, 2, 3, 4, representing the left front wheel air spring, left rear wheel air spring, right front wheel air spring and right rear wheel air spring respectively.

[0156] S10242. Determine the product of the vibration amplitude value, the vibration frequency value, the amplitude value, and the randomly generated speed random factor parameter as the displacement speed value corresponding to each moment of each air spring under the control function.

[0157] In the embodiment of the present application, the expression for calculating the displacement velocity value corresponding to each air spring at each moment under the control function is as follows.

[0158] v i (t) = A i ·f i ·cos(2πf i t+φ i )·R i3 .

[0159] Among them, v i (t) represents the displacement velocity value of each air spring at each moment under the control function; A i Indicates the vibration amplitude value corresponding to each air spring; f i Indicates the vibration frequency value corresponding to each air spring; φ i Indicates the preset phase difference of each air spring; R i3 Represents the speed random factor parameter corresponding to each air spring; i=1, 2, 3, 4, representing the left front wheel air spring, left rear wheel air spring, right front wheel air spring, and right rear wheel air spring, respectively.

[0160] Here, cos(2πf i t+φ i ) represents the amplitude value of each air spring at each moment under the control function.

[0161] In an embodiment of the present application, the speed random factor parameter corresponding to each air spring can be randomly selected and generated in [0.9, 1.1] to introduce a random speed peak fluctuation of ±10% to destroy the regularity of snow adhesion. Other parameter ranges can also be specifically calibrated according to actual scene requirements and control conditions.

[0162] S10243. Determine whether each displacement speed value is greater than a preset displacement speed threshold.

[0163] In an embodiment of the present application, the displacement speed value corresponding to each air spring at each moment under the control function is compared with the preset displacement speed threshold to determine whether each displacement speed value is greater than the preset displacement speed threshold to avoid the air spring moving too fast.

[0164] Here, the preset displacement speed threshold can be set to 150 mm / s, and can also be specifically calibrated according to actual scene requirements and control conditions.

[0165] S10244: If the displacement speed value is greater than the preset displacement speed threshold, adjust the displacement speed value to the preset displacement speed threshold.

[0166] Furthermore, if the displacement speed value is less than or equal to a preset displacement speed threshold, the displacement speed value is not adjusted.

[0167] S103: Control each of the air springs to vibrate according to the control parameters, so as to remove snow covering the surface of the vehicle by utilizing the vibration of the air springs.

[0168] In this step, the CDC controller controls each air spring to vibrate according to the vibration amplitude value, vibration frequency value and displacement speed value, so as to remove the snow covering the vehicle surface by utilizing the vibration characteristics of the air spring and the randomness of the random factor.

[0169] For example, at a certain moment, the air spring of the left front wheel may be compressed upward a certain distance at a faster speed, while the air spring of the right rear wheel may be extended a smaller distance at a slower speed; at the next moment, the control parameters will change randomly, causing the car body to shake irregularly.

[0170] Here, the CDC controller sends control signals to the various actuators of the vehicle suspension system (for example, the solenoid valve that controls the inflation and deflation of the air spring) according to the control parameters corresponding to each air spring, so as to accurately control the inflation and deflation process of the air spring, thereby enabling the left and right suspensions to move according to the control parameters, causing the vehicle body to vibrate irregularly and achieve the purpose of snow removal.

[0171] In the embodiment of the present application, the thick and hard snow covering the surface of the vehicle is cleared in a focused manner, and the vibration amplitude of the suspension on the side with thicker snow is increased to directly impact the snow adhesion surface, and destroy the crystal structure of the hard snow through high-frequency vibration to prevent snow from splashing while the vehicle is driving.

[0172] Furthermore, balance compensation is performed on the tilted side of the vehicle, the vibration amplitude of the vehicle body tilt measurement is increased, the vehicle body tilt torque is offset by asymmetric vibration, and the vehicle driving stability is enhanced through frequency adaptation.

[0173] Furthermore, the temperature correction item is adapted to the vehicle's environment and driving speed to increase the vibration amplitude of all air springs, and the high-frequency vibration of the vibration amplitude is used to cope with the high hardness of the snow; the speed attenuation item is used to reduce the risk of high-frequency vibration to ensure driving controllability.

[0174] Furthermore, randomly generated random factor parameters are introduced for amplitude, frequency, and speed to break the periodicity of snow adhesion and improve the snow removal effect.

[0175] As an example of a control method for removing snow from a vehicle, assume that the vehicle is tilted 5° to the left while driving, the vehicle is traveling at 20 km / h, the vehicle's ambient temperature is -10°C, the snow hardness corresponding to -10°C is 0.8, the snow thickness on the right side of the vehicle is 6 cm, and the snow thickness on the left side of the vehicle is 3 cm. Due to the vehicle's left tilt during driving, the tilt direction influence coefficients of the left front wheel air spring and the left rear wheel air spring are 1.2, and the tilt direction influence coefficients of the right front wheel air spring and the right rear wheel air spring are 0.8.

[0176] Based on this example, for the left front wheel air spring, the randomly generated amplitude random factor parameter is 0.9, the frequency random factor parameter is 1.1, and the speed random factor parameter is 0.95. It can be calculated that the vibration amplitude value corresponding to the left front wheel air spring is 69.3mm, the vibration frequency value is 5.79HZ, and its displacement velocity value changes with time.

[0177] For the left rear wheel air spring, the randomly generated amplitude random factor parameter is 0.95, the frequency random factor parameter is 1.05, and the speed random factor parameter is 0.9. It can be calculated that the vibration amplitude value corresponding to the left rear wheel air spring is 73.3mm, the vibration frequency value is 5.53HZ, and its displacement velocity value changes with time.

[0178] For the right front wheel air spring, the randomly generated amplitude random factor parameter is 1.1, the frequency random factor parameter is 0.9, and the speed random factor parameter is 1.05. It can be calculated that the vibration amplitude value corresponding to the right front wheel air spring is 106.7mm, the vibration frequency value is 4.74HZ, and its displacement velocity value changes with time.

[0179] For the right rear wheel air spring, the randomly generated amplitude random factor parameter is 1.05, the frequency random factor parameter is 0.95, and the speed random factor parameter is 1.1. It can be calculated that the vibration amplitude value corresponding to the right rear wheel air spring is 101.8mm, the vibration frequency value is 5.00HZ, and its displacement velocity value changes with time.

[0180] As can be seen from the above example, the vibration amplitude of the right front wheel air spring and the right rear wheel air spring increased by 20%-30%, and the vibration frequency of the right front wheel air spring and the right rear wheel air spring decreased by 5%-10%. While strengthening snow removal on the right side of the vehicle body, energy consumption is reduced and snow splashing is avoided.

[0181] Furthermore, the vibration amplitude of the left front wheel air spring and the left rear wheel air spring is increased by 10%-15%, and the vibration frequency is maintained near the preset frequency threshold to compensate for the left side tilt of the vehicle.

[0182] Furthermore, the temperature correction term increases the vibration amplitude of all air springs by 30%, and the temperature frequency multiplication term increases the vibration frequency of all air springs by 50%, thus achieving focused treatment of low-temperature hard snow.

[0183] The control method for removing snow covering a vehicle provided in an embodiment of the present application obtains the vehicle's state parameters, the temperature value of the environment in which it is located, and the thickness distribution information of the snow when the vehicle turns on the control function for removing snow covering the surface, and combines the randomly generated random factor parameters to determine the control parameters including the vibration amplitude value, vibration frequency value, and displacement speed value corresponding to each air spring set in the vehicle's suspension, and controls each air spring to vibrate according to the control parameters, thereby achieving the effect of removing snow covering the vehicle surface, improving the efficiency, effect, and flexibility of removing snow from the vehicle, and being able to better cope with complex and changeable snow scenes, thereby improving the vehicle's driving performance and safety.

[0184] See also Figure 2 , Figure 2 This is a schematic diagram of the structure of a control device for removing snow from a vehicle provided in an embodiment of the present application. Figure 2 As shown in , the control device 200 includes:

[0185] The data acquisition module 210 is configured to obtain, in response to the activation of a control function for removing snow from a vehicle surface, state parameters of the vehicle, a temperature value of an environment in which the vehicle is located, and thickness distribution information corresponding to the snow;

[0186] a parameter determination module 220 for determining control parameters corresponding to each air spring provided in the suspension of the vehicle based on the state parameter, the temperature value, the thickness distribution information, and a randomly generated random factor parameter; wherein the control parameters include at least a vibration amplitude value, a vibration frequency value, and a displacement velocity value;

[0187] The snow removal control module 230 is configured to control each of the air springs to vibrate according to the control parameters, so as to remove snow covering the surface of the vehicle by utilizing the vibration of the air springs.

[0188] Furthermore, the state parameters include at least a vehicle tilt angle value and a vehicle speed value; when the parameter determination module 220 is used to determine the control parameters corresponding to each air spring provided in the suspension of the vehicle based on the state parameters, the temperature value, the thickness distribution information, and the randomly generated random factor parameter, the parameter determination module 220 is used to:

[0189] Determining a hardness value corresponding to the snow based on the temperature value;

[0190] Determining a vibration amplitude value corresponding to each air spring provided in the suspension of the vehicle based on the vehicle tilt angle value, the hardness value, the temperature value, the thickness distribution information, and a randomly generated amplitude random factor parameter; wherein 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;

[0191] Determining a vibration frequency value corresponding to each of the air springs based on the vehicle speed value, the hardness value, the temperature value, and a randomly generated frequency random factor parameter;

[0192] Based on the vibration amplitude value, the vibration frequency value, the preset phase difference corresponding to each air spring and the randomly generated speed random factor parameter, the displacement speed value corresponding to each air spring at each moment under the control function is determined.

[0193] Furthermore, when the parameter determination module 220 is used to determine the vibration amplitude value corresponding to each air spring provided in the suspension of the vehicle based on the vehicle tilt angle value, the hardness value, the temperature value, the thickness distribution information, and the randomly generated amplitude random factor parameter, the parameter determination module 220 is used to:

[0194] Determining the tilt direction of the vehicle based on the positive and negative values of the vehicle tilt angle value to determine a tilt direction influence coefficient corresponding to each of the air springs, and determining a tilt compensation term corresponding to each of the air springs by multiplying the absolute value of the vehicle tilt angle value by the tilt direction influence coefficient;

[0195] Determine the product of the hardness value and a preset snow hardness coefficient as a snow hardness item corresponding to each air spring;

[0196] Determine the product of the snow thickness value corresponding to each air spring included in the thickness distribution information and a preset snow thickness coefficient as a snow thickness item corresponding to each air spring;

[0197] Based on the temperature value, determining a temperature compensation value using a preset temperature function, and determining a temperature correction term corresponding to each of the air springs by multiplying the temperature compensation value by a preset temperature correction coefficient;

[0198] Based on the tilt compensation item, the snow hardness item, the snow thickness item, the temperature correction item, the preset amplitude proportional coefficient and the randomly generated amplitude random factor parameter, the vibration amplitude value corresponding to each air spring set in the suspension of the vehicle is determined.

[0199] Furthermore, when the parameter determination module 220 is used to determine the vibration frequency value corresponding to each of the air springs based on the vehicle speed value, the hardness value, the temperature value, and the randomly generated frequency random factor parameter, the parameter determination module 220 is used to:

[0200] Based on the vehicle speed value and a preset vehicle speed attenuation coefficient, a speed attenuation term corresponding to each of the air springs is determined using a preset speed attenuation formula;

[0201] Determine the product of the hardness value and the preset snow hardness frequency-increasing coefficient as the hardness frequency-increasing item corresponding to each air spring;

[0202] Determine the temperature frequency-increasing term corresponding to each air spring by multiplying the absolute value of the temperature value by a preset temperature frequency-increasing coefficient;

[0203] The vibration frequency value corresponding to each of the air springs is determined based on the speed attenuation term, the hardness frequency-increasing term, the temperature frequency-increasing term, a preset frequency reference value, and a randomly generated frequency random factor parameter.

[0204] Furthermore, when the parameter determination module 220 is used to determine the vibration frequency value corresponding to each of the air springs based on the vehicle speed value, the hardness value, the temperature value, and the randomly generated frequency random factor parameter included in the state parameters, the parameter determination module 220 is further used to:

[0205] For each vibration frequency value corresponding to the air spring, determining whether the vibration frequency value is greater than a preset frequency threshold;

[0206] If the vibration frequency value is greater than the preset frequency threshold, the vibration frequency value is adjusted to the preset frequency threshold.

[0207] Furthermore, when the parameter determination module 220 is used to determine the displacement velocity value corresponding to each air spring at each moment under the control function based on the vibration amplitude value, the vibration frequency value, the preset phase difference corresponding to each air spring, and the randomly generated speed random factor parameter, the parameter determination module 220 is used to:

[0208] Determining the amplitude value corresponding to each air spring at each moment under the control function based on the vibration frequency value and a preset phase difference corresponding to each air spring;

[0209] Determine the displacement velocity value corresponding to each air spring at each moment under the control function by multiplying the vibration amplitude value, the vibration frequency value, the amplitude value, and a randomly generated speed random factor parameter;

[0210] Determining whether each of the displacement velocity values is greater than a preset displacement velocity threshold;

[0211] If there is a displacement speed value greater than the preset displacement speed threshold, the displacement speed value is adjusted to the preset displacement speed threshold.

[0212] The control device for removing snow covering a vehicle provided in an embodiment of the present application obtains the vehicle's state parameters, the temperature value of the environment in which it is located, and the thickness distribution information of the snow when the vehicle turns on the control function for removing snow covering the surface, and combines the randomly generated random factor parameters to determine the control parameters including the vibration amplitude value, vibration frequency value, and displacement speed value corresponding to each air spring provided in the vehicle's suspension, and controls each air spring to vibrate according to the control parameters, thereby achieving the effect of removing snow covering the vehicle surface, improving the efficiency, effect, and flexibility of removing snow from the vehicle, and being able to better cope with complex and changeable snow scenes, thereby improving the vehicle's driving performance and safety.

[0213] The embodiment of the present application also provides a vehicle, which performs the above Figure 1The steps of the control method for removing snow covering a vehicle in the method embodiment are shown.

[0214] See also Figure 3 , Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 3 As shown in FIG, the electronic device 300 includes a processor 310 , a memory 320 and a bus 330 .

[0215] The memory 320 stores machine-readable instructions executable by the processor 310. When the electronic device 300 is running, the processor 310 communicates with the memory 320 via the bus 330. When the machine-readable instructions are executed by the processor 310, the above-mentioned Figure 1 The steps of the control method for removing snow covering a vehicle in the method embodiment shown are specifically implemented in accordance with the method embodiment and will not be described in detail here.

[0216] 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 steps of the control method for removing snow covering a vehicle in the method embodiment shown are specifically implemented in accordance with the method embodiment and will not be described in detail here.

[0217] 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.

[0218] 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.

[0219] 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.

[0220] 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.

[0221] 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.

[0222] 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 control method for removing snow from a vehicle, characterized in that: The control method includes: In response to starting a control function for removing snow covering a vehicle surface, respectively obtaining a state parameter of the vehicle, a temperature value of an environment where the vehicle is located, and thickness distribution information corresponding to the snow; Determining control parameters corresponding to each air spring provided in the suspension of the vehicle based on the state parameter, the temperature value, the thickness distribution information, and a randomly generated random factor parameter; wherein the control parameters include at least a vibration amplitude value, a vibration frequency value, and a displacement velocity value; Each of the air springs is controlled to vibrate according to the control parameters, so as to remove snow covering the surface of the vehicle by utilizing the vibration of the air spring.

2. The method according to claim 1, characterized in that The state parameters include at least a vehicle tilt angle value and a vehicle speed value; and determining a control parameter corresponding to each air spring provided in the suspension of the vehicle based on the state parameters, the temperature value, the thickness distribution information, and a randomly generated random factor parameter includes: Determining a hardness value corresponding to the snow based on the temperature value; Determining a vibration amplitude value corresponding to each air spring provided in the suspension of the vehicle based on the vehicle tilt angle value, the hardness value, the temperature value, the thickness distribution information, and a randomly generated amplitude random factor parameter; wherein 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; Determining a vibration frequency value corresponding to each of the air springs based on the vehicle speed value, the hardness value, the temperature value, and a randomly generated frequency random factor parameter; Based on the vibration amplitude value, the vibration frequency value, the preset phase difference corresponding to each air spring and the randomly generated speed random factor parameter, the displacement speed value corresponding to each air spring at each moment under the control function is determined.

3. The method according to claim 2, characterized in that The determining, based on the vehicle tilt angle value, the hardness value, the temperature value, the thickness distribution information, and the randomly generated amplitude random factor parameter, of a vibration amplitude value corresponding to each air spring provided in the suspension of the vehicle includes: Determining the tilt direction of the vehicle based on the positive and negative values of the vehicle tilt angle value to determine a tilt direction influence coefficient corresponding to each of the air springs, and determining a tilt compensation term corresponding to each of the air springs by multiplying the absolute value of the vehicle tilt angle value by the tilt direction influence coefficient; Determine the product of the hardness value and a preset snow hardness coefficient as a snow hardness item corresponding to each air spring; Determine the product of the snow thickness value corresponding to each air spring included in the thickness distribution information and a preset snow thickness coefficient as a snow thickness item corresponding to each air spring; Based on the temperature value, determining a temperature compensation value using a preset temperature function, and determining a temperature correction term corresponding to each of the air springs by multiplying the temperature compensation value by a preset temperature correction coefficient; Based on the tilt compensation item, the snow hardness item, the snow thickness item, the temperature correction item, the preset amplitude proportional coefficient and the randomly generated amplitude random factor parameter, the vibration amplitude value corresponding to each air spring set in the suspension of the vehicle is determined.

4. The method according to claim 2, characterized in that The determining of the vibration frequency value corresponding to each of the air springs based on the vehicle speed value, the hardness value, the temperature value, and a randomly generated frequency random factor parameter includes: Based on the vehicle speed value and a preset vehicle speed attenuation coefficient, a speed attenuation term corresponding to each of the air springs is determined using a preset speed attenuation formula; Determine the product of the hardness value and the preset snow hardness frequency-increasing coefficient as the hardness frequency-increasing item corresponding to each air spring; Determine the temperature frequency-increasing term corresponding to each air spring by multiplying the absolute value of the temperature value by a preset temperature frequency-increasing coefficient; The vibration frequency value corresponding to each of the air springs is determined based on the speed attenuation term, the hardness frequency-increasing term, the temperature frequency-increasing term, a preset frequency reference value, and a randomly generated frequency random factor parameter.

5. The method according to claim 4, characterized in that The determining of the vibration frequency value corresponding to each of the air springs based on the vehicle speed value, the hardness value, the temperature value, and the randomly generated frequency random factor parameter included in the state parameters further includes: For each vibration frequency value corresponding to the air spring, determining whether the vibration frequency value is greater than a preset frequency threshold; If the vibration frequency value is greater than the preset frequency threshold, the vibration frequency value is adjusted to the preset frequency threshold.

6. The method according to claim 2, characterized in that The step of determining the displacement velocity value corresponding to each air spring at each moment under the control function based on the vibration amplitude value, the vibration frequency value, the preset phase difference corresponding to each air spring, and the randomly generated velocity random factor parameter includes: Determining the amplitude value corresponding to each air spring at each moment under the control function based on the vibration frequency value and a preset phase difference corresponding to each air spring; Determine the displacement velocity value corresponding to each air spring at each moment under the control function by multiplying the vibration amplitude value, the vibration frequency value, the amplitude value, and a randomly generated speed random factor parameter; Determining whether each of the displacement velocity values is greater than a preset displacement velocity threshold; If there is a displacement speed value greater than the preset displacement speed threshold, the displacement speed value is adjusted to the preset displacement speed threshold.

7. A control device for removing snow from a vehicle, characterized in that: The control device comprises: a data acquisition module, configured to obtain, in response to activation of a control function for removing snow from a vehicle surface, state parameters of the vehicle, a temperature value of an environment in which the vehicle is located, and thickness distribution information corresponding to the snow; a parameter determination module, configured to determine control parameters corresponding to each air spring provided in the suspension of the vehicle based on the state parameter, the temperature value, the thickness distribution information, and a randomly generated random factor parameter; wherein the control parameters include at least a vibration amplitude value, a vibration frequency value, and a displacement velocity value; The snow removal control module is used to control each of the air springs to vibrate according to the control parameters, so as to utilize the vibration of the air springs to remove snow covering the surface of the vehicle.

8. A vehicle, characterized in that: The vehicle executes the steps of the control method for removing snow covering the vehicle as described in any one of claims 1 to 6.

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 control method for removing snow covering a vehicle 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 control method for removing snow covering a vehicle as claimed in any one of claims 1 to 6 are executed.

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