Suspension damping system, control method and control device of suspension damping system and vehicle

Abstract

The invention relates to the technical field of vehicle damping, and particularly discloses a suspension damping system, a control method and device of the suspension damping system and a vehicle. A compression cavity used for containing a compression medium is formed in the cylinder body, and the first elastic piece and the cylinder body are arranged between the first supporting part and the second supporting part respectively; the piston is movably arranged in the cylinder body and divides the compression cavity into a first cavity body and a second cavity body; the connecting rod is used for connecting the piston with the other end of the first elastic piece; and the driving pump selectively drives the compression medium to flow from the first port to the second port or from the second port to the first port, and is used for adjusting the pressure difference between the first cavity and the second cavity so as to drive the piston to move. According to the system, the position of the piston is adjusted in real time through the driving pump, the vibration mode of the system is actively changed, the damping effect is improved, impact force generated when the system encounters obstacles is reduced, and comfort of passengers is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle shock absorption, and in particular to a suspension shock absorption system, a control method for a suspension shock absorption system, a control device for a suspension shock absorption system, and a vehicle. Background Art

[0002] To ensure the vehicle's smooth ride and handling stability, the vehicle is equipped with a suspension and shock absorption system during the production process. On the one hand, the suspension and shock absorption system is used to support the weight of the engine or other powertrain and reduce its impact on the vehicle body by isolating vibrations. On the other hand, it absorbs and cushions the impact from the road surface, thereby reducing the noise and vibration of the vehicle during driving.

[0003] In related technologies, suspension damping systems consist of springs and shock absorbers. The springs absorb road impact energy, while the shock absorbers dampen spring rebound, reducing vehicle body vibration and improving ride smoothness and handling. However, this system's damping capacity has certain limitations, reducing passenger comfort. Summary of the Invention

[0004] This application aims to address, at least to some extent, one of the technical problems in the related art. To this end, the first objective of this application is to provide a suspension damping system that, by driving a pump to adjust the piston position in real time and actively modulate the system's vibration mode, improves the damping effect, reduces the impact force generated when encountering obstacles, and enhances passenger comfort.

[0005] The second objective of this application is to provide a control method for a suspension and shock absorption system.

[0006] The third objective of the present application is to provide a control device for a suspension and shock absorption system.

[0007] A fourth object of the present application is to provide a vehicle.

[0008] To achieve the above-mentioned objectives, the first embodiment of the present application proposes a suspension shock absorption system, including: a first elastic member, one end of the first elastic member is connected to one of the first support part of the vehicle body and the second support part of the powertrain, wherein the first support part and the second support part are spaced apart; a cylinder body, a compression chamber for accommodating a compressed medium is formed in the cylinder body, and the cylinder body is arranged on the other of the first support part and the second support part; a piston, the piston is movably arranged in the cylinder body and divides the compression chamber into a first chamber and a second chamber; a connecting rod, one end of the connecting rod is connected to the piston, and the other end of the connecting rod passes through the cylinder body and is connected to the other end of the first elastic member; a driving pump, the driving pump has a first port and a second port, the first port is connected to the first chamber, and the second port is connected to the second chamber, and the driving pump can selectively drive the compressed medium to flow from the first port to the second port or from the second port to the first port, for adjusting the pressure difference between the first chamber and the second chamber to drive the piston to move.

[0009] According to an embodiment of the present application, a suspension damping system comprises a first elastic member connected at one end to a first support portion of the vehicle body or a second support portion of the powertrain; a cylinder disposed on the other of the first and second support portions; a compression chamber formed in the cylinder for accommodating a compressed medium; a piston movably disposed within the cylinder, dividing the compression chamber into a first chamber and a second chamber; a connecting rod connected at one end to the piston; and a drive pump having a first port and a second port, the first port communicating with the first chamber and the second port communicating with the second chamber. The drive pump selectively drives the compressed medium to flow from the first port to the second port or vice versa, thereby adjusting the pressure difference between the first and second chambers and driving the piston to move. Thus, the system adjusts the piston position in real time by the drive pump, actively changing the system vibration mode, improving the damping effect, reducing the impact force generated when encountering obstacles, and enhancing passenger comfort.

[0010] In addition, the suspension and shock absorption system according to the above embodiment of the present application may also have the following additional technical features:

[0011] According to one embodiment of the present application, the suspension shock absorption system also includes: a damper, one end of the damper is connected to the first support part, and the other end of the damper is connected to the second support part; and / or a second elastic member, one end of the second elastic member is connected to the first support part, and the other end of the second elastic member is connected to the second support part.

[0012] To achieve the above-mentioned purpose, the second embodiment of the present application proposes a control method for a suspension and shock absorption system, which is applied to the above-mentioned suspension and shock absorption system. The method includes: collecting environmental information of the vehicle's current environment; when it is determined based on the environmental information that there is an obstacle on the vehicle's driving road, identifying the actual type of the obstacle; determining the target position based on the actual type of the obstacle, and controlling the driving pump to adjust the pressure difference between the first cavity and the second cavity based on the target position, so as to move the piston to the target position before the vehicle drives to the obstacle.

[0013] According to the control method for the suspension and shock absorption system of an embodiment of the present application, environmental information of the vehicle's current environment is first collected. If an obstacle is determined to be present on the vehicle's road surface based on this environmental information, the actual type of the obstacle is identified. A target position is then determined based on the actual type of the obstacle. Based on the target position, the drive pump is controlled to adjust the pressure difference between the first and second chambers to move the piston to the target position before the vehicle encounters the obstacle. Thus, this method, by moving the piston position based on the actual type of obstacle, can specifically adjust the system's shock absorption capacity and simultaneously adjust the system to match the obstacle before the vehicle contacts it, thereby improving the system's vibration absorption capacity under impact conditions and enhancing driving comfort.

[0014] In addition, the control method of the suspension and shock absorption system according to the above embodiment of the present application may also have the following additional technical features:

[0015] According to one embodiment of the present application, before controlling the drive pump to adjust the pressure difference between the first cavity and the second cavity based on the target position, it also includes: obtaining the current speed of the vehicle and the current distance between the vehicle and the obstacle; determining the contact moment according to the current speed and the current distance; determining the adjustment moment according to the contact moment and the preset reaction time, so as to send an adjustment instruction to the drive pump when the adjustment moment is reached.

[0016] According to one embodiment of the present application, the suspension shock absorption system also includes an opening regulating valve, which is arranged between the first port and the first cavity or between the second port and the second cavity; wherein, the control method of the suspension shock absorption system also includes: obtaining the equivalent radius of the preset opening of the opening regulating valve, the effective area of the piston, the initial position of the piston, the preset pressure provided by the drive pump, the viscosity of the compressed medium and the total length of the pipeline between the drive pump and the cylinder body; determining the preset reaction time according to the equivalent radius of the preset opening of the opening regulating valve, the effective area of the piston, the initial position of the piston, the target position, the preset pressure provided by the drive pump, the viscosity of the compressed medium and the total length of the pipeline, and when the adjustment time is reached, the opening of the opening regulating valve is controlled based on the preset opening.

[0017] According to one embodiment of the present application, the suspension shock absorption system also includes an opening regulating valve, which is arranged between the first port and the first cavity or between the second port and the second cavity; wherein, the control method of the suspension shock absorption system also includes: obtaining the effective area of the piston, the initial position of the piston, the preset pressure provided by the drive pump, the viscosity of the compressed medium and the total length of the pipeline between the drive pump and the cylinder body; determining the equivalent radius of the target opening of the opening regulating valve according to the preset reaction time, the effective area of the piston, the initial position of the piston, the target position, the preset pressure provided by the drive pump, the viscosity of the compressed medium and the total length of the pipeline; determining the target opening of the opening regulating valve based on the equivalent radius of the target opening of the opening regulating valve, so that when the adjustment moment is reached, the opening of the opening regulating valve is controlled based on the target opening.

[0018] According to one embodiment of the present application, obtaining the preset pressure provided by the driving pump includes: determining the target power of the driving pump based on the preset reaction time; determining the preset pressure provided by the driving pump based on the target power of the driving pump; when the adjustment time is reached, it also includes: controlling the operation of the driving pump based on the target power.

[0019] According to one embodiment of the present application, the control method of the suspension shock absorption system also includes: identifying the absolute value of the height of the obstacle; determining the end time based on the absolute value of the height and the contact time; when the end time is reached, controlling the drive pump to adjust the pressure difference between the first cavity and the second cavity to adjust the piston to the initial position.

[0020] According to one embodiment of the present application, the end time is determined based on the absolute value of the height and the contact moment, including: determining the time when the vehicle's wheels are airborne and land on the ground based on the absolute value of the height; determining the end time based on the sum of the time when the wheels are airborne and land on the ground, the contact moment and a preset value.

[0021] To achieve the above-mentioned purpose, the third embodiment of the present application proposes a control device for a suspension and shock absorption system, which is applied to the above-mentioned suspension and shock absorption system. The control device includes: an acquisition module for collecting environmental information of the vehicle's current environment; an identification module for identifying the actual type of obstacle when it is determined that there is an obstacle on the vehicle's driving road based on the environmental information; a control module for determining the target position based on the actual type of the obstacle, and controlling the drive pump to adjust the pressure difference between the first cavity and the second cavity based on the target position, so as to move the piston to the target position before the vehicle drives to the obstacle.

[0022] According to the control device for the suspension and shock absorption system of the embodiment of the present application, an acquisition module collects environmental information about the vehicle's current environment. If an obstacle is determined to be present on the vehicle's road surface based on the environmental information, the recognition module identifies the actual type of obstacle. The control module determines a target position based on the actual type of obstacle and, based on the target position, controls the drive pump to adjust the pressure difference between the first and second chambers to move the piston to the target position before the vehicle encounters the obstacle. Thus, by moving the piston position based on the actual type of obstacle, the device can specifically adjust the system's shock absorption capacity and simultaneously adjust the system to match the obstacle before the vehicle contacts it, thereby improving the system's vibration absorption capacity under impact conditions and enhancing driving comfort.

[0023] To achieve the above-mentioned purpose, the fourth embodiment of the present application proposes a vehicle, including: the above-mentioned suspension and shock absorption system and a controller, the controller being used to identify the actual type of obstacle when it is determined based on environmental information that there is an obstacle on the vehicle's driving road, and determine the target position based on the actual type of the obstacle, so as to control the drive pump of the suspension and shock absorption system based on the target position to adjust the pressure difference between the first cavity and the second cavity, and move the piston to the target position before the vehicle drives to the obstacle.

[0024] According to the vehicle of the embodiment of the present application, when the controller determines based on environmental information that there is an obstacle on the vehicle's driving road, it identifies the actual type of the obstacle and determines the target position based on the actual type of the obstacle, so as to control the drive pump of the suspension shock absorption system based on the target position to adjust the pressure difference between the first cavity and the second cavity, and move the piston to the target position before the vehicle drives to the obstacle, so as to adjust the system to a matching state with the obstacle before the vehicle contacts the obstacle, thereby improving the vibration absorption capacity under impact conditions and enhancing driving comfort.

[0025] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 Schematic diagram of the connection of the suspension and shock absorption system according to an embodiment of the present application;

[0027] Figure 2 Schematic diagram of the connection of a suspension and shock absorption system according to a specific embodiment of the present application;

[0028] Figure 3 is a flow chart of a control method of a suspension shock absorption system according to an embodiment of the present application;

[0029] Figure 4 This is a schematic diagram of time marking according to an embodiment of the present application;

[0030] Figure 5 is a schematic diagram of an amplitude waveform according to a specific embodiment of the present application;

[0031] Figure 6 This is a flow chart of a method for controlling a suspension and shock absorption system according to a specific embodiment of the present application;

[0032] Figure 7 Schematic diagram of the connection of the control device of the suspension and shock absorption system according to an embodiment of the present application;

[0033] Figure 8 Schematic diagram of the connection of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0034] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0035] The following describes a suspension and shock absorption system, a control method for a suspension and shock absorption system, a control device for a suspension and shock absorption system, and a vehicle according to embodiments of the present application with reference to the accompanying drawings.

[0036] Figure 1 Schematic diagram of the connection of the suspension and shock absorption system according to an embodiment of the present application.

[0037] like Figure 1 As shown, the suspension shock absorption system of the embodiment of the present application includes: a first elastic member 5, a cylinder 12, a piston 8, a connecting rod 6 and a driving pump 10.

[0038] Among them, one end of the first elastic member 5 is connected to one of the first support part 1 of the vehicle body and the second support part 3 of the powertrain, wherein the first support part 1 and the second support part 3 are arranged at intervals; a compression chamber for accommodating a compressed medium is formed in the cylinder body 12, and the cylinder body is arranged on the other of the first support part 1 and the second support part 3; the piston 8 is movably arranged in the cylinder body and divides the compression chamber into a first chamber 7 and a second chamber 11; one end of the connecting rod 6 is connected to the piston 8, and the other end of the connecting rod 6 passes through the cylinder body 12 and is connected to the other end of the first elastic member 5; the drive pump 10 has a first port and a second port, the first port is connected to the first chamber 7, and the second port is connected to the second chamber 11. The drive pump 10 can selectively drive the compressed medium to flow from the first port to the second port or from the second port to the first port, which is used to adjust the pressure difference between the first chamber 7 and the second chamber 11 to drive the piston 8 to move.

[0039] Specifically, the first elastic member 5 is used to absorb the impact from uneven roads and the vibration of the powertrain, and can be a leaf spring, an air spring, a coil spring, a torsion bar spring, etc.

[0040] exist Figure 1 In the embodiment shown, one end of the first elastic member 5 is connected to the second support portion 3 of the powertrain, and the cylinder body is arranged on the first support portion 1 of the vehicle body. In addition to this connection method, one end of the first elastic member 5 can also be connected to the first support portion 1 of the vehicle body, and the cylinder body can be arranged on the second support portion 3 of the powertrain.

[0041] The driving pump 10 is used to control the flow of the compressed medium between the first cavity 7 and the second cavity 11. The volume of the compressed medium in the first cavity 7 and the volume of the compressed medium in the second cavity 11 are adjusted by the flow of the compressed medium, thereby adjusting the pressure difference between the first cavity 7 and the second cavity 11, so that the piston 8 moves in the cylinder 12 under the action of the pressure difference between the two cavities. Figure 1 For example, when the drive pump 10 is not operating, the pressure difference between the first chamber 7 and the second chamber 11 is a preset pressure, and the piston 8 is in a preset initial position, such as the middle position of the cylinder body. When the drive pump 10 is reversed, the compressed medium can be driven to flow from the second port of the drive pump 10 to the first port of the drive pump 10, thereby driving the compressed medium to flow from the second chamber 11 to the first chamber 7, increasing the pressure difference between the first chamber 7 and the second chamber 11, and the piston 8 moves toward the vehicle body under the action of the pressure difference. When the drive pump 10 is rotated forward, the compressed medium can be driven to flow from the first port of the drive pump 10 to the second port of the drive pump 10, thereby driving the compressed medium to flow from the first chamber 7 to the second chamber 11, reducing the pressure difference between the first chamber 7 and the second chamber 11, and the piston 8 moves toward the powertrain under the action of the pressure difference. In other words, the drive pump 10 uses a bidirectional electronic pump, which controls the flow direction of the compressed medium by forward and reverse rotation, adjusts the pressure difference between the first chamber 7 and the second chamber 11, and achieves the purpose of adjusting the position of the piston 8.

[0042] The system adjusts the position of the piston 8 by driving the pump 10, thereby compressing the first elastic member 5 to varying degrees, thereby adjusting the stiffness and vibration frequency of the entire system to better match the obstacles on the vehicle's road surface and improve vehicle comfort. Figure 1 For example, the closer piston 8 is to the powertrain, the greater the compression of first elastic member 5, the greater the stiffness of the entire system, and the lower the vibration frequency. The closer piston 8 is to the vehicle body, the less compression of first elastic member 5, the lower the stiffness of the entire system, and the higher the vibration frequency. Furthermore, during vehicle travel, obstacles on the road are detected in real time, and the position of piston 8 is adjusted in advance based on the detected road conditions. This reduces the impact force generated when the vehicle passes over obstacles, thereby improving driving comfort.

[0043] Combine Figure 2 As shown, in some embodiments of the present application, the suspension shock absorption system also includes: an opening regulating valve 9, the opening regulating valve 9 has a first valve port and a second valve port, the first valve port is connected to the first port through a pipeline, and the second valve port is connected to the first cavity 7 through a pipeline; or the first valve port is connected to the second port through a pipeline, and the second valve port is connected to the second cavity 11 through a pipeline; wherein, the opening regulating valve 9 is used to adjust the flow rate of the compressed medium flowing through the first valve port and the second valve port.

[0044] That is to say, the diameter of the flow path of the compressed medium is adjusted by adjusting the opening of the opening regulating valve 9. On the one hand, it can be used to adjust the flow rate by setting the opening of the opening regulating valve 9 when the driving pump 10 drives the compressed medium to flow from the first port to the second port or from the second port to the first port; on the other hand, when the driving pump 10 stops running, the driving pump 10 and the opening regulating valve 9 maintain the connection between the first cavity 7 and the second cavity 11, so as to achieve a damping effect. For example, when a vehicle passes through an uneven gravel road, the piston will produce a vibration displacement under the action of external force, driving the compressed medium to flow along the pipeline, thereby consuming the energy of the vibration and gradually reducing the vibration amplitude of the object. At this time, the damping value of the entire system can be adjusted by the opening of the opening regulating valve 9 to improve the application flexibility of the suspension shock absorption system.

[0045] In some embodiments of the present application, the suspension shock absorption system also includes: a damper 2, one end of the damper 2 is connected to the first support part 1, and the other end of the damper 2 is connected to the second support part 3; and / or a second elastic member 4, one end of the second elastic member 4 is connected to the first support part 1, and the other end of the second elastic member is connected to the second support part 3.

[0046] Specifically, the second elastic member 4 supports the vehicle body and absorbs impact from uneven roads. It can be a leaf spring, air spring, coil spring, or torsion bar spring. The damper 2 reduces or suppresses vibration and impact, utilizing the damping principle to achieve shock absorption. The damper 2, or the second elastic member 4, or both can be added to the suspension damping system. The damper 2 and second elastic member 4 act as passive vibration isolation components, further enhancing the suspension damping system's shock absorption performance.

[0047] As a specific embodiment of this application, Figure 2As shown, the suspension damping system includes three damping units, which are arranged in parallel between the first support portion 1 of the vehicle body and the second support portion 3 of the powertrain. These units are a first damping unit consisting of a damper 2, a second damping unit consisting of a second elastic member 4, and a third damping unit consisting of a first elastic member 5, a cylinder 12, a piston 8, a connecting rod 6, a drive pump 10, and an opening regulating valve 9. The first and second damping units provide passive damping, while the third damping unit provides active damping via the drive pump. This proactively changes the vibration mode of the suspension damping system, improving the damping effect and enhancing passenger comfort. The vibration mode is the deformation mode of the suspension damping system when it vibrates freely at a certain natural frequency, reflecting the relative displacement relationship of the vibrations of each particle.

[0048] In summary, according to the suspension and shock absorption system of the embodiment of the present application, one end of the first elastic member is connected to one of the first support portion of the vehicle body and the second support portion of the powertrain, a cylinder is disposed on the other of the first and second support portions, a compression chamber is formed in the cylinder for accommodating a compressed medium, a piston is movably disposed in the cylinder and divides the compression chamber into a first chamber and a second chamber, one end of a connecting rod is connected to the piston, and the other end of the connecting rod is connected to the other end of the first elastic member, a drive pump is provided, and the drive pump has a first port and a second port, the first port communicating with the first chamber and the second port communicating with the second chamber, and the drive pump can selectively drive the compressed medium to flow from the first port to the second port or from the second port to the first port, thereby adjusting the pressure difference between the first and second chambers to drive the piston to move. Thus, the system adjusts the piston position in real time by driving the pump, actively changing the system vibration mode, improving the shock absorption effect, reducing the impact force generated when encountering obstacles, and improving passenger comfort.

[0049] Corresponding to the above embodiment, the present application also proposes a control method for a suspension shock absorption system.

[0050] When a vehicle passes through a road with obstacles (such as speed bumps), if the driving method is improper or the vehicle passes through them frequently, it may cause certain harm to the vehicle and driving safety. In addition, frequently passing through speed bumps will cause the occupants of the vehicle to feel strong bumps, affecting ride comfort. Especially when passing at high speeds, it may make the occupants of the vehicle feel uncomfortable or even injured. For rear passengers or people who are not wearing seat belts, bumps may increase the risk of people colliding with the structure inside the vehicle.

[0051] To solve the above technical problems, the control method of the present application controls the drive pump according to the type of obstacle when an obstacle is detected, so as to adjust the system vibration mode in a targeted manner in advance, thereby adjusting the system to a matching state with the obstacle before the vehicle contacts the obstacle, thereby improving the system's vibration absorption capacity under impact conditions and enhancing the comfort of the entire vehicle.

[0052] The control method of the suspension and shock absorption system of the present application is described in detail below with reference to the accompanying drawings. The control method can be executed by an on-board computing unit such as an HCU (Hybrid Control Unit), without limitation.

[0053] The control method of the suspension and shock absorption system of the embodiment of the present application is applied to the above suspension and shock absorption system, such as Figure 3 As shown, the control method of the suspension and shock absorption system may include:

[0054] S1, collecting environmental information of the vehicle’s current environment;

[0055] S2, when it is determined based on the environmental information that there is an obstacle on the road where the vehicle is traveling, identifying the actual type of the obstacle;

[0056] S3, determining a target position according to the actual type of the obstacle, and controlling the driving pump to adjust the pressure difference between the first cavity and the second cavity based on the target position, so as to move the piston to the target position before the vehicle reaches the obstacle.

[0057] Specifically, environmental information can be acquired through onboard sensors, such as onboard cameras capturing images of the vehicle's surroundings and onboard radars collecting point cloud data of the vehicle's surroundings. When the environmental information is in the form of images, obstacle recognition can be performed based on a binocular vision detection model. When the environmental information is in the form of point cloud data, obstacle recognition can be performed based on a neural network model. Furthermore, obstacle recognition can be improved by combining multiple types of environmental information, without limitation.

[0058] When it is determined that there is an obstacle on the road surface where the vehicle is traveling, the actual type of the obstacle is identified. For example, the height of the obstacle is obtained. When the height is positive, the obstacle is considered to be a convex type, and when the height is negative, the obstacle is considered to be a concave type.

[0059] The target position is the piston position that satisfies the requirement for damping the obstacle. After determining the actual obstacle type, the target position can be determined based on a pre-set relationship or mapping table between the actual obstacle type and the target position. For example, before applying the control method, the vehicle can be subjected to a damping test, and the optimal mapping relationship can be determined based on the experimental data. During the control process, the target position is then determined based on this mapping relationship and used to adjust the system's vibration mode.

[0060] After the target position is determined, the drive pump can be controlled immediately to move the piston to the target position. The drive pump can also be controlled to adjust the piston position when the preset time is determined to be reached. This ensures that the target position of the piston is moved before the vehicle reaches the obstacle, thereby meeting the shock absorption requirements of passing the obstacle.

[0061] This embodiment controls the drive pump based on obstacle detection to actively change the system vibration mode and adjust the phase difference between the vibration waveform of the vehicle body and the vibration waveform of the powertrain, thereby achieving shock absorption and reduction of impact force on the vehicle body and improving ride comfort.

[0062] In some embodiments of the present application, before controlling the drive pump to adjust the pressure difference between the first cavity and the second cavity based on the target position, it also includes: obtaining the current speed of the vehicle and the current distance between the vehicle and the obstacle; determining the contact moment according to the current speed and the current distance; determining the adjustment moment according to the contact moment and the preset reaction time, so as to send an adjustment instruction to the drive pump when the adjustment moment is reached.

[0063] Specifically, using environmental images captured by an onboard camera as an example, the camera is turned on when the vehicle starts, capturing real-time images of the vehicle's surroundings. This image is then detected in real time using a binocular vision detection model. When an obstacle is detected, the current distance between the vehicle and the obstacle is output. Based on the principle of binocular stereo vision, the binocular detection model uses two cameras to simulate human stereo vision, compare and analyze the images captured by the two cameras, and calculate the parallax between the two cameras to determine the current distance between the vehicle and the obstacle.

[0064] Combine Figure 3 As shown in the figure, assuming an obstacle is identified at recognition point t1, the duration d / v of the vehicle's travel to the obstacle is calculated based on the current vehicle speed v and current distance d. The sum of time t1 and time d / v allows the contact moment t0 (contact point) to be calculated. Time t0 is the time when the transient impact causes forced vibration in the system: t0 = d / v + t1. Therefore, the time of t0 can be inferred based on the current distance between the vehicle and the obstacle, the current speed, and the current time.

[0065] The preset reaction time is the time required for the piston to move to the target position by adjusting the pressure differential between the first and second cavities via the drive pump. The preset reaction time can be set to a fixed value or determined in real time based on the current vehicle operating parameters, with no specific limitations. After determining contact time t0, the adjustment time ts (starting point) is derived by subtracting the preset reaction time from contact time t0, using contact time t0 as the time reference. When time ts is reached, an adjustment command is sent to the drive pump to control the drive pump's operation and drive the piston.

[0066] This embodiment determines the start time of the drive pump by adjusting the moment, thereby ensuring the shock absorption effect when the vehicle passes the obstacle while also ensuring the shock absorption matching time of the system with the current road conditions, thereby improving ride comfort.

[0067] In addition, the identification point t1 can be the moment when the obstacle is detected for the first time, or it can be the moment when it is judged that the obstacle is about to be reached. For example, when the vehicle is traveling in a plain area, the observable environment distance of the on-board camera is relatively far. Then, when the obstacle is first identified, the actual distance between the obstacle and the vehicle is relatively far. At this time, no calculation action may be performed. Then, when it is determined that the actual distance between the obstacle and the vehicle is less than or equal to the preset distance, this moment is used as the identification point t1, and the system is changed from a low-power state to a high-power, high-frequency calculation state and detection state, for example, the above control steps are performed when 1≤t0-t1≤10 seconds.

[0068] In some embodiments of the present application, the suspension and shock absorption system also includes an opening regulating valve, which is arranged between the first port and the first cavity or between the second port and the second cavity; wherein, the control method of the suspension and shock absorption system also includes: obtaining the equivalent radius of the preset opening of the opening regulating valve, the effective area of the piston, the initial position of the piston, the preset pressure provided by the drive pump, the viscosity of the compressed medium and the total length of the pipeline between the drive pump and the cylinder body; determining the preset reaction time according to the equivalent radius of the preset opening of the opening regulating valve, the effective area of the piston, the initial position of the piston, the target position, the preset pressure provided by the drive pump, the viscosity of the compressed medium and the total length of the pipeline, and when the adjustment time is reached, the opening of the opening regulating valve is controlled based on the preset opening.

[0069] Specifically, combined Figure 2 For the system structure shown, the Hagen-Poiseuille's law can be used to determine the preset reaction time using the following formula:

[0070]

[0071] Wherein, t represents the preset reaction time, A represents the effective area of the piston, d represents the movement distance of the piston, d can be obtained based on the absolute value of the difference between the initial position and the target position of the piston, η represents the viscosity of the compressed medium, L represents the total length of the pipeline, r represents the equivalent radius of the preset opening of the opening control valve, and P represents the preset pressure provided by the driving pump, which can be determined by the preset operating power of the driving pump.

[0072] After obtaining the equivalent radius of the preset opening of the opening control valve, the effective area of the piston, the initial position of the piston, the preset pressure provided by the drive pump, the viscosity of the compressed medium, and the total length of the pipeline between the drive pump and the cylinder body, the piston movement distance is calculated according to the initial position and target position of the piston, and then the preset reaction time is calculated by substituting it into the above formula (1). The adjustment time is determined according to the preset reaction time and the contact time.

[0073] When the adjustment time arrives, the opening control valve is adjusted to the preset opening, and the drive pump is controlled to operate according to the preset operating power. Furthermore, the driving pump's operating direction is determined by the piston's initial and target positions. Assuming the piston's initial position is the center of the cylinder, when the target position is the cylinder near the top of the first elastic body, the driving pump is controlled to rotate in the reverse direction to control the flow of compressed medium from the first chamber to the second chamber. When the target position is the cylinder near the bottom of the powertrain, the driving pump is controlled to rotate in the forward direction to control the flow of compressed medium from the second chamber to the first chamber.

[0074] In other embodiments of the present application, the suspension and shock absorption system also includes an opening regulating valve, which is arranged between the first port and the first cavity or between the second port and the second cavity; wherein, the control method of the suspension and shock absorption system also includes: obtaining the effective area of the piston, the initial position of the piston, the preset pressure provided by the drive pump, the viscosity of the compressed medium and the total length of the pipeline between the drive pump and the cylinder body; determining the equivalent radius of the target opening of the opening regulating valve according to the preset reaction time, the effective area of the piston, the initial position of the piston, the target position, the preset pressure provided by the drive pump, the viscosity of the compressed medium and the total length of the pipeline; determining the target opening of the opening regulating valve based on the equivalent radius of the target opening of the opening regulating valve, so that when the adjustment moment is reached, the opening of the opening regulating valve is controlled based on the target opening.

[0075] Specifically, in addition to calculating the preset reaction time in real time based on various parameters as described above, the preset reaction time can be determined first, and then the opening of the opening control valve can be adjusted based on the preset reaction time to ensure that piston displacement is completed within the preset reaction time. For example, a matching preset reaction time can be determined based on parameters such as the actual type of obstacle and the obstacle's height. This preset reaction time is used to calculate the adjustment time and the target opening of the opening control valve during the adjustment process.

[0076] The calculation formula of the equivalent radius of the target opening of the opening control valve is obtained by transforming formula (1):

[0077]

[0078] After obtaining the effective area of the piston, the initial position of the piston, the preset pressure provided by the drive pump, the viscosity of the compressed medium, and the total length of the pipeline between the drive pump and the cylinder, the moving distance is calculated according to the initial position and target position of the piston, and the equivalent radius of the target opening of the opening control valve is calculated by substituting it into formula (2).

[0079] When the time reaches the adjustment moment, the opening control valve is adjusted to the target opening, and the driving pump is controlled to operate according to the power corresponding to the preset pressure provided by the driving pump. The operating direction of the driving pump can be determined according to the piston movement direction determined by the initial position of the piston and the target position.

[0080] In some embodiments of the present application, obtaining the preset pressure provided by the drive pump includes: determining the target power of the drive pump based on a preset reaction time; determining the preset pressure provided by the drive pump based on the target power of the drive pump; when the adjustment time is reached, it also includes: controlling the operation of the drive pump based on the target power.

[0081] In other words, the preset pressure provided by the drive pump can be a fixed value, or a target power can be determined based on a preset reaction time, allowing the selection of a matching control strategy. Based on the determined target power, a corresponding preset pressure is obtained for use in calculating the opening of the opening control valve. For example, when the distance between the vehicle and the obstacle is short and the vehicle speed is high, the preset reaction time is short, and a high power can be used as the target power for the drive pump. When the distance between the vehicle and the obstacle is long, a medium power can be used as the target power for the drive pump.

[0082] When the time reaches the adjustment moment, the opening control valve is adjusted to the target opening, and the pump is driven to run according to the target power control to ensure that the position adjustment of the piston is completed within the preset reaction time.

[0083] In some embodiments of the present application, the control method of the suspension shock absorption system also includes: identifying the absolute value of the height of the obstacle; determining the end time based on the absolute value of the height and the contact time; when the end time is reached, controlling the drive pump to adjust the pressure difference between the first cavity and the second cavity to adjust the piston to the initial position.

[0084] Specifically, the end time is used to indicate the time when the vehicle passes the obstacle. For example, the height of the obstacle is used to determine the time required for the vehicle to pass the obstacle, and the time after the contact time is delayed by the time required to pass the obstacle is used as the end time (e.g. Figure 3 The end point te shown).

[0085] At the contact moment, the piston has reached its target position. The drive pump is then controlled to stop and close the passage between the first and second cavities, maintaining system stiffness. When the time reaches the end moment, the vehicle is deemed to have passed the obstacle. The drive pump is then controlled to reverse direction, adjusting the piston to its initial position, thereby restoring the system to its initial state. This initial position can be the piston position when there are no obstacles in the vehicle's path.

[0086] After the piston moves to its initial position, the drive pump is controlled to stop operating and maintain conduction between the two ports, maintaining the passage between the first and second cavities and achieving a damping effect. For example, when a vehicle passes over an uneven gravel road, the piston will vibrate under the action of external force, driving the compressed medium to flow along the pipeline, thereby consuming the vibration energy and gradually reducing the vibration amplitude of the object. When the vibration disappears, gravity returns the piston to its initial position. During this process, the damping value of the entire system can be adjusted by the opening degree of the opening control valve 9, thereby improving the application flexibility of the suspension shock absorption system.

[0087] In some embodiments of the present application, the end time is determined based on the absolute value of the height and the contact moment, including: determining the time when the vehicle's wheels are airborne and land on the ground based on the absolute value of the height; determining the end time based on the sum of the time when the wheels are airborne and land on the ground, the contact moment and a preset value.

[0088] Specifically, the calculation formula for the end time is as follows:

[0089]

[0090] Among them, te represents the end time, h represents the absolute value of the height, and g represents the acceleration of gravity, which is about 9.81m / s 2 , It indicates the time it takes for the wheel to land in the air, t0 indicates the contact moment, and c indicates a preset value, which can be from 1 to 100 seconds. The specific value can be selected according to the actual situation.

[0091] As a specific embodiment of this application, Figure 2 Taking the suspension shock absorption system shown in the figure as an example, the initial position of the piston is the middle position of the cylinder. Figure 6 As shown, the control method of the suspension shock absorption system includes the following steps:

[0092] S101, collecting environmental information of the vehicle's current environment.

[0093] S102: Identify obstacles based on environmental information.

[0094] S103, determine whether there is an obstacle on the road where the vehicle is traveling. If yes, execute step S104; if not, execute step S113.

[0095] S104: Identify the actual type of the obstacle, the absolute value of its height, and the current distance between the vehicle and the obstacle, and obtain the current speed of the vehicle.

[0096] S105: Determine the target position according to the actual type of the obstacle.

[0097] S106 , obtaining the equivalent radius of the preset opening of the opening regulating valve, the effective area of the piston, the initial position of the piston, the preset pressure provided by the driving pump, the viscosity of the compression medium, and the total length of the pipeline between the driving pump and the cylinder body.

[0098] S107, determining the moving distance of the piston according to the initial position and the target position of the piston.

[0099] S108, calculating the preset reaction time

[0100] S109: Determine the contact moment according to the current vehicle speed and the current distance.

[0101] S110, determining an adjustment time according to the contact time and a preset reaction time, and determining an end time according to the absolute value of the height and the contact time.

[0102] S111 , when the adjustment time is reached, controlling the driving pump to operate and adjust the pressure difference between the first cavity and the second cavity, so as to move the piston to the target position before the vehicle reaches the obstacle.

[0103] S112, when the end time is reached, controlling the driving pump to operate in the reverse direction to adjust the pressure difference between the first cavity and the second cavity, so as to move the piston to the initial position.

[0104] S113, controlling the driving pump to stop running and maintain the passage state.

[0105] Furthermore, to describe the vibrations experienced when a vehicle passes over a speed bump, taking into account the forced vibrations of the system caused by the transient impact, and considering that the powertrain acts as a vibration absorber for the primary system and its time domain can be adjusted, a two-degree-of-freedom system model can be established. In this model, the primary system (body and chassis) is affected by the transient impact, while the powertrain acts as a vibration absorber and can adjust its vibration absorption effect within a specific time period.

[0106] The vibration equation of the main system (whole vehicle) is:

[0107]

[0108] Where x1 represents the displacement of the main system, x2 represents the displacement of the powertrain (secondary absorber), and F0δ(t-t0) represents the instantaneous impact force acting on the main system.

[0109] The vibration equation of the suspension and shock absorption system is:

[0110]

[0111] Among them, x2 represents the displacement of the powertrain, c2 represents the damping of the suspension and shock absorption system, k2 represents the spring stiffness of the suspension and shock absorption system, and it can also interact with the main system through α(t)c1 and α(t)k1.

[0112] Based on formulas (4) and (5), the following amplitude model can be established:

[0113]

[0114] The powertrain acts as a shock absorber for the entire vehicle, and the effective time period can be achieved by controlling the on / off operation of the drive pump inside the suspension damping system, that is, adjusting the value of α(t) within a specific time period to simulate the on and off state of the shock absorber. Figure 6 As shown, z is the mass ratio of the powertrain to the whole vehicle, that is, z = m2 / m1. The amplitude of X1 at different z values is shown in the figure. In this application, when the vehicle contacts an obstacle, the suspension shock absorption system can adjust the powertrain vibration time according to the vibration of the whole vehicle, so that the powertrain produces a vibration opposite to the vibration of the whole vehicle, so as to exert the vibration absorption effect of the power system on the whole vehicle, realize vibration absorption under large impact conditions, and improve the comfort of the whole vehicle.

[0115] According to the control method for the suspension and shock absorption system of an embodiment of the present application, environmental information of the vehicle's current environment is first collected. If an obstacle is determined to be present on the vehicle's road surface based on this environmental information, the actual type of the obstacle is identified. A target position is then determined based on the actual type of the obstacle. Based on the target position, the drive pump is controlled to adjust the pressure difference between the first and second chambers to move the piston to the target position before the vehicle encounters the obstacle. Thus, this method, by moving the piston position based on the actual type of obstacle, can specifically adjust the system's shock absorption capacity and simultaneously adjust the system to match the obstacle before the vehicle contacts it, thereby improving the system's vibration absorption capacity under impact conditions and enhancing driving comfort.

[0116] Corresponding to the above embodiment, the present application also proposes a control device for a suspension and shock absorption system.

[0117] The control device of the suspension and shock absorption system of the embodiment of the present application is applied to the above suspension and shock absorption system, such as Figure 7 As shown, the control device of the suspension and shock absorption system may include: an acquisition module 50 , an identification module 60 and a control module 70 .

[0118] The acquisition module 50 is used to collect environmental information about the vehicle's current environment. The identification module 20 is used to identify the actual type of obstacle, if the vehicle's road surface is determined to be obstructed based on the environmental information. The control module 70 is used to determine a target position based on the actual type of obstacle and, based on the target position, control the drive pump to adjust the pressure difference between the first and second chambers to move the piston to the target position before the vehicle encounters the obstacle.

[0119] According to one embodiment of the present application, before controlling the drive pump to adjust the pressure difference between the first cavity and the second cavity based on the target position, the control module 70 is also used to: obtain the current speed of the vehicle and the current distance between the vehicle and the obstacle; determine the contact moment according to the current speed and the current distance; determine the adjustment moment according to the contact moment and the preset reaction time, so as to send an adjustment instruction to the drive pump when the adjustment moment is reached.

[0120] According to one embodiment of the present application, the suspension shock absorption system also includes an opening regulating valve, which is arranged between the first port and the first cavity or between the second port and the second cavity; wherein, the control module 70 is also used to: obtain the equivalent radius of the preset opening of the opening regulating valve, the effective area of the piston, the initial position of the piston, the preset pressure provided by the drive pump, the viscosity of the compressed medium and the total length of the pipeline between the drive pump and the cylinder body; determine the preset reaction time according to the equivalent radius of the preset opening of the opening regulating valve, the effective area of the piston, the initial position of the piston, the target position, the preset pressure provided by the drive pump, the viscosity of the compressed medium and the total length of the pipeline, so as to control the opening of the opening regulating valve based on the preset opening when the adjustment moment is reached.

[0121] According to one embodiment of the present application, the suspension shock absorption system also includes an opening regulating valve, which is arranged between the first port and the first cavity or between the second port and the second cavity; wherein, the control module 70 is also used to: obtain the effective area of the piston, the initial position of the piston, the preset pressure provided by the drive pump, the viscosity of the compressed medium and the total length of the pipeline between the drive pump and the cylinder body; determine the equivalent radius of the target opening of the opening regulating valve according to the preset reaction time, the effective area of the piston, the initial position of the piston, the target position, the preset pressure provided by the drive pump, the viscosity of the compressed medium and the total length of the pipeline; determine the target opening of the opening regulating valve based on the equivalent radius of the target opening of the opening regulating valve, so as to control the opening of the opening regulating valve based on the target opening when the adjustment moment is reached.

[0122] According to one embodiment of the present application, the control module 70 obtains the preset pressure provided by the drive pump, which is specifically used to: determine the target power of the drive pump based on the preset reaction time; determine the preset pressure provided by the drive pump based on the target power of the drive pump; and control the operation of the drive pump based on the target power when the adjustment time is reached.

[0123] According to one embodiment of the present application, the control module 70 is also used to: identify the absolute value of the height of the obstacle; determine the end time based on the absolute value of the height and the contact time; when the end time is reached, control the drive pump to adjust the pressure difference between the first cavity and the second cavity to adjust the piston to the initial position.

[0124] According to one embodiment of the present application, the control module 70 determines the end time based on the absolute value of the height and the contact moment, and is specifically used to: determine the duration of the vehicle's wheels being airborne and landing based on the absolute value of the height; determine the end time based on the sum of the duration of the wheels being airborne and landing, the contact moment and a preset value.

[0125] It should be noted that for details not disclosed in the control device of the suspension and shock absorption system in the embodiment of the present application, please refer to the details disclosed in the control method of the suspension and shock absorption system in the above embodiment of the present application, and the details will not be repeated here.

[0126] According to the control device for the suspension and shock absorption system of the embodiment of the present application, an acquisition module collects environmental information about the vehicle's current environment. If an obstacle is determined to be present on the vehicle's road surface based on the environmental information, the recognition module identifies the actual type of obstacle. The control module determines a target position based on the actual type of obstacle and, based on the target position, controls the drive pump to adjust the pressure difference between the first and second chambers to move the piston to the target position before the vehicle encounters the obstacle. Thus, by moving the piston position based on the actual type of obstacle, the device can specifically adjust the system's shock absorption capacity and simultaneously adjust the system to match the obstacle before the vehicle contacts it, thereby improving the system's vibration absorption capacity under impact conditions and enhancing driving comfort.

[0127] Corresponding to the above embodiments, the present application also proposes a vehicle.

[0128] like Figure 8 As shown, the vehicle 100 of the embodiment of the present application includes: the suspension and shock absorption system 110 described above and a controller 120. The controller 120 is configured to, upon determining based on environmental information that an obstacle exists on the vehicle's driving surface, identify the actual type of the obstacle, determine a target position based on the actual type of the obstacle, and control the drive pump of the suspension and shock absorption system 110 based on the target position to adjust the pressure difference between the first chamber and the second chamber, thereby moving the piston to the target position before the vehicle encounters the obstacle.

[0129] According to the vehicle of the embodiment of the present application, when the controller determines based on environmental information that there is an obstacle on the vehicle's driving road, it identifies the actual type of the obstacle and determines the target position based on the actual type of the obstacle, so as to control the drive pump of the suspension shock absorption system based on the target position to adjust the pressure difference between the first cavity and the second cavity, and move the piston to the target position before the vehicle drives to the obstacle, thereby adjusting the system to a matching state with the obstacle before the vehicle contacts the obstacle, thereby improving the vibration absorption capacity under impact conditions and enhancing driving comfort.

[0130] It should be noted that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0131] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0132] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0133] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0134] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0135] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A suspension and shock absorption system, characterized in that: include: a first elastic member, one end of the first elastic member being connected to one of a first support portion of the vehicle body and a second support portion of the powertrain, wherein the first support portion and the second support portion are spaced apart; a cylinder body having a compression chamber formed therein for accommodating a compressed medium, the cylinder body being disposed on the other of the first support portion and the second support portion; a piston movably disposed in the cylinder and dividing the compression chamber into a first chamber and a second chamber; a connecting rod, one end of which is connected to the piston, and the other end of which passes through the cylinder and is connected to the other end of the first elastic member; A drive pump having a first port and a second port, wherein the first port is connected to the first cavity, and the second port is connected to the second cavity. The drive pump can selectively drive the compressed medium to flow from the first port to the second port or from the second port to the first port, so as to adjust the pressure difference between the first cavity and the second cavity to drive the piston to move.

2. The suspension and shock absorption system according to claim 1, characterized in that: Also includes: a damper, one end of the damper being connected to the first support portion, and the other end of the damper being connected to the second support portion; and / or A second elastic member, one end of the second elastic member is connected to the first supporting portion, and the other end of the second elastic member is connected to the second supporting portion.

3. A control method for a suspension and shock absorption system, characterized in that: Applied to the suspension and shock absorption system according to claim 1 or 2, the method comprises: Collect environmental information of the vehicle's current environment; In a case where it is determined according to the environmental information that there is an obstacle on the road on which the vehicle is traveling, identifying the actual type of the obstacle; A target position is determined according to the actual type of the obstacle, and the driving pump is controlled based on the target position to adjust the pressure difference between the first chamber and the second chamber, so as to move the piston to the target position before the vehicle reaches the obstacle.

4. The control method according to claim 3, characterized in that: Before controlling the driving pump to adjust the pressure difference between the first cavity and the second cavity based on the target position, the method further includes: Obtaining the current speed of the vehicle and the current distance between the vehicle and the obstacle; determining a contact moment according to the current vehicle speed and the current distance; An adjustment moment is determined according to the contact moment and a preset reaction time, so that an adjustment instruction is sent to the driving pump when the adjustment moment is reached.

5. The control method according to claim 4, characterized in that: The suspension damping system further includes an opening regulating valve, which is disposed between the first port and the first cavity or between the second port and the second cavity; wherein the method further includes: Obtaining the equivalent radius of the preset opening of the opening regulating valve, the effective area of the piston, the initial position of the piston, the preset pressure provided by the driving pump, the viscosity of the compression medium, and the total length of the pipeline between the driving pump and the cylinder; The preset reaction time is determined based on the equivalent radius of the preset opening of the opening control valve, the effective area of the piston, the initial position of the piston, the target position, the preset pressure provided by the drive pump, the viscosity of the compression medium and the total length of the pipeline, and when the adjustment moment is reached, the opening of the opening control valve is controlled based on the preset opening.

6. The control method according to claim 4, characterized in that: The suspension damping system further includes an opening regulating valve, which is disposed between the first port and the first cavity or between the second port and the second cavity; wherein the method further includes: Obtaining the effective area of the piston, the initial position of the piston, the preset pressure provided by the drive pump, the viscosity of the compression medium, and the total length of the pipeline between the drive pump and the cylinder; determining an equivalent radius of a target opening of the opening regulating valve according to the preset reaction time, the effective area of the piston, the initial position of the piston, the target position, the preset pressure provided by the driving pump, the viscosity of the compression medium, and the total length of the pipeline; The target opening of the opening regulating valve is determined based on an equivalent radius of the target opening of the opening regulating valve, so that the opening of the opening regulating valve is controlled based on the target opening when the adjustment time is reached.

7. The control method according to claim 6, characterized in that: The obtaining of the preset pressure provided by the driving pump includes: Determining the target power of the driving pump according to the preset reaction time; determining a preset pressure provided by the driving pump based on a target power of the driving pump; When the adjustment time is reached, the method further includes: The driving pump is controlled to operate based on the target power.

8. The control method according to claim 4, characterized in that: Also includes: Identify the absolute value of the height of the obstacle; determining an end time according to the absolute value of the height and the contact time; When the end moment is reached, the driving pump is controlled to adjust the pressure difference between the first cavity and the second cavity, so as to adjust the piston to an initial position.

9. The control method of the suspension and shock absorption system according to claim 8, characterized in that: The determining the end time according to the absolute value of the height and the contact time includes: Determine the duration of time the wheels of the vehicle are airborne and land on the ground according to the absolute value of the height; The end time is determined according to the sum of the time duration of the wheel landing in the air, the contact time and a preset value.

10. A control device for a suspension and shock absorption system, characterized in that: Applicable to the suspension and shock absorption system according to claim 1 or 2, the device comprises: An acquisition module is used to collect environmental information of the vehicle's current environment; an identification module, configured to identify the actual type of the obstacle when it is determined based on the environmental information that there is an obstacle on the road on which the vehicle is traveling; A control module is configured to determine a target position according to an actual type of the obstacle, and control the drive pump to adjust a pressure difference between the first chamber and the second chamber based on the target position, so as to move the piston to the target position before the vehicle reaches the obstacle.

11. A vehicle, characterized in that: include: The suspension and shock absorption system according to claim 1 or 2; A controller for, upon determining based on environmental information that an obstacle exists on the vehicle's driving surface, identifying the actual type of the obstacle and determining a target position based on the actual type of the obstacle, thereby controlling a drive pump of the suspension and shock absorption system to adjust the pressure difference between the first chamber and the second chamber based on the target position, and moving the piston to the target position before the vehicle reaches the obstacle.

Images