Vehicle suspension control method and device, controller and storage medium

Abstract

The invention relates to a vehicle suspension control method and device, a controller and a storage medium. The method comprises the following steps: acquiring a first motion parameter of a vehicle and a second motion parameter of a target suspension in the vehicle; under the condition that the first motion parameter and the second motion parameter meet the suspension control triggering condition, target motion parameters for controlling a target suspension are determined; according to the first motion parameter, the second motion parameter and the target motion parameter, the control process duration for the target suspension is determined; determining an expected motion parameter corresponding to each time point of the target suspension in the control process duration, and determining a control parameter of the target suspension at each time point according to the expected motion parameter and the real-time motion parameter corresponding to each time point of the target suspension; in the control process duration, the target suspension is controlled according to the control parameters of all the time points in sequence, the control process can be smoother, and then the stability of the vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle suspension control method, device, controller and storage medium. Background Art

[0002] In the field of vehicle control, when a vehicle is traveling on a steep, undulating road surface (flying slope condition), the vehicle body posture is prone to violent fluctuations due to the sudden changes in the road surface. This will not only cause a large impact load on the vehicle's components, affecting the vehicle's service life and reliability, but will also greatly reduce the riding comfort of the passengers in the vehicle.

[0003] Currently, active suspension ramp control strategies can maintain vehicle stability by adjusting key parameters such as suspension height, stiffness, and damping. However, existing control strategies are not ideal for vehicle stability control. Summary of the Invention

[0004] Based on this, it is necessary to provide a vehicle suspension control method, device, controller and storage medium that can improve the vehicle body control stability in response to the above technical problems.

[0005] In a first aspect, the present application provides a vehicle suspension control method, the method comprising:

[0006] Acquiring a first motion parameter of a vehicle and a second motion parameter of a target suspension in the vehicle;

[0007] determining target motion parameters for controlling the target suspension when the first motion parameter and the second motion parameter satisfy a suspension control trigger condition;

[0008] determining a control process duration for the target suspension according to the first motion parameter, the second motion parameter, and the target motion parameter;

[0009] Determining the desired motion parameters of the target suspension corresponding to each time point during the control process, and determining the control parameters for the target suspension at each time point based on the desired motion parameters and real-time motion parameters of the target suspension at each time point;

[0010] During the control process, the target suspension is controlled in sequence according to the control parameters at each time point.

[0011] In one embodiment, determining target motion parameters for controlling the target suspension includes:

[0012] determining a control mode according to the suspension type of the target suspension, and determining target motion parameters for controlling the target suspension under the control mode;

[0013] The determining, based on the first motion parameter, the second motion parameter, and the target motion parameter, of a control process duration for the target suspension includes:

[0014] determining an initial motion parameter that matches the target motion parameter from the first motion parameter and the second motion parameter;

[0015] Determining a control planning model corresponding to the control mode and motion constraints under the control mode;

[0016] Based on the control planning model, the initial motion parameters, the target motion parameters and the motion constraints, a control process duration for the target suspension is obtained.

[0017] In one embodiment, the control mode includes a displacement control mode for controlling the height displacement of the target suspension, and the control planning model includes a first control planning model corresponding to the displacement control mode;

[0018] The obtaining of a control process duration for the target suspension based on the control planning model, the initial motion parameters, the target motion parameters, and the motion constraint conditions includes:

[0019] determining first model parameters of the first control planning model according to the initial displacement, initial velocity, initial acceleration, and initial jerk in the initial motion parameters and the target displacement, target velocity, target acceleration, and target jerk in the target motion parameters;

[0020] determining, by the first control planning model, a velocity limit, an acceleration limit, and a jerk limit of the target suspension in the displacement control mode based on the first model parameters and a velocity constraint, an acceleration constraint, and a jerk constraint in the motion constraints;

[0021] A control process duration for the target suspension is determined based on the velocity extreme value, the velocity constraint, the acceleration extreme value, the acceleration constraint, the jerk extreme value, and the jerk constraint.

[0022] In one embodiment, the control mode includes an angle control mode for controlling the pitch angle of the target suspension, and the control planning model includes a second control planning model corresponding to the angle control mode;

[0023] The obtaining of a control process duration for the target suspension based on the control planning model, the initial motion parameters, the target motion parameters, and the motion constraint conditions includes:

[0024] Determining second model parameters of the second control planning model according to an initial pitch angle and an initial speed in the initial motion parameters and a target pitch angle and a target speed in the target motion parameters;

[0025] determining, by the second control planning model, a velocity extreme value of the target suspension in the angle control mode based on the second model parameters and a velocity constraint in the motion constraint;

[0026] Based on the speed extreme value and the speed constraint condition, a control process duration for the target suspension is determined.

[0027] In one embodiment, determining the expected motion parameters of the target suspension corresponding to each time point during the control process includes:

[0028] Discretizing the duration of the control process according to a preset time step to obtain multiple time points;

[0029] According to each of the time points, the expected motion parameters of the target suspension corresponding to each of the time points during the control process are obtained.

[0030] In one embodiment, determining the control parameters for the target suspension at each of the time points based on the desired motion parameters and the real-time motion parameters corresponding to the target suspension at each of the time points includes:

[0031] For each of the time points, determining a compensation speed for controlling the target suspension according to the desired motion parameter corresponding to the time point and the real-time motion parameter corresponding to the time point;

[0032] determining a target speed for controlling the target suspension according to the compensation speed and a real-time speed in the real-time motion parameter corresponding to the time point;

[0033] A control parameter for the target suspension at the targeted time point is determined according to the real-time speed and the target speed.

[0034] In one embodiment, the method further comprises:

[0035] In the process of sequentially controlling the target suspension according to the respective control parameters at each of the time points, obtaining a real-time displacement of the target suspension;

[0036] When the real-time displacement satisfies a control end condition, the control of the target suspension is ended.

[0037] In a second aspect, the present application further provides a vehicle suspension control device, the device comprising:

[0038] a motion parameter acquisition module, configured to acquire a first motion parameter of a vehicle and a second motion parameter of a target suspension in the vehicle;

[0039] a suspension control triggering module, configured to determine target motion parameters for controlling the target suspension when the first motion parameter and the second motion parameter satisfy a suspension control triggering condition;

[0040] a control duration planning module, configured to determine a control process duration for the target suspension according to the first motion parameter, the second motion parameter, and the target motion parameter;

[0041] a control parameter determination module, configured to determine the desired motion parameters of the target suspension corresponding to each time point during the control process, and determine the control parameters for the target suspension at each time point based on the desired motion parameters and real-time motion parameters of the target suspension at each time point;

[0042] The suspension control execution module is used to control the target suspension in accordance with the control parameters at each time point in sequence during the control process.

[0043] In a third aspect, the present application further provides a controller comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above-described method when executing the computer program.

[0044] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the method described above when the computer program is executed by a processor.

[0045] The above-mentioned vehicle suspension control method, device, controller and storage medium obtain the first motion parameter of the vehicle and the second motion parameter of the target suspension in the vehicle; determine the target motion parameter for controlling the target suspension when the first motion parameter and the second motion parameter meet the suspension control trigger condition; determine the control process duration for the target suspension based on the first motion parameter, the second motion parameter and the target motion parameter; determine the expected motion parameters corresponding to the target suspension at each time point in the control process duration, and determine the respective control parameters for the target suspension at each time point based on the expected motion parameters and real-time motion parameters corresponding to the target suspension at each time point; within the control process duration, control the target suspension in accordance with the respective control parameters at each time point in sequence. By obtaining the first motion parameter of the vehicle and the second motion parameter of the target suspension, it is determined whether to control the target suspension. If the target suspension can be controlled, the control process time of the target suspension is determined according to the first motion parameter, the second motion parameter and the target motion parameter. Based on the expected motion parameters at each time point in the control process time, the entire motion process of the target suspension is controlled in a targeted manner. This can carefully plan the motion process of the target suspension, make the control process smoother, and thus improve the stability of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments of the present application or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0047] Figure 1 1 is a flow chart of a vehicle suspension control method according to an embodiment;

[0048] Figure 2 A schematic diagram of the process of triggering and exiting suspension control when going uphill in an application example;

[0049] Figure 3 A schematic diagram of the process of triggering and exiting suspension control when going downhill in an application example;

[0050] Figure 4 A schematic diagram of a flow chart for determining the duration of a control process in a displacement control mode in one embodiment;

[0051] Figure 5 A schematic diagram of a flow chart for determining the duration of a control process in an angle control mode in one embodiment;

[0052] Figure 6A schematic diagram of the process of controlling a target suspension in a displacement control mode in an application example;

[0053] Figure 7 This is a curve diagram of motion parameters changes in displacement control mode in an application example;

[0054] Figure 8 A schematic diagram of the process of controlling the target suspension in the angle control mode in an application example;

[0055] Figure 9 This is a curve diagram of motion parameter changes in angle control mode in an application example;

[0056] Figure 10 is a structural block diagram of a vehicle suspension control device according to one embodiment;

[0057] Figure 11 FIG. 4 is a diagram showing the internal structure of a controller in one embodiment. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0059] It should be noted that the terms "first", "second", etc. used in this application may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "including" and "having" used in this application and any variations thereof are intended to cover non-exclusive inclusions. The term "plurality" used in this application refers to two or more. The term "and / or" used in this application refers to one of the solutions or any combination of multiple solutions.

[0060] In an exemplary embodiment, a vehicle suspension control method is provided. The method is described by taking the application of the method to a controller in a vehicle as an example. It is understandable that in other embodiments, the method can also be applied to a vehicle suspension system, or to a vehicle control system including a controller and a suspension system, and can be implemented through the interaction between the controller and the suspension system. Figure 1 As shown, the vehicle suspension control method of this embodiment includes the following steps 102 to 110. Among them:

[0061] Step 102 : Acquire a first motion parameter of the vehicle and a second motion parameter of a target suspension in the vehicle.

[0062] Among them, the first motion parameter of the vehicle refers to the parameter used to describe the motion state of the vehicle at the current moment. The first motion parameter may include but is not limited to the current speed, current acceleration, current jerk and current pitch angle of the vehicle. In specific implementation, the first motion parameter of the vehicle can be collected by various sensors installed on the vehicle. The target suspension refers to the suspension that needs to be controlled. In the suspension system of a vehicle, there are usually multiple suspensions, such as the front axle suspension, the rear axle suspension, etc. The target suspension can be one of the suspensions or multiple suspensions. The second motion parameter refers to the parameter used to describe the current motion state of the target suspension. The second motion parameter of the target suspension can be collected by various sensors installed on the suspension system (or the target suspension).

[0063] For example, the controller can obtain data from various sensors installed on the vehicle body to obtain the first motion parameters of the vehicle, such as the current speed, current acceleration, current jerk and current pitch angle, etc.; and the controller can obtain data from various sensors on the target suspension to obtain the second motion parameters of the target suspension, such as the current displacement of the target suspension.

[0064] Step 104 : When the first motion parameter and the second motion parameter satisfy the suspension control triggering condition, determine the target motion parameter for controlling the target suspension.

[0065] Among them, the suspension control trigger condition refers to the condition used to determine whether the target suspension needs to be controlled. The suspension control trigger condition can be determined by comprehensively considering the current speed in the first motion parameter and the current displacement, suspension speed, tower top speed, etc. of the target suspension in the second motion parameter. For example, when the vehicle is driving on a flat road at a very low speed, even if the suspension has some slight movement, it may not be necessary to make an immediate control adjustment because such slight movement has little effect on the vehicle's driving performance. However, when the vehicle speed is high and the displacement, speed or acceleration of the suspension exceeds the set safety range, it means that the suspension may not be able to effectively respond to the current road conditions. At this time, it is necessary to trigger suspension control to ensure the smoothness of the vehicle's driving. The target motion parameter refers to the motion state parameter that the target suspension is expected to achieve after control, corresponding to the first motion parameter and the second motion parameter. The target motion parameter may also include but is not limited to the target displacement of the target suspension and the target speed, target acceleration, target jerk and target pitch angle of the vehicle. In some embodiments, the target displacement, target velocity, target acceleration, target jerk, and target pitch angle in the target motion parameters are all 0 to optimize the dynamic performance of the vehicle and ensure the smoothness of the target suspension control.

[0066] For example, the controller may determine a suspension control trigger condition, such as a suspension control trigger condition that may include a tower top speed limit condition and a suspension speed limit condition of a target suspension. The controller may determine the tower top speed and the change step size of the tower top speed of the target suspension based on the current vehicle speed and the suspension speed of the target suspension, determine the change step size of the suspension speed of the target suspension based on the suspension speed of the target suspension, compare the tower top speed and the change step size of the tower top speed with the tower top speed limit condition, and compare the suspension speed and the change step size of the suspension speed with the suspension speed limit condition. If the corresponding limit conditions are met, the controller may determine a target motion parameter for controlling the target suspension. In other embodiments, if the first motion parameter and the second motion parameter do not meet the suspension control trigger condition, that is, if at least one of the tower top speed, the change step size of the tower top speed, the suspension speed, and the change step size of the suspension speed does not meet the corresponding limit condition, the controller may continuously obtain the first motion parameter (vehicle speed) of the vehicle and the second motion parameter of the target suspension and judge the current speed based on the suspension control trigger condition to trigger control of the target suspension in a timely manner.

[0067] In an optional embodiment, when determining whether to trigger suspension control, the controller may assess the target suspension's suspension displacement, suspension speed, tower top speed, and the vehicle's current speed based on the suspension control triggering conditions. Specifically, because the vehicle's driving conditions differ when traveling uphill and downhill on a steep slope, the controller may set different suspension control triggering conditions based on the uphill and downhill conditions, allowing the controller to trigger suspension control appropriately for the road type.

[0068] Among them, Figure 2As shown, when going uphill, in the process of triggering suspension control based on the suspension displacement, suspension speed, tower top speed and current speed of the target suspension, the controller may trigger the suspension control condition by: whether the tower top speed is continuously greater than or equal to 0, whether the change step of the tower top speed is greater than or equal to the first step length threshold, whether the suspension speed is continuously greater than or equal to 0, and whether the change step of the suspension speed is greater than or equal to the second step length threshold. In specific implementation, the controller may compare the tower top speed, the change step of the tower top speed, the suspension speed and the change step of the suspension speed with the corresponding suspension control trigger conditions. If the tower top speed is continuously greater than or equal to 0 and the change step of the tower top speed is greater than or equal to the first step length threshold and the suspension speed is continuously greater than or equal to 0 and the change step of the suspension speed is greater than or equal to the second step length threshold, the controller may determine that the suspension control trigger conditions are met. At this time, the controller may set the uphill control trigger flag to 1 to trigger the control of the target suspension when going uphill. If the tower top speed is continuously greater than or equal to 0, the change step of the tower top speed is greater than or equal to the first step length threshold, the controller may set the uphill control trigger flag to 1 to trigger the control of the target suspension when going uphill. If any one of the following conditions is not met: whether the step length is greater than or equal to the first step length threshold, whether the suspension speed is continuously greater than or equal to 0, and whether the change step length of the suspension speed is greater than or equal to the second step length threshold, the controller can determine that the suspension control trigger condition is not met. At this time, the controller can set the uphill control trigger flag position to 0 to not trigger the control of the target suspension. After that, the controller can continuously obtain the suspension displacement, suspension speed, tower top speed and current speed of the target suspension and compare the suspension displacement, suspension speed, tower top speed and current speed of the vehicle with the suspension control trigger condition to trigger the suspension control in a timely manner.

[0069] When going downhill, Figure 3As shown, in the process of triggering suspension control by the controller based on the suspension displacement, suspension speed, tower top speed and current speed of the target suspension, the suspension control triggering conditions may be whether the tower top speed is continuously less than 0, whether the change step size of the tower top speed is less than the first step size threshold, whether the suspension speed is continuously less than 0 and whether the change step size of the suspension speed is less than the second step size threshold. In specific implementation, the controller can compare the tower top speed, the tower top speed change step, the suspension speed, and the suspension speed change step with the corresponding suspension control trigger conditions. If the tower top speed is continuously less than 0 and the tower top speed change step is less than the first step threshold, and the suspension speed is continuously less than 0 and the suspension speed change step is less than the second step threshold, the controller can determine that the suspension control trigger condition is met. At this time, the controller can set the downhill control trigger flag to 1 to trigger control of the target suspension when going downhill. If any of the following conditions is not met: whether the tower top speed is continuously less than 0, whether the tower top speed change step is less than the first step threshold, whether the suspension speed is continuously less than 0, and whether the suspension speed change step is less than the second step threshold, the controller can set the downhill control trigger flag to 0 to not trigger control of the target suspension. Thereafter, the controller can continuously obtain the suspension displacement, suspension speed, tower top speed, and current speed of the target suspension and compare the suspension displacement, suspension speed, tower top speed, and current speed of the target suspension with the suspension control trigger conditions to trigger suspension control in a timely manner.

[0070] Step 106 : Determine the duration of the control process for the target suspension according to the first motion parameter, the second motion parameter, and the target motion parameter.

[0071] The control process duration refers to the time from the start of target suspension control until the target suspension reaches the target state with target motion parameters. By determining the control process duration, smooth and effective control of the target suspension can be achieved. For example, if the control process duration is too short, the target suspension may not reach the target state within the specified time, resulting in poor control effectiveness. If the control process duration is too long, the suspension response will be too slow, affecting the vehicle's driving performance.

[0072] For example, the controller may determine a duration of a control process for the target suspension based on the first motion parameter, the second motion parameter, and the target motion parameter. For example, the controller may determine the duration of the control process for the target suspension using at least one of polynomial fitting and model prediction based on the first motion parameter of the vehicle, the second motion parameter of the target suspension, and the matching target motion parameter.

[0073] Step 108 : determining the desired motion parameters corresponding to each time point of the target suspension during the control process; and determining the control parameters for the target suspension at each time point based on the desired motion parameters and real-time motion parameters corresponding to each time point.

[0074] Among them, the time point refers to each specific moment in the control process duration. The time point is used to represent a specific moment in the control process. Each time point corresponds to the expected motion state that the target suspension should reach at that time point. The expected motion parameter refers to the motion parameter or state that the target suspension is expected to reach at each time point in the control process duration. Corresponding to the target motion parameter, the expected motion parameter may also include but is not limited to the expected displacement of the target suspension and the expected speed, expected acceleration, expected jerk and expected pitch angle of the vehicle. The real-time motion parameter refers to the actual motion parameter of the target suspension obtained by real-time acquisition by various sensors on the target suspension during the control process, which is used to reflect the actual working state of the target suspension at the current moment. Similarly, the real-time motion parameter may also include but is not limited to the real-time displacement of the target suspension and the real-time speed, real-time acceleration, real-time jerk and real-time pitch angle of the vehicle.

[0075] Control parameters refer to parameters used to adjust the target suspension motion. These parameters may include, but are not limited to, control force and control torque. In specific implementations, control parameters can be implemented using at least one of closed-loop control algorithms and machine learning methods, such as the Proportional Integral Differential (PID) control algorithm and neural networks. By subdividing the duration of the entire control process into multiple small time points, determining specific desired motion parameters at each time point, and comparing the real-time motion parameters with the desired motion parameters, the deviation between the actual and desired states during the target suspension motion can be determined. Based on this deviation, corresponding control parameters are then determined to control the target suspension motion. This can make the target suspension motion smoother and more continuous, avoiding sudden jumps or shocks.

[0076] For example, the controller may determine multiple time points based on the duration of the control process. For each time point, the controller may determine the desired motion parameters of the target suspension corresponding to each time point, for example, the desired displacement of the target suspension at each time point and the desired speed, desired acceleration, desired jerk, and desired pitch angle of the vehicle at each time point. The controller may obtain the real-time displacement of the target suspension and the real-time speed, real-time acceleration, real-time jerk, and real-time pitch angle of the vehicle, and determine the control parameters for the target suspension at each time point based on the deviation between the real-time displacement of the target suspension at the corresponding time point and the real-time speed, real-time acceleration, real-time jerk, and real-time pitch angle of the vehicle at the corresponding time point and the desired displacement of the target suspension and the desired speed, desired acceleration, desired jerk, and desired pitch angle of the vehicle.

[0077] Step 110 : During the control process, control the target suspension according to the control parameters at each time point in sequence.

[0078] For example, the controller can sequentially acquire the vehicle's real-time motion parameters at various time points during the determined control process duration as the vehicle moves, and control the target suspension according to the control parameters determined at each time point. By sequentially controlling the target suspension according to the control parameters at each time point, the target suspension can be ensured to operate according to the pre-planned motion trajectory and performance requirements throughout the control process, thereby improving the control accuracy and stability of the target suspension and enabling it to better adapt to different road conditions and driving conditions.

[0079] In the above vehicle suspension control method, a first motion parameter of a vehicle and a second motion parameter of a target suspension in the vehicle are obtained; if the first motion parameter and the second motion parameter meet a suspension control trigger condition, a target motion parameter for controlling the target suspension is determined; a control process duration for the target suspension is determined based on the first motion parameter, the second motion parameter, and the target motion parameter; an expected motion parameter corresponding to each time point in the control process duration of the target suspension is determined; and a control parameter for each time point in the control process duration is determined based on the expected motion parameter and the real-time motion parameter corresponding to each time point of the target suspension; and within the control process duration, the target suspension is controlled sequentially according to the control parameter at each time point. By obtaining the first motion parameter of the vehicle and the second motion parameter of the target suspension, it is determined whether to control the target suspension; if the target suspension can be controlled, the control process duration of the target suspension is determined based on the first motion parameter, the second motion parameter, and the target motion parameter; and based on the expected motion parameter at each time point in the control process duration, the entire motion process of the target suspension is controlled in a targeted manner, thereby enabling detailed planning of the motion process of the target suspension, making the control process smoother, and thereby improving vehicle stability.

[0080] In one embodiment, determining target motion parameters for controlling a target suspension includes:

[0081] A control mode is determined according to a suspension type of a target suspension, and target motion parameters for controlling the target suspension under the control mode are determined.

[0082] The target suspension type can be categorized based on its installation location. Vehicle suspension can be divided into front-axle and rear-axle suspensions based on their installation location. The front-axle suspension is installed at the front of the vehicle, connecting the vehicle body to the front wheels. It is used to withstand vertical loads, longitudinal forces, and lateral forces from the front of the vehicle, which can affect the vehicle's steering performance. The rear-axle suspension is installed at the rear of the vehicle, connecting the vehicle body to the rear wheels. It is used to withstand corresponding forces from the rear of the vehicle, which can affect the vehicle's driving stability and ride comfort, particularly during acceleration and braking. The control mode refers to the control strategy for the target suspension, determined based on its installation location.

[0083] In specific implementations, control modes can include displacement control and angle control. Displacement control targets the target suspension height displacement. During vehicle operation, suspension height displacement directly affects vehicle maneuverability, ride comfort, and body posture. For example, when driving on bumpy roads, adjusting suspension displacement can maintain relative stability and reduce bumps. When climbing a slope or navigating off-road, appropriately increasing suspension displacement can increase ground clearance. Angle control targets the target suspension pitch angle. The pitch angle refers to the angle of rotation around the vehicle's transverse axis (left-right axis) during driving. When accelerating, the vehicle pitches backward, increasing the pitch angle; when braking, the vehicle leans forward, decreasing the pitch angle. The angle control mode suppresses or regulates vehicle pitch motion by adjusting the suspension, maintaining a relatively stable body posture and improving vehicle stability and passenger comfort. Because suspensions installed in different locations perform different tasks during vehicle operation, different control modes can be used to achieve smoother vehicle control. For example, the front axle suspension can be controlled using a displacement control mode, while the rear axle suspension can be controlled using an angle control mode, enhancing vehicle control stability.

[0084] For example, the controller can determine the corresponding control mode based on the installation position of the target suspension. For example, when the target suspension is installed on the front axle, the control mode of the target suspension can be determined to be a displacement control mode, while when the target suspension is installed on the rear axle, the control mode of the target suspension can be determined to be an angle control mode. After determining the control mode of the target suspension, the controller can determine the target motion parameters for controlling the target suspension based on the corresponding control mode. In specific implementations, depending on the control mode of the target suspension, the target motion parameters can also be different when determining the control process duration based on the target motion parameters. For example, when the control mode is a displacement control mode, since the movement of the target suspension is related to the displacement, the target motion parameters may include target displacement, target velocity, target acceleration, and target jerk. For another example, when the control mode is an angle control mode, since the movement of the target suspension is related to the pitch angle, the target motion parameters may include target pitch angle and target velocity.

[0085] Furthermore, determining a control process duration for a target suspension according to the first motion parameter, the second motion parameter, and the target motion parameter includes:

[0086] Determine initial motion parameters that match the target motion parameters from the first motion parameters and the second motion parameters; determine a control planning model corresponding to the control mode and motion constraints under the control mode; and obtain the control process duration for the target suspension based on the control planning model, the initial motion parameters, the target motion parameters and the motion constraints.

[0087] Among them, the initial motion parameters refer to motion parameters selected from the first motion parameters and the second motion parameters and matching the target motion parameters. For example, in the displacement control mode, when the target motion parameters include the target displacement, target velocity, target acceleration and target jerk, the initial motion parameters may include the initial velocity, initial acceleration and initial jerk selected from the first motion parameters and the initial displacement of the target suspension selected from the second motion parameters, that is, the current displacement, current velocity, current acceleration and current jerk of the vehicle and the current displacement of the target suspension. For another example, in the angle control mode, when the target motion parameters include the target pitch angle and target velocity, correspondingly, the initial motion parameters may include the initial pitch angle and initial velocity selected from the first motion parameters, that is, the current pitch angle and current velocity of the vehicle.

[0088] A control planning model is a model established based on a selected control mode and used to plan the duration of the target suspension's control process. The control planning model selects initial motion parameters that match the target motion parameters from the first and second motion parameters based on the target motion parameters under the corresponding control mode. Based on the initial and target motion parameters, as well as the motion constraints for the target suspension under the corresponding control mode, the model plans the motion of the target suspension from an initial state corresponding to the initial motion parameters to a target state corresponding to the target motion parameters, thereby determining the duration of the control process. Specifically, the control planning model can be implemented using methods such as polynomial programming and machine learning.

[0089] Corresponding to the control mode, the control planning model includes a first control planning model corresponding to the displacement control mode and a second control planning model corresponding to the angle control mode. The first control planning model is used to plan the control process duration of the target suspension from the initial state to the target state under the displacement control mode. In specific implementation, the first control planning model can determine the control process duration of the target suspension based on the initial displacement, initial velocity, initial acceleration and initial jerk as well as the target displacement, target velocity, target acceleration and target jerk under the motion constraint conditions corresponding to the displacement control mode. The second control planning model is used to plan the control process duration of the target suspension from the initial state to the target state under the angle control mode. In specific implementation, the second control planning model can determine the control process duration of the target suspension based on the initial pitch angle and initial velocity as well as the target pitch angle and target velocity under the motion constraint conditions corresponding to the angle control mode.

[0090] Motion constraints are restrictions on the target suspension's motion during control to ensure its safety and reliability. These constraints include, but are not limited to, limits on displacement, velocity, acceleration, jerk, and pitch angle.

[0091] For example, the controller may select initial motion parameters that match the target motion parameters from the first motion parameters and the second motion parameters based on the determined control mode and the corresponding target motion parameters, and determine a corresponding control planning model and motion constraints for constraining each motion parameter based on the motion parameters corresponding to the control mode. Finally, the controller may input the initial motion parameters, target motion parameters, and motion constraints into the control planning model, and use the control planning model to plan the motion process of the target suspension based on the initial motion parameters and target motion parameters in combination with the motion constraints, thereby obtaining a control process duration for the target suspension.

[0092] In this embodiment, the control mode and target motion parameters are determined according to the suspension type, and the corresponding initial motion parameters are matched from the first motion parameters and the second motion parameters. Finally, the motion planning of the target suspension is performed based on the initial motion parameters, the target motion parameters and the motion constraints, and the control process duration for controlling the target suspension is obtained. This can accurately adapt to the control characteristics of different suspensions, scientifically plan the control process, and facilitate the realization of stable suspension adjustment that conforms to the vehicle operating conditions.

[0093] In one embodiment, the control mode includes a displacement control mode for controlling the height displacement of the target suspension, and the control planning model includes a first control planning model corresponding to the displacement control mode.

[0094] Further, such as Figure 4As shown in FIG, based on the control planning model, initial motion parameters, target motion parameters and motion constraints, the control process duration for the target suspension is obtained, including:

[0095] Step 402 : determining first model parameters of a first control planning model according to the initial displacement, initial velocity, initial acceleration, and initial jerk in the initial motion parameters and the target displacement, target velocity, target acceleration, and target jerk in the target motion parameters.

[0096] Wherein, in the displacement control mode, the initial motion parameters may include but are not limited to initial displacement, initial velocity, initial acceleration, and initial jerk. Correspondingly, the target motion parameters may include but are not limited to target displacement corresponding to the initial displacement, target velocity corresponding to the initial velocity, target acceleration corresponding to the initial acceleration, and target jerk corresponding to the initial jerk. The first model parameters refer to the specific parameters used to determine the motion trajectory in the first control planning model. The first model parameters can be determined based on the initial displacement, initial velocity, initial acceleration, and initial jerk in the initial motion parameters and the target displacement, target velocity, target acceleration, and target jerk in the target motion parameters. For example, in some control planning models based on polynomial functions, the model parameters can be the coefficients of the polynomial, and the coefficients of the polynomial are determined by solving the polynomial.

[0097] Exemplarily, the first control planning model is constructed based on an Nth-order polynomial (e.g., a seventh-order polynomial) and includes a displacement equation, a velocity equation, an acceleration equation, and a jerk equation. The controller can use the first control planning model to solve the displacement equation, velocity equation, acceleration equation, and jerk equation based on the initial displacement, initial velocity, initial acceleration, and initial jerk in the initial motion parameters and the target displacement, target velocity, target acceleration, and target jerk in the target motion parameters to obtain coefficients of the displacement equation, velocity equation, acceleration equation, and jerk equation. The controller can then determine first model parameters of the first control planning model based on the coefficients of the displacement equation, velocity equation, acceleration equation, and jerk equation.

[0098] Step 404 , using the first control planning model, based on the first model parameters and the velocity constraint, acceleration constraint, and jerk constraint in the motion constraint, determines the velocity extreme value, acceleration extreme value, and jerk extreme value of the target suspension in the displacement control mode.

[0099] The speed limit refers to the maximum or minimum possible speed of the vehicle in displacement control mode, taking into account speed constraints. The acceleration limit refers to the maximum or minimum possible acceleration of the vehicle in displacement control mode, taking into account acceleration constraints. The jerk limit refers to the maximum or minimum possible jerk of the vehicle in displacement control mode, taking into account jerk constraints. By determining the speed limit, acceleration limit, and jerk limit, it is possible to ensure that the movement of the vehicle and the target suspension remains within a safe and reasonable range throughout the control process, thereby meeting the vehicle's handling stability requirements while improving the vehicle's ride quality and passenger comfort.

[0100] Exemplarily, the controller can obtain a specific expression of an Nth-order polynomial based on the first model parameters through the first control planning model, and solve the maximum values ​​of the velocity equation, acceleration equation and jerk equation respectively based on the velocity constraint conditions, acceleration constraint conditions and jerk constraint conditions to obtain the velocity extreme value, acceleration value and jerk extreme value.

[0101] Step 406 : Determine the duration of the control process for the target suspension based on the velocity extreme value, the velocity constraint, the acceleration extreme value, the acceleration constraint, the jerk extreme value, and the jerk constraint.

[0102] For example, the controller may construct a relationship between velocity, acceleration, and jerk and time based on velocity extremes, velocity constraints, acceleration extremes, acceleration constraints, jerk extremes, and jerk constraints, and determine a control process duration for the target suspension based on the relationship.

[0103] In an application example, taking a seventh-order polynomial as an example, the displacement equation, velocity equation, acceleration equation, and jerk equation can be expressed as follows:

[0104] (1)

[0105] (2)

[0106] (3)

[0107] (4)

[0108] in, is the displacement equation, which is used to express the displacement of the target suspension. is the velocity equation, used to express the vehicle body speed, is the acceleration equation, which is used to express the acceleration of the vehicle body. is the acceleration equation, which is used to express the acceleration of the vehicle body. is the normalized time. For example, when the time from the start state to the end state is 2s, Then it means T=0, Then it means T=2s, are the coefficients of the seventh-order polynomial, i.e., the first model parameters.

[0109] In the initial state, , initial displacement ( is the initial displacement of the target suspension), Substituting into the above formula (1), we can get Initial velocity ( is the initial speed of the vehicle, is the control process time), Substituting into the above formula (2), we can get ; Initial acceleration ( is the initial acceleration of the vehicle, is the control process time), Substituting into the above formula (3), we can get ; Initial jerk ( is the initial acceleration of the vehicle, is the control process time), Substituting into the above formula (4), we can get .

[0110] In the end state, , target displacement ( is the target displacement of the target suspension, ),Will Substituting into the above formula (1), we can get Target speed ( is the target speed of the vehicle, , is the control process time), Substituting into the above formula (2), we can get ; Target acceleration ( is the target acceleration of the vehicle, , is the control process time), Substituting into the above formula (3), we can get ; Target jerk ( is the target acceleration of the vehicle, , is the control process time), Substituting into the above formula (4), we can get .

[0111] The controller can combine the above analysis to obtain the initial displacement and target displacement of the target suspension and the initial speed, initial acceleration, initial jerk and target speed, target acceleration and target jerk of the vehicle, and calculate the first model parameters .

[0112] Then, the controller can normalize the velocity, acceleration, and jerk using the above state parameters. The normalized velocity, acceleration, and jerk are expressed as:

[0113] (5)

[0114] (6)

[0115] (7)

[0116] in, is the normalized speed, is the normalized acceleration, is the normalized acceleration, To control the process time The displacement equations are The first, second, and third derivatives of are the coefficients of the seventh-order polynomial, and the solved Substituting into formulas (5), (6) and (7) we can obtain the relationship between velocity, acceleration and jerk and the control process time.

[0117] Then, the controller can further construct the relationship between each constraint and the control process time based on formulas (5), (6), (7) and the corresponding speed constraint, acceleration constraint, and jerk constraint, that is:

[0118] (8)

[0119] (9)

[0120] (10)

[0121] in, Indicates the maximum value of speed, represents the speed constraint, represents the maximum value of acceleration, represents the acceleration constraint, Indicates the maximum value of jerk, Indicates the acceleration constraint. In specific implementation, the speed constraint , acceleration constraints and jerk constraints You can use the speed limit, acceleration limit and jerk limit under the preset standards. For example, if you use the elevator lifting limit standard, the speed constraint can be set to 1.0~1.5m / s, and the acceleration constraint can be set to 0.7~0.9m / s 2 , the jerk constraint can be set to be lower than 0.8m / s 3 wait.

[0122] The controller can be After taking the derivative again, we can solve the extreme point based on formulas (5)(6)(7)(8)(9)(10) , and determine the extreme point and at the endpoint and The velocity extremes at , acceleration extremes and jerk extremes .

[0123] Finally, the controller can be based on the velocity extremes , acceleration extremes and jerk extremes and speed constraints , acceleration constraints and jerk constraints Construct the relationship equation between extreme values, constraints, and control process duration, and solve for the minimum time as the control process duration. The relationship equation between extreme values, constraints, and control process duration can be expressed as:

[0124] (11)

[0125] in, To control the process time.

[0126] In this embodiment, the initial motion parameters and the target motion parameters are used to determine the first model parameters of the first control planning model, and the speed, acceleration and jerk extreme values ​​under the displacement control mode are determined in combination with the corresponding constraints of the target suspension under the displacement control mode. Then, the duration of the control process for controlling the target suspension is determined, which can achieve more precise and stable control of the target suspension, and is conducive to improving the stability and safety of vehicle driving.

[0127] In one embodiment, the control mode includes an angle control mode for controlling a pitch angle of a target suspension, and the control planning model includes a second control planning model corresponding to the angle control mode.

[0128] Further, such as Figure 5 As shown in FIG, based on the control planning model, initial motion parameters, target motion parameters and motion constraints, the control process duration for the target suspension is obtained, including:

[0129] Step 502 : Determine second model parameters of a second control planning model according to an initial pitch angle and an initial velocity in the initial motion parameters and a target pitch angle and a target velocity in the target motion parameters.

[0130] Among them, in the angle control mode, the initial motion parameters may include but are not limited to the initial pitch angle and the initial velocity, and the corresponding target motion parameters may include but are not limited to the target pitch angle corresponding to the initial pitch angle and the target velocity corresponding to the initial velocity. The second model parameters refer to the specific parameters used to determine the motion trajectory in the second control planning model. The second model parameters can be determined based on the initial pitch angle and initial velocity in the initial motion parameters and the target pitch angle and target velocity in the target motion parameters. For example, in some control planning models based on polynomial functions, the model parameters can be the coefficients of the polynomial, and the coefficients of the polynomial are determined by solving the polynomial.

[0131] Exemplarily, the second control planning model is constructed based on an Nth-order polynomial (e.g., a cubic polynomial) and includes a displacement equation and a velocity equation. The controller can use the second control planning model to solve the displacement equation and the velocity equation based on the initial pitch angle and initial velocity in the initial motion parameters and the target pitch angle and target velocity in the target motion parameters to obtain coefficients of the displacement equation and the velocity equation. The controller can then determine second model parameters of the second control planning model based on the coefficients of the displacement equation and the velocity equation.

[0132] Step 504 : Determine the velocity extreme value of the target suspension in the angle control mode through the second control planning model based on the second model parameters and the velocity constraint in the motion constraint.

[0133] Similar to the displacement control mode, the velocity limit refers to the maximum or minimum possible vehicle speed in displacement control mode, taking into account speed constraints. By determining the velocity limit, we ensure that the vehicle and target suspension motion remain within a safe and reasonable range throughout the control process. This, combined with other suspension displacement control modes, can meet vehicle handling stability requirements while improving ride quality and passenger comfort.

[0134] Exemplarily, the controller may obtain a specific expression of an Nth-order polynomial based on the second model parameters through the second control planning model, and solve the maximum value of the speed equation based on the speed constraint condition to obtain the speed extreme value.

[0135] Step 506 : Determine the duration of the control process for the target suspension based on the speed extreme value and the speed constraint.

[0136] For example, the controller may construct a relationship between speed and time based on the speed extreme value and the speed constraint condition, and determine the duration of the control process for the target suspension based on the relationship.

[0137] In an optional embodiment, the controller can construct a second control planning model based on a cubic polynomial. The specific planning process of the control process duration through the second control planning model can refer to the planning process using a seventh-order polynomial in the above embodiment, which will not be repeated in this embodiment.

[0138] In this embodiment, the initial motion parameters and the target motion parameters are used to determine the second model parameters of the second control planning model, and combined with the speed constraint conditions of the target suspension in the angle control mode, the speed extreme value in the angle control mode is determined, and then the control process duration for controlling the target suspension is determined, which can achieve more precise and stable control of the target suspension, which is beneficial to improving the stability and safety of vehicle driving.

[0139] In one embodiment, determining the desired motion parameters corresponding to each time point of the target suspension during the control process includes:

[0140] The control process duration is discretized according to a preset time step to obtain multiple time points; and the expected motion parameters corresponding to each time point in the control process duration are obtained based on each time point.

[0141] The preset time step refers to the time interval between two adjacent time points when discretizing the control process duration, thereby dividing the continuous control process duration into a series of discrete time points. Corresponding to the target motion parameters, in the displacement control mode, the desired motion parameters may include, but are not limited to, the desired displacement of the target suspension and the desired speed, acceleration, and jerk of the vehicle. In the angle control mode, the desired motion parameters may include, but are not limited to, the desired pitch angle and desired speed of the vehicle.

[0142] Exemplarily, the controller can determine the preset time step based on the control accuracy and the total length of the control process. The preset time step can be uniform or uneven. For example, the controller can set the preset time step to be smaller when the vehicle state changes frequently, and vice versa, when the vehicle state changes infrequently, the preset time step can be set to be larger, so as to take into account both the control accuracy and the computational burden of the controller. Afterwards, the controller can discretize the control process duration according to the preset time step to obtain multiple time points. For each time point, the controller can discretize the control process duration according to the preset time step and obtain multiple time points. For each time point, the controller can discretize the control process duration according to the normalized time step. The conversion relationship between them is normalized to each time point. The numerical values ​​in the interval [0,1] are then inserted into the corresponding displacement equation, velocity equation, acceleration equation, and jerk equation to determine the expected motion parameters corresponding to the target suspension at each time point during the control process.

[0143] In this embodiment, by discretizing the control process duration into multiple time points and determining the expected motion parameters at each time point based on this, a more accurate and targeted data basis can be provided for subsequent suspension control, which is conducive to improving the control effect of the suspension.

[0144] In one embodiment, determining the control parameters for the target suspension at each time point based on the desired motion parameters and the real-time motion parameters corresponding to the target suspension at each time point includes:

[0145] For each time point, the compensation speed for controlling the target suspension is determined based on the expected motion parameters corresponding to the time point and the real-time motion parameters corresponding to the time point; the target speed for controlling the target suspension is determined based on the compensation speed and the real-time speed in the real-time motion parameters corresponding to the time point; and the control parameters for the target suspension at the time point are determined based on the real-time speed and the target speed.

[0146] The real-time motion parameters can be the current motion parameters of the vehicle and target suspension, that is, the first motion parameters and the second motion parameters. Therefore, the real-time motion parameters can be collected based on various sensors installed on the vehicle body and the target suspension. The compensation speed refers to the speed adjustment that needs to be applied to the vehicle at each time point to eliminate the deviation between the vehicle's real-time motion parameters and the desired motion parameters. The compensation speed can be used to reflect the degree to which the vehicle's motion speed needs to be adjusted. The target speed refers to the speed value that the vehicle will ultimately reach at each time point, determined by combining the compensation speed and the real-time speed in the real-time motion parameters. The control parameters can be determined based on the difference between the target speed and the vehicle's current speed (real-time speed) and converted into corresponding control signals through a control algorithm to adjust the suspension motion state.

[0147] For example, in the displacement control mode, the controller can determine, for each discrete time point, a displacement increment between the desired and real-time displacements based on the desired displacement of the target suspension at that time point and the real-time displacement of the target suspension (the displacement increment can be either positive or negative). The controller then performs closed-loop PID control based on the displacement increment to obtain a compensation speed. The controller can then compensate the real-time speed based on the compensation speed to obtain the target speed, such as by adding the compensation speed to the real-time speed to obtain the target speed. The controller can then determine a speed increment between the target and real-time speeds based on the target speed and the real-time speed of the vehicle (again, the speed increment can be either positive or negative). The controller then performs closed-loop PID control based on the speed increment to obtain a speed deviation. Finally, the controller can perform load distribution based on the speed deviation to obtain a final control parameter. Specifically, the controller can multiply the sprung mass of the target suspension by the speed deviation to obtain the control force for the target suspension.

[0148] Similarly, in angle control mode, the controller can determine, for each discrete time point, the angle increment between the desired pitch angle and the real-time pitch angle based on the desired pitch angle at that time point and the vehicle's current pitch angle (the angle increment can be positive or negative). The controller then performs angle closed-loop PID control based on this angle increment to obtain a compensation velocity. The controller can then compensate the real-time velocity based on the compensation velocity to obtain the target velocity, such as by adding the compensation velocity to the real-time velocity. The controller can then determine the velocity increment between the target velocity and the real-time velocity based on the target velocity and the vehicle's real-time velocity (again, the velocity increment can be positive or negative). The controller then performs displacement closed-loop PID control based on this velocity increment to obtain a velocity deviation. Finally, the controller can perform load distribution based on this velocity deviation to obtain the final control parameter. Specifically, the controller can multiply the target suspension sprung mass by the velocity deviation to obtain the control force for the target suspension.

[0149] In an optional embodiment, after determining the control force, the controller may further convert the control force into the rotational speed of the motor based on the hydraulic pump closed-loop control module in the vehicle to achieve control of the vehicle and the target suspension.

[0150] In this embodiment, the compensation speed is determined by comparing the difference between the expected motion parameters and the real-time motion parameters at each time point. The real-time speed is compensated based on the compensation speed to obtain the target speed. Then, the corresponding control parameters are output based on the target speed and the real-time speed. This can achieve dynamic and precise regulation of the target suspension, effectively reduce the gap between the actual motion and the expected motion, improve the response speed and accuracy of the target suspension control, and thus enhance the smoothness and comfort of vehicle driving.

[0151] In one embodiment, the vehicle suspension control method further includes:

[0152] In the process of controlling the target suspension according to the respective control parameters at each time point, the real-time displacement of the target suspension is obtained; when the real-time displacement meets the control end condition, the control of the target suspension is ended.

[0153] Among them, real-time displacement refers to the distance change of the target suspension at the current moment obtained in real time by measuring equipment such as sensors, which is used to reflect the actual position state of the target suspension during actual operation. In specific implementation, the real-time displacement of the target suspension can be collected by a displacement sensor installed on the target suspension. The control end condition refers to the condition used to determine whether to stop controlling the target suspension. The control end condition can be determined based on factors such as the real-time displacement of the target suspension, the control time, and the achievement of the control target. For example, the real-time displacement reaches or approaches the allowable error range of the expected displacement; the control time reaches the preset maximum control time; the motion state of the suspension is stable within a certain range and no longer changes significantly, etc.

[0154] For example, the controller may acquire the real-time displacement of the target suspension, as captured by the displacement sensor on the target suspension, while sequentially controlling the target suspension according to the respective control parameters at each time point. The controller may then compare the real-time displacement of the target suspension with a control termination condition to determine whether the real-time displacement meets the control termination condition. If so, control of the target suspension may be terminated. If not, control of the target suspension may continue according to the corresponding control mode while continuing to acquire the real-time displacement of the target suspension, thereby terminating control of the target suspension at an appropriate time.

[0155] In an optional embodiment, if Figure 2 and Figure 3 As shown, when determining whether to exit control of the target suspension, the controller can assess the target suspension's real-time displacement based on a control termination condition. The control termination condition can include whether the absolute value of the target suspension's real-time displacement remains consistently less than a preset displacement value (e.g., 2mm) and whether the step size of the target suspension's real-time displacement change exceeds a third threshold. In specific implementations, if the suspension control termination conditions are the same for both uphill and downhill travel, the controller can compare the absolute value of the target suspension's real-time displacement and the step size of the real-time displacement change with the corresponding control termination condition. If the target suspension's real-time displacement remains consistently less than 2mm and the step size of the real-time displacement change exceeds the third step size threshold, the controller can determine that the control termination condition has been met. At this point, the controller can set the corresponding control trigger flag to 0 to exit control of the target suspension.

[0156] In this embodiment, by obtaining the real-time displacement of the target suspension when controlling the suspension according to a time point, the control of the target suspension can be terminated in time when the control termination condition is met, thereby avoiding excessive control, saving energy, and ensuring that the target suspension reaches the target state accurately, thereby improving control efficiency and accuracy.

[0157] In an application example, Figure 6 As shown, Figure 6This is a control flow diagram of the controller for the front axle suspension in the displacement control mode. The controller can input a preset time step, speed constraints, acceleration constraints, jerk constraints, the initial displacement and target displacement of the target suspension, the initial speed, initial acceleration, initial jerk, target speed, target acceleration, and target jerk of the vehicle into a first control planning module. The first control planning module can determine the control process duration based on the initial displacement and target displacement of the target suspension, the initial speed, initial acceleration, initial jerk, target speed, target acceleration, and target jerk of the vehicle, as well as the speed constraints, acceleration constraints, and jerk constraints through a seventh-order polynomial, and discretize the control process time step into various time points according to the preset time step, and then determine the expected displacement of the target suspension and the expected speed, expected acceleration, and expected jerk of the vehicle through the seventh-order polynomial. Afterwards, the controller can perform PID control on the initial displacement (i.e., current displacement) and desired displacement of the target suspension through a height closed-loop controller to obtain a compensation speed, and then superimpose the compensation speed with the initial speed to obtain a target speed; then, the controller can perform PID control on the target speed and initial speed through a speed closed-loop controller to obtain a speed increment, and after obtaining the corresponding control parameters (control force) based on the load distribution, the control parameters are converted into motor speed control parameters through a hydraulic pump closed-loop control module to achieve displacement control of the target suspension.

[0158] Through the above displacement control process, please refer to Figure 7 , Figure 7 3 and 4 respectively show the change curves of displacement, velocity, acceleration and jerk after the vehicle suspension control method of this embodiment is used for control. The blue curve in the figure represents the curve when no control is performed, and the red curve represents the curve after control. It can be clearly seen from the curves in the figure that after the method of this embodiment is used for control, the movement of the vehicle is smoother.

[0159] In another application example, Figure 8 As shown, Figure 8This is a block diagram of the controller's control flow for the front axle suspension in angle control mode. The controller inputs a preset time step, speed constraints, the vehicle's initial pitch angle, initial speed, target pitch angle, and target speed into the second control planning module. The second control planning module uses a cubic polynomial to determine the control duration based on the speed constraints, the vehicle's initial pitch angle, initial speed, target pitch angle, and target speed. The control time step is discretized into individual time points according to the preset time step, and the desired vehicle pitch angle and speed are determined using the cubic polynomial. The controller then uses an angle closed-loop controller to perform PID control on the initial pitch angle displacement (i.e., the current pitch angle) and the desired pitch angle to obtain a compensation speed. This compensation speed is then added to the initial speed to obtain the target speed. The controller then uses a speed closed-loop controller to perform PID control on the target and initial speeds to obtain a speed increment. After obtaining the corresponding control parameters (control force) based on the load distribution, the hydraulic pump closed-loop control module converts these control parameters into motor speed parameters to achieve target suspension angle control.

[0160] Through the above angle control process, please refer to Figure 9 , Figure 9 2 are the curves showing the changes in displacement and speed after the vehicle suspension control method of this embodiment is used for control, among which "front axle planning + rear axle pitch angle planning control" represents the curve corresponding to the control method of this embodiment. It can be clearly seen from the curves in the figure that after the method of this embodiment is used for control, the movement of the vehicle is smoother.

[0161] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily performed in sequence in the order indicated by the arrows. Unless clearly stated herein, the execution of these steps is not strictly limited in order, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above may include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of the steps or stages in other steps or other steps. It is understandable that the various steps in different embodiments can be freely combined as needed, and the various non-contradictory schemes formed by the combination all fall within the scope of protection of this application.

[0162] Based on the same inventive concept, embodiments of the present application also provide a vehicle suspension control device for implementing the aforementioned vehicle suspension control method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more vehicle suspension control device embodiments provided below can be found in the above-described limitations of the vehicle suspension control method and will not be further elaborated here.

[0163] In an exemplary embodiment, Figure 10 As shown, a vehicle suspension control device is provided, comprising: a motion parameter acquisition module 1002, a suspension control triggering module 1004, a control duration planning module 1006, a control parameter determination module 1008 and a suspension control execution module 1010, wherein:

[0164] A motion parameter acquisition module 1002 is configured to acquire a first motion parameter of the vehicle and a second motion parameter of a target suspension in the vehicle;

[0165] A suspension control triggering module 1004 is configured to determine target motion parameters for controlling a target suspension when the first motion parameter and the second motion parameter satisfy a suspension control triggering condition;

[0166] A control duration planning module 1006 is configured to determine a control process duration for a target suspension according to the first motion parameter, the second motion parameter, and the target motion parameter;

[0167] The control parameter determination module 1008 is used to determine the desired motion parameters of the target suspension at each time point during the control process, and determine the control parameters for the target suspension at each time point based on the desired motion parameters and real-time motion parameters of the target suspension at each time point.

[0168] The suspension control execution module 1010 is used to control the target suspension according to the respective control parameters at each time point in sequence during the control process.

[0169] In an optional embodiment, the suspension control trigger module 1004 is further configured to determine a control mode based on the suspension type of the target suspension and determine target motion parameters for controlling the target suspension under the control mode. The control duration planning module 1006 is further configured to determine initial motion parameters that match the target motion parameters from the first motion parameters and the second motion parameters; determine a control planning model corresponding to the control mode and motion constraints under the control mode; and obtain a control process duration for the target suspension based on the control planning model, the initial motion parameters, the target motion parameters, and the motion constraints.

[0170] In an optional embodiment, the control mode includes a displacement control mode for controlling the height displacement of the target suspension, and the control planning model includes a first control planning model corresponding to the displacement control mode. The control duration planning module 1006 is further configured to determine first model parameters of the first control planning model based on the initial displacement, initial velocity, initial acceleration, and initial jerk in the initial motion parameters and the target displacement, target velocity, target acceleration, and target jerk in the target motion parameters; determine the velocity extreme value, acceleration extreme value, and jerk extreme value of the target suspension in the displacement control mode based on the first model parameters and the velocity constraint, acceleration constraint, and jerk constraint in the motion constraint conditions; and determine the control process duration for the target suspension based on the velocity extreme value, velocity constraint, acceleration extreme value, acceleration constraint, jerk extreme value, and jerk constraint conditions.

[0171] In an optional embodiment, the control mode includes an angle control mode for controlling the pitch angle of the target suspension, and the control planning model includes a second control planning model corresponding to the angle control mode. The control duration planning module 1006 is further configured to determine second model parameters of the second control planning model based on the initial pitch angle and initial velocity in the initial motion parameters and the target pitch angle and target velocity in the target motion parameters; determine the velocity extreme of the target suspension in the angle control mode based on the second model parameters and the velocity constraint in the motion constraint conditions using the second control planning model; and determine the duration of the control process for the target suspension based on the velocity extreme and the velocity constraint conditions.

[0172] In an optional embodiment, the control parameter determination module 1008 is also used to discretize the control process duration according to a preset time step to obtain multiple time points; and obtain the expected motion parameters corresponding to each time point in the control process duration of the target suspension based on each time point.

[0173] In an optional embodiment, the control parameter determination module 1008 is also used to determine, for each time point, the compensation speed for controlling the target suspension based on the expected motion parameters corresponding to the time point and the real-time motion parameters corresponding to the time point; determine the target speed for controlling the target suspension based on the compensation speed and the real-time speed in the real-time motion parameters corresponding to the time point; and determine the control parameters for the target suspension at the time point based on the real-time speed and the target speed.

[0174] In an optional embodiment, the vehicle suspension control device also includes a control termination control module, which is used to obtain the real-time displacement of the target suspension in the process of controlling the target suspension according to the respective control parameters at each time point; when the real-time displacement meets the control termination condition, the control of the target suspension is terminated.

[0175] Each module in the aforementioned vehicle suspension control device may be implemented in whole or in part through software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor within the controller as hardware, or stored in memory within the controller as software, allowing the processor to call and execute the corresponding operations of each module.

[0176] In an exemplary embodiment, a controller is provided. The controller may be a server, and its internal structure diagram may be as shown in FIG. Figure 11 As shown. The controller includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O) and a communication interface. The processor, memory and input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the controller is used to provide computing and control capabilities. The memory of the controller includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the controller is used to store data such as target motion parameters of the target suspension, suspension control trigger conditions, control modes, control planning models, etc. The input / output interface of the controller is used to exchange information between the processor and external devices. The communication interface of the controller is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a vehicle suspension control method is implemented.

[0177] Those skilled in the art will understand that Figure 11 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the controller to which the solution of the present application is applied. The specific controller may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0178] In an exemplary embodiment, a controller is provided, including a memory and a processor. The memory stores a computer program, and the processor implements the vehicle suspension control method of the above embodiment when executing the computer program.

[0179] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the vehicle suspension control method of the above embodiment is implemented.

[0180] In one embodiment, a computer program product is provided, comprising a computer program, which implements the vehicle suspension control method of the above embodiment when executed by a processor.

[0181] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0182] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), quantum computing-based data processing logic devices, artificial intelligence (AI) processors, and the like.

[0183] 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 application.

[0184] The above-described embodiments merely represent 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 present 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, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A vehicle suspension control method, characterized in that: The method comprises: Acquiring a first motion parameter of a vehicle and a second motion parameter of a target suspension in the vehicle; determining target motion parameters for controlling the target suspension when the first motion parameter and the second motion parameter satisfy a suspension control trigger condition; determining a control process duration for the target suspension according to the first motion parameter, the second motion parameter, and the target motion parameter; Determining the desired motion parameters of the target suspension corresponding to each time point during the control process, and determining the control parameters for the target suspension at each time point based on the desired motion parameters and real-time motion parameters of the target suspension at each time point; During the control process, the target suspension is controlled in sequence according to the control parameters at each time point.

2. The method according to claim 1, characterized in that The determining of target motion parameters for controlling the target suspension includes: determining a control mode according to the suspension type of the target suspension, and determining target motion parameters for controlling the target suspension under the control mode; The determining, according to the first motion parameter, the second motion parameter, and the target motion parameter, a control process duration for the target suspension includes: determining an initial motion parameter that matches the target motion parameter from the first motion parameter and the second motion parameter; Determining a control planning model corresponding to the control mode and motion constraints under the control mode; Based on the control planning model, the initial motion parameters, the target motion parameters and the motion constraints, a control process duration for the target suspension is obtained.

3. The method according to claim 2, characterized in that The control mode includes a displacement control mode for controlling the height displacement of the target suspension, and the control planning model includes a first control planning model corresponding to the displacement control mode; The obtaining of a control process duration for the target suspension based on the control planning model, the initial motion parameters, the target motion parameters, and the motion constraint conditions includes: determining first model parameters of the first control planning model according to the initial displacement, initial velocity, initial acceleration, and initial jerk in the initial motion parameters and the target displacement, target velocity, target acceleration, and target jerk in the target motion parameters; determining, by the first control planning model, a velocity limit, an acceleration limit, and a jerk limit of the target suspension in the displacement control mode based on the first model parameters and a velocity constraint, an acceleration constraint, and a jerk constraint in the motion constraints; A control process duration for the target suspension is determined based on the velocity extreme value, the velocity constraint, the acceleration extreme value, the acceleration constraint, the jerk extreme value, and the jerk constraint.

4. The method according to claim 2, characterized in that The control mode includes an angle control mode for controlling the pitch angle of the target suspension, and the control planning model includes a second control planning model corresponding to the angle control mode; The obtaining of a control process duration for the target suspension based on the control planning model, the initial motion parameters, the target motion parameters, and the motion constraint conditions includes: Determining second model parameters of the second control planning model according to an initial pitch angle and an initial speed in the initial motion parameters and a target pitch angle and a target speed in the target motion parameters; determining, by the second control planning model, a velocity extreme value of the target suspension in the angle control mode based on the second model parameters and a velocity constraint in the motion constraint; Based on the speed extreme value and the speed constraint condition, a control process duration for the target suspension is determined.

5. The method according to claim 1, wherein Determining the expected motion parameters of the target suspension corresponding to each time point during the control process includes: Discretizing the duration of the control process according to a preset time step to obtain multiple time points; According to each of the time points, the expected motion parameters of the target suspension corresponding to each of the time points during the control process are obtained.

6. The method according to claim 1, characterized in that Determining the control parameters for the target suspension at each of the time points according to the desired motion parameters and the real-time motion parameters corresponding to the target suspension at each of the time points includes: For each of the time points, determining a compensation speed for controlling the target suspension according to the desired motion parameter corresponding to the time point and the real-time motion parameter corresponding to the time point; determining a target speed for controlling the target suspension according to the compensation speed and a real-time speed in the real-time motion parameter corresponding to the time point; A control parameter for the target suspension at the targeted time point is determined according to the real-time speed and the target speed.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: In the process of sequentially controlling the target suspension according to the respective control parameters at each of the time points, obtaining a real-time displacement of the target suspension; When the real-time displacement satisfies a control end condition, the control of the target suspension is ended.

8. A vehicle suspension control device, characterized in that: The device comprises: a motion parameter acquisition module, configured to acquire a first motion parameter of a vehicle and a second motion parameter of a target suspension in the vehicle; a suspension control triggering module, configured to determine target motion parameters for controlling the target suspension when the first motion parameter and the second motion parameter satisfy a suspension control triggering condition; a control duration planning module, configured to determine a control process duration for the target suspension according to the first motion parameter, the second motion parameter, and the target motion parameter; a control parameter determination module, configured to determine the desired motion parameters of the target suspension corresponding to each time point during the control process, and determine the control parameters for the target suspension at each time point based on the desired motion parameters and real-time motion parameters of the target suspension at each time point; The suspension control execution module is used to control the target suspension in accordance with the control parameters at each time point in sequence during the control process.

9. A controller comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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