Wheel suspension control method, device and system, storage medium and program product

Abstract

The invention relates to the technical field of vehicle chassis control, and provides a wheel suspension control method, device and system, a storage medium and a program product.The wheel suspension control method comprises the steps that under the condition that a curve exists in front of a vehicle, curve information, steering wheel angle information, vehicle speed information, acceleration information and vehicle body posture information are obtained; according to the curve information, the steering wheel turning angle information, the vehicle speed information, the acceleration information and the vehicle body attitude information, predicting a vehicle roll angle when the vehicle passes through the curve; determining an inner side wheel and an outer side wheel when the vehicle passes through the curve; and controlling a wheel suspension of the vehicle according to the vehicle roll angle and the inner side wheel and the outer side wheel when the vehicle passes through the curve. By means of the method, the problems that when the vehicle turns at a high speed, the vehicle rolls too much, the road holding force of tires is insufficient and the like can be solved, the driving comfort is improved, and the control stability and safety of the vehicle are improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle chassis control, and in particular to a wheel suspension control method, device, system, storage medium, and program product. Background Art

[0002] Cornering is a common driving condition during vehicle driving, especially on highways. The radius and curvature of the curves vary greatly, which places high demands on the vehicle's handling performance.

[0003] In related technologies, the suspension system is mostly passive, which can easily lead to problems such as excessive vehicle roll and insufficient tire grip when cornering at high speeds. This not only affects driving comfort, but may also reduce the vehicle's handling stability and safety. Summary of the Invention

[0004] The purpose of the present disclosure is to provide a wheel suspension control method, device, system, storage medium and program product to solve the problems in the related art.

[0005] In order to achieve the above objectives, the present disclosure provides a wheel suspension control method, comprising: When there is a curve in front of the vehicle, obtain curve information, steering wheel angle information, vehicle speed information, acceleration information, and vehicle body posture information; predicting a vehicle roll angle when the vehicle passes through the curve based on the curve information, the steering wheel angle information, the vehicle speed information, the acceleration information, and the vehicle body posture information; determining an inner wheel and an outer wheel of the vehicle when passing through the curve; The wheel suspension of the vehicle is controlled based on the roll angle of the vehicle, the inner wheel and the outer wheel when the vehicle passes through the curve.

[0006] Optionally, controlling the wheel suspension of the vehicle according to the roll angle of the vehicle and the inner wheel and the outer wheel of the vehicle when the vehicle passes through the curve includes: determining, based on the vehicle roll angle, a first increase in wheel suspension height, a first decrease in wheel suspension height, a second increase in wheel suspension stiffness, and a second decrease in wheel suspension stiffness; Control the vehicle to increase the wheel suspension height of the outer wheel by the first increase amount, increase the wheel suspension stiffness of the outer wheel by the second increase amount, decrease the wheel suspension height of the inner wheel by the first decrease amount, and decrease the wheel suspension stiffness of the inner wheel by the second decrease amount when passing through the curve.

[0007] Optionally, the predicting the vehicle roll angle when the vehicle passes through the curve based on the curve information, the steering wheel angle information, the vehicle speed information, the acceleration information, and the vehicle body posture information includes: The curve information, the steering wheel angle information, the vehicle speed information, the acceleration information, and the vehicle body posture information are input into a roll angle prediction model to obtain a vehicle roll angle when the vehicle passes through the curve.

[0008] Optionally, determining the inner wheel and the outer wheel of the vehicle when passing through the curve includes: An inner wheel and an outer wheel of the vehicle when passing through the curve are determined according to the steering wheel angle information.

[0009] Optionally, the presence of a curve ahead of the vehicle is determined in the following manner: Capture the image in front of the vehicle through a camera; determining road geometry in the image ahead of the vehicle; The road geometric features are identified by a curve recognition algorithm to obtain a curve recognition result, wherein the curve recognition result includes the existence of a curve in front of the vehicle.

[0010] The present disclosure also provides a wheel suspension control device, comprising: The first processing module is configured to obtain curve information, steering wheel angle information, vehicle speed information, acceleration information, and vehicle body posture information when there is a curve in front of the vehicle; a second processing module configured to predict a vehicle roll angle when the vehicle passes through the curve based on the curve information, the steering wheel angle information, the vehicle speed information, the acceleration information, and the vehicle body posture information; a third processing module, configured to determine an inner wheel and an outer wheel of the vehicle when passing through the curve; The fourth processing module is configured to control the wheel suspension of the vehicle according to the roll angle of the vehicle and the inner wheel and the outer wheel of the vehicle when the vehicle passes through the curve.

[0011] Optionally, the fourth processing module includes: a first sub-processing module configured to determine, based on the vehicle roll angle, a first increase in wheel suspension height, a first decrease in wheel suspension height, a second increase in wheel suspension stiffness, and a second decrease in wheel suspension stiffness; The second sub-processing module is configured to control the wheel suspension height of the outer wheel of the vehicle to increase by the first increase amount, the wheel suspension stiffness of the outer wheel to increase by the second increase amount, the wheel suspension height of the inner wheel to decrease by the first decrease amount, and the wheel suspension stiffness of the inner wheel to decrease by the second decrease amount when passing through the curve.

[0012] The present disclosure also provides a wheel suspension control system, comprising: Camera, used to obtain curve information; Steering wheel angle sensor, used to obtain steering wheel angle information; Vehicle speed sensor, used to obtain vehicle speed information; Acceleration sensor, used to obtain acceleration information; Vehicle posture sensor, used to obtain vehicle posture information; A controller for obtaining, when there is a curve ahead of a vehicle, curve information, steering wheel angle information, vehicle speed information, acceleration information, and body posture information; predicting the vehicle roll angle when the vehicle passes through the curve based on the curve information, the steering wheel angle information, the vehicle speed information, the acceleration information, and the body posture information; determining the inner wheel and outer wheel of the vehicle when passing through the curve; and controlling the wheel suspension of the vehicle based on the vehicle roll angle, the inner wheel, and the outer wheel of the vehicle when passing through the curve.

[0013] The present disclosure also provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above-mentioned wheel suspension control method when executed by a processor.

[0014] The present disclosure also provides a computer program product, comprising a computer program, which implements the steps of the above wheel suspension control method when executed by a processor.

[0015] Through the above technical solution, when there is a curve ahead of the vehicle, curve information, steering wheel angle information, vehicle speed information, acceleration information, and body posture information are obtained; the vehicle roll angle as the vehicle passes through the curve is predicted based on the curve information, steering wheel angle information, vehicle speed information, acceleration information, and body posture information; the inner and outer wheels of the vehicle as the vehicle passes through the curve are determined; and the vehicle's wheel suspension is controlled based on the vehicle roll angle and the inner and outer wheels as the vehicle passes through the curve. The curve is identified in advance, and the vehicle roll angle as the vehicle passes through the curve is accurately predicted based on the curve information and the vehicle's driving state. The wheel suspension is then precisely controlled based on the vehicle roll angle and the inner and outer wheels as the vehicle passes through the curve, thereby avoiding problems such as excessive vehicle roll and insufficient tire grip when the vehicle passes through a high-speed curve, thereby improving driving comfort, as well as the vehicle's handling stability and safety.

[0016] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following detailed description, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings: Figure 1 is a schematic diagram showing a wheel suspension control system according to an exemplary embodiment.

[0018] Figure 2 The figure is a flow chart showing a wheel suspension control method according to an exemplary embodiment.

[0019] Figure 3 The present invention is a flowchart showing a method of determining whether a curve exists ahead of a vehicle according to an exemplary embodiment.

[0020] Figure 4 The flowchart of another method for determining whether a curve exists ahead of a vehicle is shown according to an exemplary embodiment.

[0021] Figure 5 is a flowchart of sub-steps of step S4 according to an exemplary embodiment.

[0022] Figure 6 is a schematic diagram showing a wheel suspension control according to an exemplary embodiment.

[0023] Figure 7 The figure shows a suspension height and a suspension height adjustment curve according to an exemplary embodiment.

[0024] Figure 8 is a schematic diagram of a vehicle dynamic response according to an exemplary embodiment.

[0025] Figure 9 The figure is a block diagram of a wheel suspension control device according to an exemplary embodiment. DETAILED DESCRIPTION

[0026] The following describes the specific embodiments of the present disclosure in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure and are not intended to limit the present disclosure.

[0027] In the following description, words such as “first” and “second” are only used for the purpose of distinguishing the description and should not be understood as indicating or implying relative importance or order.

[0028] Cornering is a common driving condition, especially on highways, where the radius and curvature of curves vary widely, placing high demands on vehicle handling performance. Traditional suspension systems are mostly passive, making it difficult to proactively adjust to changing curves. This can easily lead to excessive vehicle roll and insufficient tire grip during high-speed cornering, impacting not only ride comfort but also handling stability and safety.

[0029] Sport Utility Vehicles (SUVs), due to their higher center of gravity, are more prone to roll when cornering at high speeds. In situations like emergency obstacle avoidance or rapid lane changes, a rollover can easily cause a loss of control, potentially leading to a rollover. Furthermore, SUVs are relatively bulky, creating greater inertia and lateral forces when cornering, further exacerbating the vehicle's roll tendency and making it difficult to control.

[0030] While some active suspension technologies are currently being applied within the industry, most focus on real-time response and adjustment to road surface irregularities, lacking targeted optimization for high-speed cornering scenarios. Existing electromagnetic suspension technology, while capable of rapid adjustment of vehicle posture to a certain extent, primarily focuses on single-dimensional adjustments of vehicle height and stiffness, lacking sufficient depth for precise roll control during high-speed cornering and coordination with the steering system.

[0031] In order to solve the above technical problems, by identifying curves in advance and accurately predicting the vehicle's roll angle when passing through the curve based on the curve information and the vehicle's driving status, the wheel suspension is precisely controlled based on the vehicle's roll angle and the inner and outer wheels when the vehicle is turning, avoiding problems such as excessive vehicle roll and insufficient tire grip when the vehicle is turning at high speed, thereby improving driving comfort, as well as vehicle handling stability and safety.

[0032] Figure 1 Figure 1 is a schematic diagram of a wheel suspension control system according to an exemplary embodiment. The wheel suspension control system may include a camera 10, a steering wheel angle sensor 20, a vehicle speed sensor 30, an acceleration sensor 40, a vehicle body posture sensor 50, and a controller 60. The camera 10, steering wheel angle sensor 20, vehicle speed sensor 30, acceleration sensor 40, and vehicle body posture sensor 50 are all connected to the controller 60.

[0033] The camera 10 is used to obtain curve information.

[0034] The curve information may include, but is not limited to, curve curvature, curve radius, etc.

[0035] Camera 10 can be mounted in the upper center of the vehicle's front windshield, scanning the road ahead in real time at 30 frames per second. When the vehicle is approximately 100 meters from a curve, camera 10 captures image information of the curve. Using image processing algorithms, camera 10 can identify the curve's curvature and radius.

[0036] In one embodiment, the camera 10 can reuse the camera of the intelligent assisted driving system.

[0037] The steering wheel angle sensor 20 is used to obtain steering wheel angle information.

[0038] The steering wheel angle sensor 20 can monitor the driver's steering wheel operating angle in real time, reflecting the driver's steering intention and the vehicle's steering status.

[0039] For example, when the driver starts to turn the steering wheel, the steering wheel angle sensor 20 immediately detects the change in the steering wheel angle and transmits the steering wheel angle information to the controller 60 at a response speed of milliseconds.

[0040] The vehicle speed sensor 30 is used to obtain vehicle speed information.

[0041] The vehicle speed sensor 30 can obtain the vehicle's driving speed information in real time and provide the controller 60 with the vehicle's current speed status.

[0042] For example, the vehicle speed sensor 30 obtains the vehicle's running speed in real time and transmits the vehicle speed information to the controller 60 in the form of a digital signal.

[0043] The acceleration sensor 40 is used to obtain acceleration information.

[0044] The acceleration sensor 40 can monitor the lateral acceleration and longitudinal acceleration of the vehicle.

[0045] The vehicle body posture sensor 50 is used to obtain vehicle body posture information.

[0046] The vehicle body posture sensor 50 may be an angular velocity sensor, which is used to obtain information such as the roll angle and pitch angle that represent the vehicle body posture information.

[0047] The camera 10, the steering wheel angle sensor 20, the vehicle speed sensor 30, the acceleration sensor 40 and the vehicle body posture sensor 50 are all connected to the controller 60, so that the controller 60 obtains curve information through the camera 10, obtains steering wheel angle information through the steering wheel angle sensor 20, obtains vehicle speed information through the vehicle speed sensor 30, obtains acceleration information through the acceleration sensor 40, and obtains vehicle body posture information through the vehicle body posture sensor 50.

[0048] Figure 2 This is a flow chart showing a wheel suspension control method according to an exemplary embodiment. The wheel suspension control method can be applied to the controller 60 in the wheel suspension control system described above. Figure 2 The wheel suspension control method may include steps S1 to S4.

[0049] Step S1 : When there is a curve ahead of the vehicle, curve information, steering wheel angle information, vehicle speed information, acceleration information, and vehicle body posture information are obtained.

[0050] In one possible implementation, see Figure 3 , the presence of a curve ahead of the vehicle is determined as follows: Step S11 : capturing an image in front of the vehicle via the camera 10 .

[0051] Step S12: determining the geometric features of the road in the image in front of the vehicle.

[0052] Extract features related to the road shape from the captured image. These features may include: Road geometric features may include, but are not limited to, the shape of lane lines (straight, curved), road width variations, road edge contours, and road curvature (i.e., the degree of road curvature).

[0053] Step S13: identifying road geometric features through a curve recognition algorithm to obtain a curve recognition result, wherein the curve recognition result includes the presence of a curve in front of the vehicle.

[0054] It should be understood that the curve recognition result also includes the absence of a curve in front of the vehicle.

[0055] The curve recognition algorithm can be, but is not limited to, a machine learning algorithm, a deep learning algorithm, or a traditional image processing algorithm.

[0056] For example, see Figure 4First, the camera 10 is used to scan the road information ahead to obtain an image of the road ahead, and then image preprocessing is performed to extract the geometric features of the curve. Then, the curve recognition algorithm is used to identify whether there is a curve. If so, the curve information of the curve is transmitted to the controller 60. If not, the camera 10 is used to scan the road information ahead.

[0057] In another embodiment, it is also possible to determine whether there is a curve ahead of the vehicle through the vehicle navigation system and the current vehicle position.

[0058] Step S2 , predicting the vehicle roll angle when the vehicle passes through the curve based on the curve information, steering wheel angle information, vehicle speed information, acceleration information, and vehicle body posture information.

[0059] In a possible implementation, step S2 may include: The curve information, steering wheel angle information, vehicle speed information, acceleration information, and vehicle body posture information are input into the roll angle prediction model to obtain the vehicle roll angle when the vehicle passes through the curve.

[0060] The roll angle prediction model can be a physics-based vehicle dynamics model or a data-based machine learning model.

[0061] Step S3, determining the inner wheel and the outer wheel of the vehicle when passing through the curve.

[0062] In a possible implementation, step S3 may include: Based on the steering wheel angle information, the inner and outer wheels of the vehicle when passing through a curve are determined.

[0063] If you turn the steering wheel to the left, the vehicle will turn left, with the left wheel being the inside wheel and the right wheel being the outside wheel. If you turn the steering wheel to the right, the vehicle will turn right, with the right wheel being the inside wheel and the left wheel being the outside wheel.

[0064] In another embodiment, the inner and outer wheels of the vehicle when navigating a curve can be determined based on the vehicle's travel direction and the direction of the curve. If the vehicle is traveling in a left curve, the wheel on the left side of the road is the inner wheel, and the wheel on the right side of the road is the outer wheel. If the vehicle is traveling in a right curve, the wheel on the right side of the road is the inner wheel, and the wheel on the left side of the road is the outer wheel.

[0065] In another embodiment, the inner and outer wheels of a vehicle navigating a curve can be determined based on the vehicle's yaw rate. When a vehicle is navigating a curve, it generates a yaw rate (i.e., the vehicle's rotational speed around a vertical axis). By measuring the direction of the yaw rate, the vehicle's turning direction can be determined. When the yaw rate is positive, the vehicle is turning left; the left wheel is the inner wheel, and the right wheel is the outer wheel. When the yaw rate is negative, the vehicle is turning right; the right wheel is the inner wheel, and the left wheel is the outer wheel.

[0066] Step S4: controlling the wheel suspension of the vehicle according to the inner wheel and the outer wheel and the roll angle of the vehicle when the vehicle passes through the curve.

[0067] In one possible implementation, see Figure 4 , step S4 may include step S41 and step S42.

[0068] Step S41 : determining a first increase in wheel suspension height, a first decrease in wheel suspension height, a second increase in wheel suspension stiffness, and a second decrease in wheel suspension stiffness according to the vehicle roll angle.

[0069] The first increase (ΔH⁺) represents the increase in the outer wheel suspension height (e.g., 5 mm).

[0070] The first reduction (ΔH⁻) represents the reduction in the inner wheel suspension height (e.g., 5 mm).

[0071] The second increase (ΔK⁺) represents the increase in the outer wheel suspension stiffness (e.g., a 10% increase in stiffness).

[0072] The second reduction (ΔK⁻) represents the reduction in the stiffness of the inner wheel suspension (e.g., a 10% reduction in stiffness).

[0073] The mapping relationship between the vehicle roll angle and the first increase, the first decrease, the second increase, and the second decrease is pre-calibrated. The corresponding first increase, the first decrease, the second increase, and the second decrease can be determined through the mapping relationship and the vehicle roll angle obtained in step S2.

[0074] For example, the mapping relationship may be represented by a table lookup method or a control algorithm.

[0075] Step S42, controlling the wheel suspension height of the outer wheel of the vehicle to increase by a first increase, the wheel suspension stiffness of the outer wheel to increase by a second increase, the wheel suspension height of the inner wheel to decrease by a first decrease, and the wheel suspension stiffness of the inner wheel to decrease by a second decrease when passing through a curve.

[0076] By controlling the current or hydraulic pressure of the actuator of the outer wheel, the wheel suspension height of the outer wheel can be adjusted; by controlling the damping coefficient of the shock absorber of the outer wheel, the wheel suspension stiffness of the outer wheel can be adjusted; by controlling the current or hydraulic pressure of the actuator of the inner wheel, the wheel suspension height of the inner wheel can be adjusted; by controlling the damping coefficient of the shock absorber of the inner wheel, the wheel suspension stiffness of the inner wheel can be adjusted.

[0077] In one embodiment, when the vehicle roll angle reaches 20 degrees, indicating a high roll risk, the height and stiffness parameters of each wheel suspension that need to be adjusted are determined based on the vehicle roll angle. The corresponding first increase is 20 mm, the second increase is 5%, the first decrease is 10 mm, and the second decrease is 15%.

[0078] Wheels on the outside of the curve: To improve the lateral support of the vehicle body and reduce vehicle roll, the suspension height of the outer wheels is raised by approximately 20mm, and the suspension stiffness is increased by 5%. The purpose is to resist the rolling moment by increasing the support force of the outer wheels.

[0079] Wheel on the inside of the curve: To ensure good contact between the wheel and the ground and improve the tire's grip, the suspension height of the inside wheel is lowered by approximately 10mm, and the suspension stiffness is reduced by 15%. The purpose is to improve its ground contact performance in a rolling state by reducing the stiffness of the inside wheel.

[0080] By precisely adjusting the actuator stroke and shock absorber damping in each wheel suspension, controller 60 performs linear and real-time adjustments to the height and stiffness of each wheel suspension within a calibratable 0.5 second period before the vehicle enters a curve. For wheels on the outside of the curve, the suspension height is gradually increased by 20mm, while the stiffness is linearly increased by 10%. For wheels on the inside of the curve, the suspension height is gradually decreased by 10mm, while the stiffness is linearly decreased by 15%. The specific adjustment process is as follows: Outboard wheel adjustment: By precisely controlling the actuator's current or hydraulic pressure, the suspension height of the outboard wheel is smoothly raised by 20mm in 0.5 seconds. Simultaneously, the shock absorber's damping coefficient is adjusted to gradually increase stiffness by 10%. This entire adjustment process is continuous, ensuring that the vehicle's outboard support force steadily increases as the curve approaches to counteract the rolling moment.

[0081] Adjustment of the inside wheel: By precisely controlling the actuator's current or hydraulic pressure, the suspension height of the inside wheel is smoothly lowered by 10mm in 0.5 seconds. Simultaneously, the shock absorber's damping coefficient is adjusted to gradually reduce stiffness by 15%. This continuous process ensures that the vehicle's inside contact with the road is steadily optimized as the curve approaches, improving tire grip.

[0082] Through this linear and real-time adjustment method, the vehicle suspension can quickly and smoothly reach the ideal working state before turning, effectively improving the vehicle's handling stability and safety when turning at high speeds, while reducing the discomfort caused by sudden adjustments and improving driving comfort.

[0083] See also Figure 6 ,The wheel suspension control process can include: first, cornering recognition and roll prediction; second, ,suspension height and stiffness adjustment strategy.

[0084] Curve Recognition and Roll Prediction: When the vehicle is traveling at high speed, camera 10 continuously scans the road ahead and identifies curve information using image processing algorithms. Simultaneously, steering wheel angle sensor 20 monitors steering wheel angle information in real time, vehicle speed sensor 30 obtains current vehicle speed, acceleration sensor 40 obtains acceleration information, and body posture sensor 50 obtains body posture information. Controller 60, combined with the vehicle dynamics model, uses a deep learning algorithm to predict the vehicle's roll tendency in curves and determine the vehicle's roll angle.

[0085] Suspension height and stiffness adjustment strategy: Based on the vehicle's roll angle, controller 60 determines the required height and stiffness parameters for each wheel suspension and controls the corresponding adjustment devices to adjust the wheel suspension height of the outer wheel and the wheel suspension height of the inner wheel to achieve suspension height adjustment. It also controls the corresponding devices to adjust the wheel suspension stiffness of the outer wheel and the wheel suspension stiffness of the inner wheel to achieve suspension stiffness adjustment. Specifically, for the wheel on the outside of the curve, the suspension height is appropriately raised, while the suspension stiffness is increased to improve lateral support and reduce vehicle roll. For the wheel on the inside of the curve, the suspension height is appropriately lowered, while the suspension stiffness is reduced to ensure good wheel-to-ground contact and improve tire grip. This differentiated adjustment of the suspension for different wheels optimizes the roll stiffness distribution of the vehicle during high-speed cornering, enhancing vehicle handling stability and safety.

[0086] After the above adjustments, the vehicle's suspension parameters can be adjusted as follows: Figure 7 As shown, the dynamic response of the vehicle can be Figure 8 As shown, the dynamic response of the vehicle can be represented by the vehicle's tilt angle and yaw rate.

[0087] This invention uses multi-sensor fusion technology to proactively identify curves and precisely adjust the suspension height and stiffness of each wheel, optimizing the vehicle's roll stiffness distribution during high-speed cornering. This significantly enhances the vehicle's handling stability and safety, while also improving ride comfort. This active suspension control method is particularly well-suited for high-speed driving scenarios, effectively handling complex curves and providing drivers with a safer and more comfortable driving experience.

[0088] Based on the same inventive concept, this embodiment further provides a wheel suspension control device 600, which can be applied to a wheel suspension control system. Figure 9 is a block diagram of a wheel suspension control device according to an exemplary embodiment. Figure 9 , the wheel suspension control device 600 may include: The first processing module 601 is configured to obtain curve information, steering wheel angle information, vehicle speed information, acceleration information, and vehicle body posture information when there is a curve in front of the vehicle; The second processing module 602 is configured to predict the vehicle roll angle when the vehicle passes through the curve based on the curve information, the steering wheel angle information, the vehicle speed information, the acceleration information, and the vehicle body posture information; The third processing module 603 is configured to determine the inner wheel and the outer wheel of the vehicle when passing through the curve; The fourth processing module 604 is configured to control the wheel suspension of the vehicle according to the roll angle of the vehicle and the inner wheel and the outer wheel of the vehicle when the vehicle passes through a curve.

[0089] Optionally, the fourth processing module 604 may include: a first sub-processing module configured to determine a first increase in wheel suspension height, a first decrease in wheel suspension height, a second increase in wheel suspension stiffness, and a second decrease in wheel suspension stiffness according to a vehicle roll angle; The second sub-processing module is configured to control the wheel suspension height of the outer wheel of the vehicle to increase by a first increasing amount, the wheel suspension stiffness of the outer wheel to increase by a second increasing amount, the wheel suspension height of the inner wheel to decrease by a first decreasing amount, and the wheel suspension stiffness of the inner wheel to decrease by a second decreasing amount when the vehicle passes through a curve.

[0090] Optionally, the second processing module 602 is specifically configured to: The curve information, steering wheel angle information, vehicle speed information, acceleration information, and vehicle body posture information are input into the roll angle prediction model to obtain the vehicle roll angle when the vehicle passes through the curve.

[0091] Optionally, the third processing module 603 is specifically configured to: Based on the steering wheel angle information, the inner and outer wheels of the vehicle when passing through a curve are determined.

[0092] Optionally, the wheel suspension control device may further include a fourth processing module, which is configured to: Capturing the image in front of the vehicle by means of the camera 10; determining road geometry in an image in front of the vehicle; The curve recognition algorithm is used to identify road geometric features to obtain a curve recognition result, wherein the curve recognition result includes the existence of a curve in front of the vehicle.

[0093] Regarding the wheel suspension control device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the wheel suspension control method, and will not be elaborated here.

[0094] The present disclosure also provides a wheel suspension control system, comprising: Camera 10, used to obtain curve information; Steering wheel angle sensor 20, used to obtain steering wheel angle information; A vehicle speed sensor 30 is used to obtain vehicle speed information; An acceleration sensor 40, used to obtain acceleration information; A vehicle body posture sensor 50 is used to obtain vehicle body posture information; The controller 60 is used to obtain curve information, steering wheel angle information, vehicle speed information, acceleration information, and body posture information when there is a curve in front of the vehicle; predict the vehicle roll angle when the vehicle passes through the curve based on the curve information, steering wheel angle information, vehicle speed information, acceleration information, and body posture information; determine the inner wheel and outer wheel of the vehicle when passing through the curve; and control the vehicle's wheel suspension based on the vehicle roll angle, the inner wheel and the outer wheel of the vehicle when passing through the curve.

[0095] The present disclosure also provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above-mentioned wheel suspension control method when executed by a processor.

[0096] The present disclosure also provides a computer program product, comprising a computer program, which implements the steps of the above wheel suspension control method when executed by a processor.

[0097] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the scope of protection of the present disclosure.

[0098] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0099] In addition, the various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A wheel suspension control method, characterized in that: include: When there is a curve in front of the vehicle, obtain curve information, steering wheel angle information, vehicle speed information, acceleration information, and vehicle body posture information; predicting a vehicle roll angle when the vehicle passes through the curve based on the curve information, the steering wheel angle information, the vehicle speed information, the acceleration information, and the vehicle body posture information; determining an inner wheel and an outer wheel of the vehicle when passing through the curve; The wheel suspension of the vehicle is controlled based on the roll angle of the vehicle, the inner wheel and the outer wheel when the vehicle passes through the curve.

2. The wheel suspension control method according to claim 1, characterized in that: The controlling of the wheel suspension of the vehicle according to the roll angle of the vehicle and the inner wheel and the outer wheel of the vehicle when the vehicle passes through the curve includes: determining, based on the vehicle roll angle, a first increase in wheel suspension height, a first decrease in wheel suspension height, a second increase in wheel suspension stiffness, and a second decrease in wheel suspension stiffness; Control the vehicle to increase the wheel suspension height of the outer wheel by the first increase amount, increase the wheel suspension stiffness of the outer wheel by the second increase amount, decrease the wheel suspension height of the inner wheel by the first decrease amount, and decrease the wheel suspension stiffness of the inner wheel by the second decrease amount when passing through the curve.

3. The wheel suspension control method according to claim 1, characterized in that: The predicting, based on the curve information, the steering wheel angle information, the vehicle speed information, the acceleration information, and the vehicle body posture information, of a vehicle roll angle when the vehicle passes through the curve includes: The curve information, the steering wheel angle information, the vehicle speed information, the acceleration information, and the vehicle body posture information are input into a roll angle prediction model to obtain a vehicle roll angle when the vehicle passes through the curve.

4. The wheel suspension control method according to claim 1, characterized in that: The determining of the inner wheel and the outer wheel of the vehicle when passing through the curve includes: An inner wheel and an outer wheel of the vehicle when passing through the curve are determined according to the steering wheel angle information.

5. The wheel suspension control method according to claim 1, characterized in that: The presence of a curve ahead of the vehicle is determined in the following manner: Capture the image in front of the vehicle through a camera; determining road geometry in the image ahead of the vehicle; The road geometric features are identified by a curve recognition algorithm to obtain a curve recognition result, wherein the curve recognition result includes the existence of a curve in front of the vehicle.

6. A wheel suspension control device, characterized in that: include: The first processing module is configured to obtain curve information, steering wheel angle information, vehicle speed information, acceleration information, and vehicle body posture information when there is a curve in front of the vehicle; a second processing module configured to predict a vehicle roll angle when the vehicle passes through the curve based on the curve information, the steering wheel angle information, the vehicle speed information, the acceleration information, and the vehicle body posture information; a third processing module, configured to determine an inner wheel and an outer wheel of the vehicle when passing through the curve; The fourth processing module is configured to control the wheel suspension of the vehicle according to the roll angle of the vehicle and the inner wheel and the outer wheel of the vehicle when the vehicle passes through the curve.

7. The wheel suspension control device according to claim 6, characterized in that: The fourth processing module includes: a first sub-processing module configured to determine, based on the vehicle roll angle, a first increase in wheel suspension height, a first decrease in wheel suspension height, a second increase in wheel suspension stiffness, and a second decrease in wheel suspension stiffness; The second sub-processing module is configured to control the wheel suspension height of the outer wheel of the vehicle to increase by the first increase amount, the wheel suspension stiffness of the outer wheel to increase by the second increase amount, the wheel suspension height of the inner wheel to decrease by the first decrease amount, and the wheel suspension stiffness of the inner wheel to decrease by the second decrease amount when passing through the curve.

8. A wheel suspension control system, characterized in that: include: Camera, used to obtain curve information; Steering wheel angle sensor, used to obtain steering wheel angle information; Vehicle speed sensor, used to obtain vehicle speed information; Acceleration sensor, used to obtain acceleration information; Vehicle posture sensor, used to obtain vehicle posture information; A controller for obtaining, when there is a curve ahead of a vehicle, curve information, steering wheel angle information, vehicle speed information, acceleration information, and body posture information; predicting the vehicle roll angle when the vehicle passes through the curve based on the curve information, the steering wheel angle information, the vehicle speed information, the acceleration information, and the body posture information; determining the inner wheel and outer wheel of the vehicle when passing through the curve; and controlling the wheel suspension of the vehicle based on the vehicle roll angle, the inner wheel, and the outer wheel of the vehicle when passing through the curve.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the wheel suspension control method according to any one of claims 1 to 5 are implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the wheel suspension control method according to any one of claims 1 to 5 are implemented.

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