Vehicle control method and system, vehicle and equipment

Abstract

The invention discloses a vehicle control method and system, a vehicle and equipment. The vehicle control method comprises the steps that the operation working condition of a vehicle is obtained; under the condition that the operation working condition is a braking working condition, braking parameters, the vehicle speed and the road gradient are obtained, and the braking parameters comprise braking deceleration and / or braking pressure; according to the braking parameters, the vehicle speed and the road gradient, tensile damping and compression damping of each shock absorber of the vehicle and target braking pressure of a braking control system are determined; and controlling each shock absorber to provide corresponding tensile damping and compression damping according to the target braking pressure, and adjusting the braking force provided by the braking system according to the target braking pressure. According to the embodiment of the invention, pitching callback and oscillation generated during braking of the vehicle can be effectively reduced at the moment of braking of the vehicle, and the comfort of braking is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, system, vehicle, and equipment. Background Art

[0002] With the increasing popularity of automobiles and technological advancements, users are demanding increasingly higher levels of driving comfort. During braking, longitudinal deceleration causes axle load transfer. This axle load transfer can cause the vehicle to pitch, rebound when braking, and generate fore-and-aft vibrations, causing discomfort and even motion sickness for the driver and passengers.

[0003] In the related art, although there are control means to reduce the pitch of the whole vehicle during braking, for example: when the vehicle speed is less than a preset speed threshold, the vehicle is controlled to enter the comfort braking mode, the upper limit of the wheel braking force is determined by obtaining the vehicle's deceleration, and the braking force of the front and rear wheels is set and distributed respectively according to the upper limit, so that the braking force is distributed to the front or rear wheels as much as possible, thereby reducing the vehicle pitch caused by braking, however, this method cannot solve the problem of vehicle vibration caused by the compression and rebound of the front axle at the moment of braking.

[0004] Another approach is to adjust the vehicle's braking torque and the stiffness of each suspension to ensure that the sum of the front suspension's downward movement and the rear suspension's upward movement equals the rear body's downward movement, thereby changing the vehicle's body's motion during braking from pitching to vertical parallel movement. However, increasing suspension stiffness at higher speeds can affect the vehicle's ride comfort. Summary of the Invention

[0005] Based on this, it is necessary to provide a vehicle control method, system, vehicle and equipment to address the above technical problems, which can effectively reduce the pitch callback and vibration generated when the vehicle stops at the moment of braking, thereby improving the braking comfort.

[0006] In a first aspect, a vehicle control method is provided, comprising:

[0007] Obtaining the operating conditions of the vehicle;

[0008] When the operating condition is a braking condition, obtaining braking parameters, vehicle speed, and road gradient, wherein the braking parameters include braking deceleration and / or braking pressure;

[0009] determining the tensile damping and compression damping of each shock absorber of the vehicle and a target braking pressure of the braking control system according to the braking parameters, vehicle speed, and road gradient;

[0010] Each shock absorber is controlled to provide corresponding tension damping and compression damping, and the braking force provided by the braking system is adjusted according to the target braking pressure.

[0011] In some examples, determining the extension damping and compression damping of each shock absorber of the vehicle and the target braking pressure of the braking control system based on the braking parameters, vehicle speed, and road gradient includes:

[0012] When the vehicle speed is less than a predetermined speed and the road gradient is less than a predetermined gradient, if the braking deceleration is greater than a first predetermined deceleration or less than a second predetermined deceleration, or the braking pressure is greater than a first predetermined pressure or less than a second predetermined pressure, further determining whether a braking safety system of the vehicle is triggered, wherein the braking safety system includes an anti-lock braking system and / or an electronic brake-force distribution system, the first predetermined deceleration is less than the second predetermined deceleration, and the first predetermined pressure is less than the second predetermined pressure;

[0013] If the brake safety system is not triggered, a third predetermined pressure is used as the target brake pressure of the brake control system, and the extension damping of the rear shock absorber of the vehicle is set to the first extension damping and the compression damping of the rear shock absorber is set to the first compression damping, and the compression damping of the front shock absorber of the vehicle is set to the second compression damping and the extension damping of the front shock absorber is set to the second extension damping, wherein the third predetermined pressure is lower than the first predetermined pressure, the first extension damping is greater than the current extension damping of the rear shock absorber, the first compression damping is greater than the current compression damping of the rear shock absorber, the second compression damping is greater than the current compression damping of the front shock absorber, and the second extension damping is greater than the current extension damping of the front shock absorber.

[0014] In some examples, this also includes:

[0015] When the brake safety system is triggered, the current brake pressure of the brake control system is used as the target brake pressure of the brake control system, the extension damping of the rear shock absorber of the vehicle is set to the first extension damping, and the compression damping of the rear shock absorber is set to the first compression damping, and the compression damping of the front shock absorber of the vehicle is set to the second compression damping, and the extension damping of the front shock absorber is set to the second extension damping.

[0016] In some examples, this also includes:

[0017] When the vehicle speed is less than a predetermined speed and the road gradient is not less than the predetermined gradient, if the braking deceleration is greater than a first predetermined deceleration or less than a second predetermined deceleration, or if the braking pressure is greater than a first predetermined pressure or less than a second predetermined pressure, further determining whether a braking safety system of the vehicle is triggered;

[0018] If not, obtaining a damping compensation value and a brake pressure compensation value according to the road gradient;

[0019] The tensile damping and compression damping of each shock absorber of the vehicle are determined based on the damping compensation value, and the target brake pressure of the braking control system is determined based on the brake pressure compensation value, wherein the tensile damping of the rear shock absorber of the vehicle is the sum of the first tensile damping and the damping compensation value, the compression damping of the rear shock absorber is the sum of the first compression damping and the damping compensation value, the compression damping of the front shock absorber of the vehicle is the sum of the second compression damping and the damping compensation value, the tensile damping of the front shock absorber is the sum of the second tensile damping and the damping compensation value, and the target brake pressure of the braking control system is the sum of the third predetermined pressure and the brake pressure compensation value.

[0020] In some examples, the method further includes: when the braking safety system of the vehicle is triggered, setting the current braking pressure of the braking control system as the target braking pressure of the braking control system, setting the tensile damping of the rear shock absorber of the vehicle to the sum of the first tensile damping and the damping compensation value, setting the compression damping of the rear shock absorber of the vehicle to the sum of the first compression damping and the damping compensation value, setting the compression damping of the front shock absorber of the vehicle to the sum of the second compression damping and the damping compensation value, and setting the tensile damping of the front shock absorber to the sum of the second tensile damping and the damping compensation value.

[0021] In some examples, the vehicle is configured with an air suspension, and the vehicle control method further includes:

[0022] When the vehicle is traveling at a constant speed, or the braking deceleration is less than or equal to the first predetermined deceleration, or the braking pressure is less than or equal to the first predetermined pressure, or the acceleration of the vehicle during acceleration is less than or equal to the first predetermined acceleration, setting the height of the air suspension to the first height;

[0023] When the braking deceleration is greater than the first predetermined deceleration or the braking pressure is greater than the first predetermined pressure, or the acceleration of the vehicle is greater than the first predetermined acceleration, the height of the air suspension is lowered, wherein the lowered height is lower than the first height and is related to the flatness of the road surface.

[0024] When the road surface flatness is greater than a predetermined flatness, the lowered height is set to a third height, wherein the third height is less than the first height; when it is detected that the road surface flatness is less than or equal to the predetermined flatness, the height difference of the road surface is obtained, and the second height is obtained based on the height difference and the third height, and the height of the air suspension is set to the second height, wherein the second height is less than the first height and greater than the third height.

[0025] In some examples, this also includes:

[0026] When there is another vehicle ahead of the vehicle and the following distance is less than a predetermined distance, the vehicle determines the road surface smoothness ahead and the acceleration or deceleration intention of the other vehicle based on the posture changes of the other vehicle in the vertical direction and the direction of travel;

[0027] When the other vehicle intends to accelerate or decelerate, the height of the air suspension is adjusted according to the road surface smoothness of the road ahead. When the road surface smoothness is greater than a predetermined smoothness, the height of the air suspension is the third height. Otherwise, the height difference of the road surface is determined according to the vertical posture change of the other vehicle, and the height of the air suspension is adjusted according to the height difference.

[0028] In a second aspect, a vehicle control system is provided, comprising:

[0029] an acquisition module, configured to obtain braking parameters, vehicle speed, and road gradient when the vehicle is in a braking operating condition, wherein the braking parameters include braking deceleration and / or braking pressure;

[0030] a determination module, configured to determine the tensile damping and compression damping of each shock absorber of the vehicle, and a target brake pressure of the brake control system according to the braking parameters, the vehicle speed, and the road gradient;

[0031] The control module is configured to control each shock absorber to provide corresponding tensile damping and compression damping, and to adjust the braking force provided by the braking system according to the target braking pressure.

[0032] In a third aspect, a vehicle is provided, comprising: a vehicle control system according to the second aspect described above.

[0033] In a fourth aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the vehicle control method according to the first aspect is implemented.

[0034] By adopting the embodiments of the present application, the tensile damping and compression damping of each shock absorber of the vehicle, as well as the target braking pressure of the braking control system, can be determined by using the braking parameters, vehicle speed, road slope and other data obtained when the vehicle brakes. This allows for flexible adjustment of the braking force and the damping of the shock absorber, and thus effectively reduces the pitch callback and oscillation generated when the vehicle stops at the moment of braking, thereby improving the braking comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0036] Figure 1 A flow chart of a vehicle control method provided in an embodiment of the present application;

[0037] Figure 2 A flowchart of a vehicle control method provided by another embodiment of the present application;

[0038] Figure 3 A structural block diagram of a vehicle control system provided in an embodiment of the present application;

[0039] Figure 4 This is a structural block diagram of the computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] The present application will be further described in detail below with reference to the embodiments and accompanying drawings. It should be understood that the specific embodiments described herein are intended only to illustrate the relevant application and are not intended to limit the application. It should also be noted that, for ease of description, only the portions relevant to the application are shown in the accompanying drawings.

[0041] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0042] The following describes in detail the vehicle control method, system, vehicle and device according to the embodiments of the present application in conjunction with the accompanying drawings.

[0043] Figure 1 FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present application. Figure 1 As shown, a vehicle control method according to an embodiment of the present application includes the following steps:

[0044] S101: Obtain the operating conditions of the vehicle.

[0045] In the specific example of the present application, the operating conditions of a vehicle generally refer to braking conditions and acceleration conditions, that is, the braking and deceleration process of the vehicle is called the braking condition, and the acceleration process of the vehicle is called the acceleration condition.

[0046] S102: When the operating condition is a braking condition, obtain braking parameters, vehicle speed, and road slope, wherein the braking parameters include braking deceleration and / or braking pressure.

[0047] The braking deceleration and / or braking pressure refers to at least one of the braking deceleration and the braking pressure.

[0048] The road slope can be detected by corresponding vehicle-mounted sensors. The road slope generally refers to the road slope of the road on which the vehicle is traveling.

[0049] S103: Determine the tensile damping and compression damping of each shock absorber of the vehicle and the target braking pressure of the braking control system according to the braking parameters, vehicle speed and road gradient.

[0050] In one embodiment of the present application, the tensile damping and compression damping of each shock absorber of the vehicle, as well as the target braking pressure of the braking control system are determined based on the braking parameters, vehicle speed, and road slope, including: when the vehicle speed is less than a predetermined speed and the road slope is less than a predetermined slope, if the braking deceleration is greater than a first predetermined deceleration or the braking deceleration is less than a second predetermined deceleration, or the braking pressure is greater than the first predetermined pressure or less than the second predetermined pressure, then further determining whether the vehicle's braking safety system is triggered, wherein the braking safety system includes an anti-lock braking system and / or an electronic brake force distribution system, the first predetermined deceleration is less than the second predetermined deceleration, and the first predetermined pressure is less than the second predetermined pressure. pressure; if the brake safety system of the vehicle is not triggered, a third predetermined pressure is used as the target brake pressure of the brake control system, and the extension damping of the rear shock absorber of the vehicle is set to the first extension damping and the compression damping of the rear shock absorber is set to the first compression damping, the compression damping of the front shock absorber of the vehicle is set to the second compression damping and the extension damping of the front shock absorber is set to the second extension damping, wherein the third predetermined pressure is less than the first predetermined pressure, the first extension damping is greater than the current extension damping of the rear shock absorber, the first compression damping is greater than the current compression damping of the rear shock absorber, the second compression damping is greater than the current compression damping of the front shock absorber, and the second extension damping is greater than the current extension damping of the front shock absorber.

[0051] In addition, when the braking safety system is triggered, the control method of the vehicle also includes: when the braking safety system is triggered, the current braking pressure of the braking control system is used as the target braking pressure of the braking control system, and the tensile damping of the rear shock absorber of the vehicle is set to the first tensile damping and the compression damping of the rear shock absorber is set to the first compression damping, and the compression damping of the front shock absorber of the vehicle is set to the second compression damping and the tensile damping of the front shock absorber is set to the second tensile damping.

[0052] In one embodiment of the present application, the vehicle control method further includes: when the vehicle speed is less than a predetermined speed and the road slope is not less than the predetermined slope, if the braking deceleration is greater than a first predetermined deceleration or less than a second predetermined deceleration, or the braking pressure is greater than a first predetermined pressure or less than a second predetermined pressure, further determining whether the vehicle's brake safety system is triggered; if not, obtaining a damping compensation value and a brake pressure compensation value according to the road slope; determining the extension damping and compression damping of each shock absorber of the vehicle according to the damping compensation value, and determining a target brake pressure of the brake control system according to the brake pressure compensation value, wherein the extension damping of the rear shock absorber of the vehicle is the sum of the first extension damping and the damping compensation value, the compression damping of the rear shock absorber is the sum of the first compression damping and the damping compensation value, the compression damping of the front shock absorber of the vehicle is the sum of the second compression damping and the damping compensation value, the extension damping of the front shock absorber is the sum of the second extension damping and the damping compensation value, and the target brake pressure of the brake control system is the sum of the third predetermined pressure and the brake pressure compensation value.

[0053] When the braking safety system of the vehicle is triggered, the current braking pressure of the braking control system is used as the target braking pressure of the braking control system, and the tensile damping of the rear shock absorber of the vehicle is set to the sum of the first tensile damping and the damping compensation value, and the compression damping of the rear shock absorber of the vehicle is set to the sum of the first compression damping and the damping compensation value, and the compression damping of the front shock absorber of the vehicle is set to the sum of the second compression damping and the damping compensation value, and the tensile damping of the front shock absorber is set to the sum of the second tensile damping and the damping compensation value.

[0054] For example, the first predetermined deceleration is set to 0.05g, the second predetermined deceleration is set to 0.7g, the first predetermined pressure is set to 5 bar, the second predetermined pressure is set to 50 bar, the predetermined vehicle speed is set to 2.5 kph, the predetermined slope is set to 3%, and the third predetermined pressure is set to 4 bar. The anti-lock braking system is ABS, and the electronic brake force distribution system is EBD.

[0055] Combine Figure 2As shown, when braking, the braking deceleration is greater than 0.05g, or less than 0.7g, or the braking pressure is greater than 5bar, or less than 50bar, and there is no ABS or EBD triggered, when the vehicle speed is lower than 2.5kph, the braking system pressure (i.e., the target braking pressure) is reduced to 4bar through the braking control system and the pressure is maintained for 250ms. At the same time, the compression damping and extension damping of the front shock absorber and the extension damping and compression damping of the rear shock absorber are increased, thereby reducing the pitch callback and oscillation of the vehicle when the vehicle stops.

[0056] When the vehicle brakes, the braking deceleration is greater than 0.05g, or less than 0.7g, or the braking pressure is greater than 5bar, or less than 50bar, on slippery roads with low adhesion coefficients, such as wet asphalt, snow, ice, etc., when ABS or EBD is triggered, when the vehicle speed is less than 2.5kph, the braking system pressure is maintained unchanged, and the compression damping and extension damping of the front shock absorber as well as the extension damping and compression damping of the rear shock absorber are increased to reduce the vehicle's pitch callback and oscillation when the vehicle stops.

[0057] When the vehicle brakes on a slope, that is, the road slope is greater than 3%, the compression damping and extension damping of the front shock absorber and the extension damping and compression damping of the rear shock absorber are adjusted according to the slope, reducing the vehicle's pitch callback and oscillation when braking. During braking, slope compensation is performed on the pressure holding value after the brake control system releases pressure when braking to a stop according to the slope, thereby preventing the vehicle from slipping on the slope due to the force component of the slope road surface.

[0058] S104: Control each shock absorber to provide corresponding tensile damping and compression damping, and adjust the braking force provided by the braking system according to the target braking pressure.

[0059] According to the vehicle control method of the embodiment of the present application, the tensile damping and compression damping of each shock absorber of the vehicle, as well as the target braking pressure of the braking control system can be determined by using the braking parameters, vehicle speed, road slope and other data obtained when the vehicle brakes. This allows for flexible adjustment of the braking force and the damping of the shock absorber, and further, effectively reduces the pitch callback and oscillation generated when the vehicle stops at the moment of braking, thereby improving braking comfort.

[0060] In one embodiment of the present application, for a vehicle equipped with an air suspension, the vehicle control method further includes: when the vehicle is traveling at a constant speed, or the braking deceleration is less than or equal to a first predetermined deceleration, or the braking pressure is less than or equal to the first predetermined pressure, or the acceleration of the vehicle during acceleration is less than or equal to the first predetermined acceleration, setting the height of the air suspension to a first height; when the braking deceleration is greater than the first predetermined deceleration, or the braking pressure is greater than the first predetermined pressure, or the acceleration of the vehicle during acceleration is greater than the first predetermined acceleration, lowering the height of the air suspension, wherein the lowered height is less than the first height and is related to road surface flatness, wherein when the road surface flatness is greater than a predetermined flatness, the lowered height is set to a third height, wherein the third height is less than the first height; when it is detected that the road surface flatness is less than or equal to the predetermined flatness, obtaining a road surface height difference, obtaining a second height based on the height difference and the third height, and setting the height of the air suspension to the second height, wherein the second height is less than the first height and greater than the third height.

[0061] When there is another vehicle traveling in front of the vehicle and the following distance is less than a predetermined distance, the road surface smoothness of the road ahead and the acceleration or deceleration intention of the other vehicle are determined based on the posture changes of the other vehicle in the vertical direction and the driving direction; when the other vehicle has the intention to accelerate or decelerate, the height of the air suspension is adjusted based on the road surface smoothness of the road ahead, wherein, when the road surface smoothness is greater than the predetermined flatness, the height of the air suspension is the third height; otherwise, the height difference of the road surface is determined based on the posture changes of the other vehicle in the vertical direction, and the height of the air suspension is adjusted based on the height difference.

[0062] Specifically, the first predetermined deceleration is set to 0.05g, the second predetermined deceleration is set to 0.7g, the first predetermined pressure is set to 5 bar, the second predetermined pressure is set to 50 bar, the predetermined vehicle speed is set to 2.5 kph, the predetermined gradient is set to 3%, and the third predetermined pressure is set to 4 bar. The anti-lock braking system is ABS, the electronic brake-force distribution system is EBD, and the first predetermined acceleration is 0.05g.

[0063] Combine Figure 2 As shown, for a vehicle with an air spring configuration, the vehicle height is set to a first height h1, a second height h2 and a third height h3, where h3<h2

[0064] ​When the vehicle is traveling at a constant speed or when the braking deceleration is ≤0.05g, or the braking pressure is ≤5bar, or the acceleration during acceleration is ≤0.05g, the vehicle height is maintained at the set height h1, i.e., the air suspension height is set to h1. When the road ahead is detected to be flat and the vehicle intends to brake or accelerate, when the braking deceleration is greater than 0.05g, or the braking pressure is ≥5bar, or the acceleration during acceleration is greater than 0.05g, the vehicle height is adjusted to h3 via the air springs, thereby lowering the center of mass height and reducing axle load transfer during braking and acceleration. This, in turn, improves vehicle pitch caused by axle load transfer during acceleration and braking, and enhances vehicle ride comfort.

[0065] When speed bumps, bridge joints, manhole covers, washboard roads, potholes and other road surfaces are detected, the height is measured by cameras and radars to obtain the value h. When the vehicle has the intention to brake or accelerate, when the braking deceleration is greater than 0.05g, or the braking pressure is ≥5bar or the acceleration during acceleration is greater than 0.05g, the height of the entire vehicle is adjusted to h2 through the air spring, where h2=h3+h, thereby lowering the center of mass height, reducing the transfer of axle loads, improving the pitch of the entire vehicle caused by the transfer of axle loads during acceleration and braking, and ensuring the smoothness of the entire vehicle on characteristic roads, thereby improving the ride comfort of the vehicle.

[0066] When there's a vehicle ahead of the vehicle and the following distance is less than the vehicle speed V*1s, the vehicle determines the road condition based on the Z-direction (i.e., vertical) and X-direction (i.e., driving direction) changes in the preceding vehicle's posture. If the Z-direction change does not exceed a threshold, the road is considered flat. If the X-direction change exceeds a threshold, the preceding vehicle is considered accelerating or decelerating, indicating that the following vehicle is about to accelerate or decelerate. The vehicle's height is then adjusted to h3 using the air springs, lowering the center of mass and reducing vehicle pitch caused by axle load transfer during acceleration and braking. If the Z-direction change exceeds a threshold, the road is considered uneven, and the height h is calculated based on the Z-direction change, resulting in h2. Adjusting the air suspension height to h2 minimizes axle load transfer and improves ride comfort.

[0067] According to the vehicle control method of the embodiment of the present application, the center of gravity height of the entire vehicle can be flexibly adjusted during the acceleration and deceleration of the vehicle, thereby effectively improving the ride comfort of the vehicle during acceleration and deceleration.

[0068] Figure 3 FIG is a structural block diagram of a vehicle control system according to an embodiment of the present application. Figure 3 As shown, a vehicle control system according to an embodiment of the present application includes: an acquisition module 310, a determination module 320 and a control module 330, wherein:

[0069] An acquisition module 310 is configured to obtain braking parameters, vehicle speed, and road gradient when the vehicle is in a braking state, wherein the braking parameters include braking deceleration and / or braking pressure;

[0070] a determination module 320 for determining the tensile damping and compression damping of each shock absorber of the vehicle and a target brake pressure of the brake control system according to the braking parameters, vehicle speed, and road gradient;

[0071] The control module 330 is configured to control each shock absorber to provide corresponding tensile damping and compression damping, and to adjust the braking force provided by the braking system according to the braking pressure.

[0072] According to the vehicle control method of the embodiment of the present application, the tensile damping and compression damping of each shock absorber of the vehicle, as well as the target braking pressure of the braking control system can be determined by using the braking parameters, vehicle speed, road slope and other data obtained when the vehicle brakes. This allows for flexible adjustment of the braking force and the damping of the shock absorber, and further, effectively reduces the pitch callback and oscillation generated when the vehicle stops at the moment of braking, thereby improving braking comfort.

[0073] The specific definition of the vehicle control system can be found in the definition of the vehicle control method above and will not be repeated here. The various modules of the above-mentioned vehicle control system can be implemented in whole or in part through software, hardware, or a combination thereof. The above-mentioned modules can be embedded in or independent of the processor of the computer device in hardware form, or can be stored in the memory of the computer device in software form, so that the processor can call and execute the corresponding operations of the above modules.

[0074] Furthermore, embodiments of the present application provide a vehicle comprising: a vehicle control system according to any of the aforementioned embodiments. The vehicle, using data such as braking parameters, vehicle speed, and road gradient obtained during braking, can determine the tensile and compression damping of each shock absorber, as well as the target brake pressure of the braking control system. This allows for flexible adjustment of the braking force and shock absorber damping, effectively reducing pitching and oscillation generated during vehicle braking, and improving braking comfort.

[0075] In addition, other structures and functions of the vehicle according to the embodiment of the present application are known to ordinary technicians in this field and will not be described in detail here.

[0076] Reference below Figure 4 , Figure 4 A schematic diagram of the structure of a computer device suitable for implementing the embodiments of the present application is shown.

[0077] like Figure 4 As shown, computer system 1000 includes a central processing unit (CPU) 1001, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage unit 1008 into a random access memory (RAM) 1003. Various programs and data required for the operation instructions of the system are also stored in RAM 1003. CPU 1001, ROM 1002, and RAM 1003 are connected to each other via a bus 1004. An input / output (I / O) interface 1005 is also connected to bus 1004.

[0078] The following components are connected to the I / O interface 1005: an input section 1006 including a keyboard, a mouse, and the like; an output section 1007 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 1008 including a hard disk; and a communication section 1009 including a network interface card such as a LAN card or a modem. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 1010 as needed, so that computer programs read therefrom can be installed into the storage section 1008 as needed.

[0079] In particular, according to the embodiment of the present application, the above reference flow chart Figure 1 The described process can be implemented as a computer-readable storage medium. For example, an embodiment of the present application includes a computer-readable storage medium including a computer program, the computer program including program code for executing the method shown in the flowchart, such as executing: obtaining the operating condition of the vehicle;

[0080] When the operating condition is a braking condition, obtaining braking parameters, vehicle speed, and road gradient, wherein the braking parameters include braking deceleration and / or braking pressure;

[0081] determining the tensile damping and compression damping of each shock absorber of the vehicle and a target braking pressure of the braking control system according to the braking parameters, vehicle speed, and road gradient;

[0082] Each shock absorber is controlled to provide corresponding tension damping and compression damping, and the braking force provided by the braking system is adjusted according to the target braking pressure.

[0083] In particular, according to the embodiment of the present application, the above reference flow chart Figure 1The described process can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart, such as executing: obtaining the operating condition of the vehicle;

[0084] When the operating condition is a braking condition, obtaining braking parameters, vehicle speed, and road gradient, wherein the braking parameters include braking deceleration and / or braking pressure;

[0085] determining the tensile damping and compression damping of each shock absorber of the vehicle and a target braking pressure of the braking control system according to the braking parameters, vehicle speed, and road gradient;

[0086] Each shock absorber is controlled to provide corresponding tension damping and compression damping, and the braking force provided by the braking system is adjusted according to the target braking pressure.

[0087] In such an embodiment, the computer program includes program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 1009 and / or installed from the removable medium 1011. When the computer program is executed by the central processing unit (CPU) 1001, the above-mentioned functions defined in the system of the present application are performed.

[0088] It should be noted that the computer-readable medium shown in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this application, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wire, optical cable, RF, or any suitable combination thereof.

[0089] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operating instructions of the system, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the aforementioned module, program segment or a part of code includes one or more executable instructions for realizing the prescribed logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than those marked in the figure. For example, the boxes represented by two connections can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the prescribed function or operating instruction, or can be implemented with a combination of dedicated hardware and computer instructions.

[0090] The units or modules involved in the embodiments described in this application may be implemented in software or hardware. The units or modules described may also be provided in a processor. The names of these units or modules do not, in certain circumstances, constitute limitations on the units or modules themselves.

[0091] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0092] The above embodiments merely illustrate several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A vehicle control method, characterized in that: include: Obtaining the operating conditions of the vehicle; When the operating condition is a braking condition, obtaining braking parameters, vehicle speed, and road gradient, wherein the braking parameters include braking deceleration and / or braking pressure; determining the tensile damping and compression damping of each shock absorber of the vehicle and a target braking pressure of the braking control system according to the braking parameters, vehicle speed, and road gradient; Each shock absorber is controlled to provide corresponding tension damping and compression damping, and the braking force provided by the braking system is adjusted according to the target braking pressure.

2. The vehicle control method according to claim 1, characterized in that: The step of determining the tensile damping and compression damping of each shock absorber of the vehicle and the target braking pressure of the braking control system according to the braking parameters, vehicle speed, and road gradient includes: When the vehicle speed is less than a predetermined speed and the road gradient is less than a predetermined gradient, if the braking deceleration is greater than a first predetermined deceleration or less than a second predetermined deceleration, or the braking pressure is greater than a first predetermined pressure or less than a second predetermined pressure, further determining whether a braking safety system of the vehicle is triggered, wherein the braking safety system includes an anti-lock braking system and / or an electronic brake-force distribution system, the first predetermined deceleration is less than the second predetermined deceleration, and the first predetermined pressure is less than the second predetermined pressure; If the brake safety system is not triggered, a third predetermined pressure is used as the target brake pressure of the brake control system, and the extension damping of the rear shock absorber of the vehicle is set to the first extension damping and the compression damping of the rear shock absorber is set to the first compression damping, and the compression damping of the front shock absorber of the vehicle is set to the second compression damping and the extension damping of the front shock absorber is set to the second extension damping, wherein the third predetermined pressure is lower than the first predetermined pressure, the first extension damping is greater than the current extension damping of the rear shock absorber, the first compression damping is greater than the current compression damping of the rear shock absorber, the second compression damping is greater than the current compression damping of the front shock absorber, and the second extension damping is greater than the current extension damping of the front shock absorber.

3. The vehicle control method according to claim 2, characterized in that: Also includes: When the brake safety system is triggered, the current brake pressure of the brake control system is used as the target brake pressure of the brake control system, the extension damping of the rear shock absorber of the vehicle is set to the first extension damping, and the compression damping of the rear shock absorber is set to the first compression damping, and the compression damping of the front shock absorber of the vehicle is set to the second compression damping, and the extension damping of the front shock absorber is set to the second extension damping.

4. The vehicle control method according to claim 2, characterized in that: Also includes: When the vehicle speed is less than a predetermined speed and the road gradient is not less than the predetermined gradient, if the braking deceleration is greater than a first predetermined deceleration or less than a second predetermined deceleration, or if the braking pressure is greater than a first predetermined pressure or less than a second predetermined pressure, further determining whether a braking safety system of the vehicle is triggered; If not, obtaining a damping compensation value and a brake pressure compensation value according to the road gradient; The tensile damping and compression damping of each shock absorber of the vehicle are determined based on the damping compensation value, and the target brake pressure of the braking control system is determined based on the brake pressure compensation value, wherein the tensile damping of the rear shock absorber of the vehicle is the sum of the first tensile damping and the damping compensation value, the compression damping of the rear shock absorber is the sum of the first compression damping and the damping compensation value, the compression damping of the front shock absorber of the vehicle is the sum of the second compression damping and the damping compensation value, the tensile damping of the front shock absorber is the sum of the second tensile damping and the damping compensation value, and the target brake pressure of the braking control system is the sum of the third predetermined pressure and the brake pressure compensation value.

5. The vehicle control method according to claim 4, characterized in that: Also includes: When the braking safety system of the vehicle is triggered, the current braking pressure of the braking control system is used as the target braking pressure of the braking control system, and the tensile damping of the rear shock absorber of the vehicle is set to the sum of the first tensile damping and the damping compensation value, and the compression damping of the rear shock absorber of the vehicle is set to the sum of the first compression damping and the damping compensation value, and the compression damping of the front shock absorber of the vehicle is set to the sum of the second compression damping and the damping compensation value, and the tensile damping of the front shock absorber is set to the sum of the second tensile damping and the damping compensation value.

6. The vehicle control method according to claim 1, characterized in that: The vehicle is equipped with an air suspension, and the vehicle control method further includes: When the vehicle is traveling at a constant speed, or the braking deceleration is less than or equal to the first predetermined deceleration, or the braking pressure is less than or equal to the first predetermined pressure, or the acceleration of the vehicle during acceleration is less than or equal to the first predetermined acceleration, setting the height of the air suspension to the first height; When the braking deceleration is greater than the first predetermined deceleration or the braking pressure is greater than the first predetermined pressure, or the acceleration of the vehicle is greater than the first predetermined acceleration, the height of the air suspension is lowered, wherein the lowered height is lower than the first height and is related to the flatness of the road surface. When the road surface flatness is greater than a predetermined flatness, the lowered height is set to a third height, wherein the third height is less than the first height; when it is detected that the road surface flatness is less than or equal to the predetermined flatness, the height difference of the road surface is obtained, and the second height is obtained based on the height difference and the third height, and the height of the air suspension is set to the second height, wherein the second height is less than the first height and greater than the third height.

7. The vehicle control method according to claim 1, characterized in that: Also includes: When there is another vehicle ahead of the vehicle and the following distance is less than a predetermined distance, the vehicle determines the road surface smoothness ahead and the acceleration or deceleration intention of the other vehicle based on the posture changes of the other vehicle in the vertical direction and the direction of travel; When the other vehicle intends to accelerate or decelerate, the height of the air suspension is adjusted according to the road surface smoothness of the road ahead. When the road surface smoothness is greater than a predetermined smoothness, the height of the air suspension is set to a third height. Otherwise, the height difference of the road surface is determined based on the vertical posture change of the other vehicle, and the height of the air suspension is adjusted based on the height difference.

8. A vehicle control system, characterized in that: include: an acquisition module, configured to obtain braking parameters, vehicle speed, and road gradient when the vehicle is in a braking condition, wherein the braking parameters include braking deceleration and / or braking pressure; a determination module, configured to determine the tensile damping and compression damping of each shock absorber of the vehicle, and a target brake pressure of the brake control system according to the braking parameters, vehicle speed, and road gradient; The control module is configured to control each shock absorber to provide corresponding tensile damping and compression damping, and to adjust the braking force provided by the braking system according to the target braking pressure.

9. A vehicle, characterized in that: include: The vehicle control system according to claim 8.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the vehicle control method according to any one of claims 1 to 7 is implemented.

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