Vehicle leveling control method and system and vehicle

Abstract

The invention provides a vehicle leveling control method and system and a vehicle, and the method comprises the steps that attitude information of the vehicle is acquired, and the attitude information comprises the lowest wheel and the highest wheel of the vehicle; if the vehicle is in the target working condition, the lowest wheel is used as the reference, first heights needing to descend of other wheels except the lowest wheel in the vehicle leveling process are determined, and the highest wheel is used as the reference, second heights needing to ascend of other wheels except the highest wheel in the vehicle leveling process are determined; according to preset suspension height adjustment constraint conditions, the first heights and the second heights, determining suspension height adjustment strategies including a descending strategy, an ascending strategy and an ascending and descending cooperation strategy; and according to the suspension height adjusting strategy, the suspension is controlled for height adjustment, and vehicle leveling operation is completed. In combination with the posture of the vehicle and the suspension height constraint, the suspension adjusting scheme is intelligently decided to achieve automatic leveling of the vehicle, and the comfort and experience of a user when the user has a rest or takes a seat in the vehicle are improved.

Description

Technical Field

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

[0002] With the continued development of the automotive industry and advancements in technology, air suspension systems, once reserved for high-end models, are gradually making their way down to mid-range and family passenger vehicles, becoming a crucial feature for enhancing vehicle ride smoothness and comfort. Air suspension systems dynamically adjust vehicle height by regulating the air pressure within the airbags, effectively improving vehicle handling and comfort under varying road conditions. Furthermore, with the diversification of lifestyles and the growing popularity of outdoor camping, more and more people are choosing to rest or spend the night in their vehicles. As a result, vehicles are becoming not just a means of transportation but also a mobile home.

[0003] In related technologies, most suspension systems are optimized primarily for dynamic response during driving, lacking the ability to adjust for specialized scenarios like static parking and, in particular, camping, and thus failing to achieve vehicle leveling. However, when parked at a campsite with uneven ground, the tilt of the vehicle body can affect the user's resting experience, especially if the vehicle rolls sideways or has inconsistent front-to-back height, significantly reducing sleep quality and ride comfort. Summary of the Invention

[0004] The present application discloses a vehicle leveling control method, system and vehicle, which are used to solve the technical problem that the vehicle cannot be automatically leveled according to actual terrain conditions when it is statically parked.

[0005] The present application provides a vehicle leveling control method, the method comprising: acquiring posture information of the vehicle, wherein the posture information includes the lowest wheel and the highest wheel of the vehicle; if the vehicle is in a target working condition, determining a first height to which each wheel except the lowest wheel needs to be lowered during vehicle leveling based on the lowest wheel, and determining a second height to which each wheel except the highest wheel needs to be raised during vehicle leveling based on the highest wheel; determining a suspension height adjustment strategy based on preset suspension height adjustment constraints, each first height and each second height, wherein the suspension height adjustment strategy includes a descending strategy, an ascending strategy and a rise-and-descent coordinated strategy; controlling the suspension to adjust its height according to the suspension height adjustment strategy to complete the vehicle leveling operation.

[0006] In one embodiment of the present application, the suspension height adjustment strategy is determined based on the preset suspension height adjustment constraints, each first height and each second height, including: if at least one of the first heights of the wheels other than the lowest wheel is greater than the respective suspension lowerable height, and at least one of the second heights of the wheels other than the highest wheel is greater than the respective suspension raiseable height, then the suspension height adjustment strategy is determined to be the rising and falling coordinated strategy, or, under the condition that the first flatness that the vehicle can achieve in the falling strategy is greater than or equal to the second flatness that the vehicle can achieve in the rising strategy, the suspension height adjustment strategy is determined to be the falling strategy, and under the condition that the first flatness is less than the second flatness, the suspension height adjustment strategy is determined to be the rising strategy.

[0007] In one embodiment of the present application, the suspension height adjustment strategy is determined based on the preset suspension height adjustment constraints, each first height and each second height, and also includes: if the first heights of the wheels other than the lowest wheel are all less than or equal to the corresponding suspension lowerable heights, then the suspension height adjustment strategy is determined to be the lowering strategy; if the second heights of the wheels other than the highest wheel are all less than or equal to the corresponding suspension raiseable heights, then the suspension height adjustment strategy is determined to be the raising strategy; if the first heights of the wheels other than the lowest wheel are all less than or equal to the corresponding suspension lowerable heights, and the second heights of the wheels other than the highest wheel are all less than or equal to the corresponding suspension raiseable heights, then the suspension height adjustment strategy is determined to be the lowering strategy.

[0008] In one embodiment of the present application, the suspension is controlled to adjust its height according to the suspension height adjustment strategy, including: if the suspension height adjustment strategy is the rising and falling coordinated strategy, then according to the first height of the coaxial wheel of the lowest wheel, the target descent height of the coaxial wheel of the lowest wheel and the target rising height of the lowest wheel are determined; according to the target descent height, the suspension at the coaxial wheel of the lowest wheel is controlled to adjust its height, and according to the target rising height, the suspension at the lowest wheel is controlled to adjust its height; according to the height difference between the front and rear axles of the vehicle, the suspension at the front axle and / or the suspension at the rear axle is controlled to adjust its height, wherein the vehicle is a four-wheel vehicle, and the posture information also includes the front and rear axle height difference.

[0009] In one embodiment of the present application, the height adjustment of the suspension at the front axle and / or the suspension at the rear axle is controlled according to the height difference between the front and rear axles, including: if the front axle of the vehicle is higher than the rear axle, the suspension at the front axle is controlled to descend and / or the suspension at the rear axle is controlled to ascend according to the height difference between the front and rear axles; if the rear axle of the vehicle is higher than the front axle, the suspension at the front axle is controlled to ascend and / or the suspension at the rear axle is controlled to descend according to the height difference between the front and rear axles.

[0010] In one embodiment of the present application, the control of the suspension for height adjustment according to the suspension height adjustment strategy also includes: if the suspension height adjustment strategy is the descending strategy, then according to the first height of the wheels other than the lowest wheel, the suspension at the corresponding wheels is controlled to descend to their respective first suspension target heights, or, according to the minimum value of the respective suspension descendable heights of the wheels other than the lowest wheel, the suspension at the wheels other than the lowest wheel is controlled to descend; if the suspension height adjustment strategy is the ascending strategy, then according to the second height of the wheels other than the highest wheel, the suspension at the corresponding wheels is controlled to ascend to their respective second suspension target heights, or, according to the minimum value of the respective suspension descendable heights of the wheels other than the highest wheel, the suspension at the wheels other than the highest wheel is controlled to ascend.

[0011] In one embodiment of the present application, a method for determining the first height to which each wheel except the lowest wheel needs to be lowered and the second height to which each wheel except the highest wheel needs to be raised includes: among the wheels except the lowest wheel, determining the height difference between the left and right wheels of the vehicle as the first height of the coaxial wheel of the lowest wheel, determining the sum of the front and rear axle height difference and the left and right wheel height difference as the first height of the highest wheel, and determining the front and rear axle height difference as the first height of the coaxial wheel of the highest wheel, wherein the posture information also includes the left and right wheel height difference; among the wheels except the highest wheel, determining the height difference between the left and right wheels as the second height of the coaxial wheel of the highest wheel, determining the sum of the front and rear axle height difference and the left and right wheel height difference as the second height of the lowest wheel, and determining the front and rear axle height difference as the second height of the coaxial wheel of the lowest wheel.

[0012] In one embodiment of the present application, a method for calculating the front and rear axle height difference and the left and right wheel height difference includes: obtaining the pitching moment, roll moment and parameter information of the vehicle, wherein the parameter information includes the front and rear wheelbase, the left and right wheel tracks, the first rotational inertia of the vehicle around the pitch angle and the second rotational inertia of the vehicle around the roll axis; calculating the pitching moment and the first rotational inertia to obtain the pitch angle influence coefficient, and calculating the roll moment and the second rotational inertia to obtain the roll angle influence coefficient; calculating the front and rear axle height difference based on the front and rear wheelbase, the pitch angle influence coefficient and the pitch angle of the vehicle, and calculating the left and right wheel height difference based on the left and right wheel tracks, the roll angle influence coefficient and the roll angle of the vehicle, wherein the posture information also includes the pitch angle and the roll angle.

[0013] The present application also provides a vehicle leveling control system, which includes: an acquisition module for acquiring vehicle posture information, wherein the posture information includes the lowest wheel and the highest wheel of the vehicle; a calculation module for determining, based on the lowest wheel if the vehicle is in a target working condition, a first height to which each wheel except the lowest wheel needs to be lowered during vehicle leveling, and a second height to which each wheel except the highest wheel needs to be raised during vehicle leveling, based on the highest wheel; a decision module for determining a suspension height adjustment strategy based on preset suspension height adjustment constraints, each first height and each second height, wherein the suspension height adjustment strategy includes a descending strategy, an ascending strategy and a rise-and-descent coordinated strategy; a control module for controlling the suspension to adjust its height according to the suspension height adjustment strategy to complete the vehicle leveling operation.

[0014] The present application also provides a vehicle, using the vehicle leveling control method as described above, or including the vehicle leveling control system as described above.

[0015] Beneficial effects of the present application: The present application provides a vehicle leveling control method, system and vehicle, which first obtains the vehicle's posture information, which includes the lowest wheel and the highest wheel of the vehicle. Then, if the vehicle is in the target working condition, the lowest wheel is used as a reference to determine the first height to which each wheel except the lowest wheel needs to be lowered during the vehicle leveling process, and the highest wheel is used as a reference to determine the second height to which each wheel except the highest wheel needs to be raised during the vehicle leveling process. Then, according to the preset suspension height adjustment constraints, each first height and each second height, a suspension height adjustment strategy is determined. The suspension The height adjustment strategy includes a descending strategy, an ascending strategy, and a coordinated ascending and descending strategy. Finally, the suspension is controlled to adjust its height according to the suspension height adjustment strategy to complete the vehicle leveling operation. Combined with the vehicle's posture and suspension height constraints, an intelligent decision is made on the better suspension adjustment scheme from the descending strategy, ascending strategy, or coordinated ascending and descending strategy of the suspension adjustment. This can effectively solve the problem of automatic leveling of the vehicle based on terrain conditions in static parking, especially in camping scenarios, and achieves a more accurate leveling effect by selecting one of multiple strategies for adjustment, thereby improving the comfort and experience of users when resting or riding in the car. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be derived from these drawings without inventive effort.

[0017] In the attached figure: Figure 1 is a schematic diagram of an implementation environment of a vehicle leveling control system shown in an exemplary embodiment of the present application; Figure 2 is a flow chart of a vehicle leveling control method shown in an exemplary embodiment of the present application; Figure 3 is a flow chart of another vehicle leveling control method shown in an exemplary embodiment of the present application; Figure 4 is a block diagram of a vehicle leveling control system shown in an exemplary embodiment of the present application; Figure 5 This is a structural diagram of a vehicle-mounted terminal provided in one embodiment of the present application. DETAILED DESCRIPTION

[0018] The following describes the embodiments of the present application through specific examples. Those skilled in the art can easily understand other advantages and functions of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0019] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The drawings only show components related to the present application and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the form, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0020] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present application difficult to understand.

[0021] Air suspension systems dynamically adjust the vehicle's height by regulating the air pressure within the airbags, effectively improving the vehicle's handling and comfort in various road conditions. With the diversification of lifestyles and the growing popularity of outdoor camping, more and more users are choosing to rest or spend the night in their vehicles while camping, giving their vehicles the functionality of mobile homes. However, the inventors of this application have discovered that suspension systems are primarily optimized for dynamic response during driving and lack the ability to adjust for specialized scenarios such as static parking and, in particular, camping. This inability to achieve vehicle leveling compromises the user's resting experience, particularly in situations where the vehicle rolls or experiences height discrepancies between the front and rear, significantly reducing sleep quality and ride comfort.

[0022] Therefore, see Figure 1 , Figure 1 FIG. 1 is a schematic diagram of an implementation environment of a vehicle leveling control system according to an exemplary embodiment of the present application. Figure 1As shown, the implementation environment may include a vehicle 110 and a vehicle leveling control system 120. The vehicle leveling control system 120 is embedded in the vehicle 110 and is used to implement leveling control of the vehicle 110. The vehicle leveling control system 120 includes but is not limited to a vehicle-mounted system, an on-board computer, etc. By combining the vehicle's posture and suspension height constraints, it intelligently decides a better suspension adjustment solution from the suspension adjustment's descending strategy, ascending strategy, or ascending-descending coordinated strategy, which can effectively solve the problem of automatic leveling of the vehicle based on terrain conditions in static parking, especially in camping scenarios, and achieves a more accurate leveling effect by selecting one of multiple strategies for adjustment, thereby improving the user's comfort and experience when resting or riding in the vehicle.

[0023] See Figure 2 , Figure 2 This is a flow chart of a vehicle leveling control method shown in an exemplary embodiment of the present application. This method can be applied to Figure 1 The implementation environment shown is specifically implemented by the vehicle leveling control system 120 in the implementation environment. It should be understood that the method can also be applied to other exemplary implementation environments and specifically implemented by devices in other implementation environments. This embodiment does not limit the implementation environment to which the method is applicable.

[0024] like Figure 2 As shown, in an exemplary embodiment, the vehicle leveling control method includes at least steps S210 to S240, which are described in detail as follows: Step S210: Acquire vehicle posture information, wherein the posture information includes the lowest wheel and the highest wheel of the vehicle.

[0025] In step S220, if the vehicle is in the target operating condition, the first height to which each wheel except the lowest wheel needs to be lowered during the vehicle leveling process is determined based on the lowest wheel, and the second height to which each wheel except the highest wheel needs to be raised during the vehicle leveling process is determined based on the highest wheel.

[0026] Step S230 , determining a suspension height adjustment strategy based on preset suspension height adjustment constraints, each first height, and each second height, wherein the suspension height adjustment strategy includes a descending strategy, an ascending strategy, and an ascending-descending coordinated strategy.

[0027] Step S240: Control the suspension to adjust its height according to the suspension height adjustment strategy to complete the vehicle leveling operation.

[0028] The target working condition refers to a condition triggering the vehicle leveling function, and refers to a specific use scenario in which the vehicle posture or suspension height needs to be automatically leveled, such as when the vehicle is in a camping mode or receives a leveling instruction. The lowest wheel and the highest wheel of the vehicle refer to the highest wheel and the lowest wheel in vision. The lowering strategy refers to a suspension adjustment involving only lowering operation. The raising strategy refers to a suspension adjustment involving only raising operation. The raising and lowering collaborative strategy refers to a suspension adjustment involving both lowering operation and raising operation. The vehicle leveling operation refers to an operation of restoring the vehicle body to a horizontal state by adjusting the suspension height at each wheel of the vehicle on a slope or other uneven road surface. The adjustment of the suspension height at each wheel includes the case where only two wheels on the same shaft, two wheels on the same side, three wheels, or four wheels need to be adjusted.

[0029] In step S210, the vehicle posture is dynamically identified to obtain the posture information of the vehicle, including the lowest wheel and the highest wheel of the vehicle, so as to determine the corresponding suspension adjustment strategy according to the highest wheel and the lowest wheel.

[0030] In step S220, if the vehicle is in the target working condition, the first height required for each wheel to be lowered during the vehicle leveling process can be determined based on the height difference between the other wheels and the lowest wheel when the lowest wheel is used as a reference, and the second height required for each wheel to be raised during the vehicle leveling process can also be determined based on the height difference between the other wheels and the highest wheel when the highest wheel is used as a reference, so as to further determine whether each wheel can complete the raising or lowering operation.

[0031] In step S230, the suspension height adjustment strategy is determined by combining the first height of each wheel other than the lowest wheel and the second height of each wheel other than the highest wheel, based on the predetermined constraint condition of the suspension height adjustment, so as to be one of the lowering strategy, the raising strategy, and the raising and lowering collaborative strategy, thereby further realizing the vehicle leveling control.

[0032] In step S240, the suspension height is adjusted according to the determined suspension height adjustment strategy, so as to complete the vehicle leveling operation and realize the vehicle leveling.

[0033] In this embodiment, the optimal suspension adjustment scheme is intelligently determined from the lowering strategy, the raising strategy, or the raising and lowering collaborative strategy of the suspension adjustment, in combination with the posture of the vehicle and the constraint of the suspension height, which can effectively solve the automatic leveling problem of the vehicle based on the terrain in the static parking, especially in the camping scenario, and realize more accurate leveling effect through the multi-strategy selection adjustment, thereby improving the comfort and experience of the user when resting or riding in the vehicle.

[0034] Exemplarily, the determination of the lowest wheel and the highest wheel comprises: determining the highest wheel and the lowest wheel according to the positive and negative values of the pitch angle and the roll angle of the vehicle; wherein the attitude information further comprises the pitch angle and the roll angle, the pitch angle being positive indicates that the front axle of the vehicle is high, the pitch angle being negative indicates that the rear axle of the vehicle is high, the roll angle being positive indicates that the left side of the vehicle is high, and the roll angle being negative indicates that the right side of the vehicle is high.

[0035] In this exemplary embodiment, when the left side of the vehicle is high, the roll angle is defined as greater than 0, and vice versa, when the right side of the vehicle is high, the roll angle is defined as less than 0; when the vehicle is on an uphill, i.e. the front axle of the vehicle is high, the pitch angle is defined as greater than 0, and vice versa, when the vehicle is on a downhill, i.e. the rear axle of the vehicle is high, the pitch angle is defined as less than 0. Therefore, the lowest wheel and the highest wheel of the vehicle in vision can be determined according to the positive and negative values of the pitch angle and the roll angle of the vehicle.

[0036] Taking a four-wheel vehicle as an example, the determination of the lowest wheel is shown in Table 1 as follows: Table 1: Lowest wheel condition table

[0037] Taking a four-wheel vehicle as an example, the determination of the highest wheel is shown in Table 2 as follows: Table 2: Highest wheel condition table

[0038] Wherein, RR represents the right rear wheel of the vehicle, RL represents the left rear wheel of the vehicle, FR represents the right front wheel of the vehicle, and FL represents the left front wheel of the vehicle.

[0039] Exemplarily, the constraint conditions of the suspension height adjustment include the descending height constraint condition of the other wheels except the lowest wheel, the ascending height constraint condition of the other wheels except the highest wheel, and the suspension loss constraint condition.

[0040] Wherein, the descending height constraint condition of the other wheels except the lowest wheel means that the first height required for each of the other wheels except the lowest wheel to descend in the vehicle leveling process needs to be less than or equal to the corresponding suspension descending height; the ascending height constraint condition of the other wheels except the highest wheel means that the second height required for each of the other wheels except the highest wheel to ascend in the vehicle leveling process needs to be less than or equal to the corresponding suspension ascending height; the suspension loss constraint condition means that when the vehicle leveling can be achieved by both suspension ascending and suspension descending, the suspension descending is selected to achieve the vehicle leveling in order to reduce unnecessary loss of the suspension. In addition, the suspension descending height means the maximum mileage that the suspension system can be adjusted downward in the current state, and the suspension ascending height means the maximum mileage that the suspension system can be adjusted upward in the current state.

[0041] Exemplarily, the method for determining the suspension lowerable height corresponding to each wheel except the lowest wheel includes: calculating the difference between the upper limit of the suspension height and the current height of the suspension at each wheel except the lowest wheel, and obtaining the suspension lowerable height corresponding to each wheel except the lowest wheel.

[0042] That is, the calculation formula for the suspension drop height corresponding to each wheel except the lowest wheel is: Formula (1) in, Indicates that the suspension corresponding to each wheel except the lowest wheel can be lowered; Indicates the upper limit of suspension height; Indicates the current height of the suspension at all wheels except the lowest one.

[0043] Exemplarily, the method for determining the suspension rising height corresponding to each wheel except the highest wheel includes: calculating the difference between the current height of the suspension at each wheel except the highest wheel and the lower limit of the suspension height, and obtaining the suspension rising height corresponding to each wheel except the highest wheel.

[0044] That is, the calculation formula for the suspension rise height corresponding to each wheel except the highest wheel is: Formula (2) in, Indicates the suspension height that can be raised for each wheel except the highest wheel; Indicates the current height of the suspension at all wheels except the lowest wheel; Indicates the lower limit of suspension height.

[0045] For example, the lowerable height constraint condition of the wheels except the lowest wheel can be expressed as: Formula (3) in, Indicates the first height to which each wheel, except the lowest wheel, needs to be lowered during vehicle leveling; Indicates the upper limit of suspension height; Indicates the current height of the suspension at all wheels except the lowest wheel; The lifting height constraint of the wheels except the highest wheel can be expressed as: Formula (4) in, Indicates the second height to which each wheel, except the highest wheel, needs to rise during vehicle leveling; Indicates the current height of the suspension at all wheels except the lowest wheel; Indicates the lower limit of suspension height.

[0046] In one embodiment, a suspension height adjustment strategy is determined based on preset suspension height adjustment constraints, each first height and each second height, including: if the first heights of all wheels except the lowest wheel are less than or equal to their corresponding suspension lowerable heights, the suspension height adjustment strategy is determined to be a lowering strategy; if the second heights of all wheels except the highest wheel are less than or equal to their corresponding suspension raiseable heights, the suspension height adjustment strategy is determined to be a rising strategy; if the first heights of all wheels except the lowest wheel are less than or equal to their corresponding suspension lowerable heights, and the second heights of all wheels except the highest wheel are less than or equal to their corresponding suspension raiseable heights, the suspension height adjustment strategy is determined to be a lowering strategy.

[0047] In this embodiment, if the first height of the wheels other than the lowest wheel only satisfies the lowerable height constraint of the wheels other than the lowest wheel, the suspension height adjustment strategy is determined to be a lowering strategy; if the second height of the wheels other than the highest wheel satisfies the higherable height constraint of the wheels other than the highest wheel, the suspension height adjustment strategy is determined to be a highering strategy; and when both the lowerable height constraint of the wheels other than the lowest wheel and the higherable height constraint of the wheels other than the highest wheel are met, based on the suspension loss constraint, the lowering strategy is preferentially adopted for vehicle leveling control to save unnecessary suspension losses.

[0048] In this way, based on the adjustable ability of the suspension and the height that each wheel needs to be adjusted, the suspension height adjustment strategy is intelligently judged and selected, effectively ensuring the vehicle leveling effect. Moreover, while ensuring the vehicle leveling effect, the lowering operation with smaller mechanical load is given priority, saving unnecessary wear and tear on the suspension.

[0049] In one embodiment, a suspension height adjustment strategy is determined based on preset suspension height adjustment constraints, each first height and each second height, including: if at least one of the first heights of the wheels other than the lowest wheel is greater than the respective suspension lowerable heights, and at least one of the second heights of the wheels other than the highest wheel is greater than the respective suspension raiseable heights, then the suspension height adjustment strategy is determined to be a rising and falling coordinated strategy, or, under the condition that the first flatness that the vehicle can achieve in the descending strategy is greater than or equal to the second flatness that the vehicle can achieve in the ascending strategy, the suspension height adjustment strategy is determined to be a descending strategy, and under the condition that the first flatness is less than the second flatness, the suspension height adjustment strategy is determined to be an ascending strategy.

[0050] Among them, the first flatness and the second flatness are used to measure the leveling effect of the vehicle. The larger the value, the more horizontal the vehicle posture is, that is, the less tilted it is, and the smaller the value, the more tilted the vehicle is. If the first flatness is greater than or equal to the second flatness, it means that the leveling effect achieved by lowering the suspension in the current state is better than or the same as the leveling effect achieved by raising the suspension. If the first flatness is less than the second flatness, it means that the leveling effect achieved by lowering the suspension in the current state is worse than the leveling effect achieved by raising the suspension.

[0051] In this embodiment, if at least one of the first heights of wheels other than the lowest wheel is greater than the respective suspension lowerable heights, and at least one of the second heights of wheels other than the highest wheel is greater than the respective suspension raiseable heights, it indicates that both the lowerable height constraints of wheels other than the lowest wheel and the raiseable height constraints of wheels other than the highest wheel are not met. In other words, the vehicle cannot be leveled by only raising the suspension height at wheels other than the lowest wheel or only lowering the suspension height at wheels other than the lowest wheel. Therefore, when both the lowerable height constraints of wheels other than the lowest wheel and the raiseable height constraints of wheels other than the highest wheel are not met, two solutions are proposed. One is to control the suspension for height adjustment based on a rising and falling coordinated strategy, and the other is to control the suspension for height adjustment based on a rising or falling strategy to determine the leveling effect based on flatness judgment.

[0052] In this way, the suspension height adjustment strategy is selected by comprehensively considering the adjustable range of the suspension and the flatness corresponding to rising or falling. That is, when the rising or falling strategy alone cannot complete the leveling task, the rising and falling coordinated strategy can be adopted to ensure the vehicle leveling effect. Alternatively, a better adjustment strategy can be selected by comparing the flatness of falling and rising, which helps to achieve the maximum vehicle leveling effect, has better adaptability and adjustment ability under complex and uneven road conditions, and effectively solves the problem of vehicle body tilt in static scenes such as camping. Moreover, when the first flatness is equal to the second flatness, the descending strategy is preferred to save unnecessary loss of the suspension.

[0053] In one embodiment, the suspension is controlled to adjust its height according to a suspension height adjustment strategy, including: if the suspension height adjustment strategy is a descending strategy, the suspension at the corresponding wheels is controlled to descend to their respective first suspension target heights according to the first heights of the wheels except the lowest wheel, or, according to the minimum value of the respective suspension descendable heights of the wheels except the lowest wheel, the suspension at the wheels except the lowest wheel is controlled to descend; if the suspension height adjustment strategy is an ascending strategy, the suspension at the corresponding wheels is controlled to ascend to their respective second suspension target heights according to the second heights of the wheels except the highest wheel, or, according to the minimum value of the respective suspension descendable heights of the wheels except the highest wheel, the suspension at the wheels except the highest wheel is controlled to ascend.

[0054] wherein the first suspension target height refers to the height required to be reached after the suspension at the other wheels except the lowest wheel is lowered, and the second suspension target height refers to the height required to be reached after the suspension at the other wheels except the highest wheel is raised.

[0055] In addition, the lowering strategy is determined through three cases, one is that if the first heights of the other wheels except the lowest wheel are all less than or equal to the respective corresponding suspension lowerable heights, the suspension height adjustment strategy is determined as the lowering strategy, two is that if the first heights of the other wheels except the lowest wheel are all less than or equal to the respective corresponding suspension lowerable heights, and the second heights of the other wheels except the highest wheel are all less than or equal to the respective corresponding suspension raisable heights, the suspension height adjustment strategy is determined as the lowering strategy, three is that if at least one of the first heights of the other wheels except the lowest wheel is greater than the respective corresponding suspension lowerable heights, and at least one of the second heights of the other wheels except the highest wheel is greater than the respective corresponding suspension raisable heights, the suspension height adjustment strategy is determined as the lowering strategy under the condition that the lowering adjustment degree is greater than or equal to the raising adjustment degree; and the raising strategy is determined through two cases, one is that if the second heights of the other wheels except the highest wheel are all less than or equal to the respective corresponding suspension raisable heights, the suspension height adjustment strategy is determined as the raising strategy, two is that if at least one of the first heights of the other wheels except the lowest wheel is greater than the respective corresponding suspension lowerable heights, and at least one of the second heights of the other wheels except the highest wheel is greater than the respective corresponding suspension raisable heights, the suspension height adjustment strategy is determined as the raising strategy under the condition that the lowering adjustment degree is less than the raising adjustment degree.

[0056] In this embodiment, for the lowering strategy determined through the first two cases, according to the first heights of the other wheels except the lowest wheel, the suspension at the corresponding wheels is lowered to the first suspension target height, that is, taking the lowest wheel as the reference, the height of the suspension at the other wheels is lowered to the respective corresponding first suspension target height; for the lowering strategy determined through the third case, according to the minimum value in the respective suspension lowerable heights of the other wheels except the lowest wheel, the suspension at the other wheels except the lowest wheel is lowered by the minimum value. For the raising strategy determined through the first case, according to the second heights of the other wheels except the highest wheel, the suspension at the corresponding wheels is raised to the second suspension target height, that is, taking the highest wheel as the reference, the height of the suspension at the other wheels is raised to the respective corresponding second suspension target height; for the raising strategy determined through the second case, according to the minimum value in the respective suspension raisable heights of the other wheels except the highest wheel, the suspension at the other wheels except the highest wheel is raised by the minimum value.

[0057] In this way, through the lowering strategy and the raising strategy determined through the differentiation of different cases, the suspension height is precisely controlled, and the vehicle leveling effect is effectively ensured.

[0058] In a possible embodiment, the determination of the first target suspension height of each of the wheels other than the lowest wheel comprises: calculating the difference between the current height of the suspension at each of the wheels other than the lowest wheel and the corresponding first height, to obtain the first target suspension height of each of the wheels other than the lowest wheel.

[0059] In a possible embodiment, the determination of the second target suspension height of each of the wheels other than the highest wheel comprises: calculating the sum of the current height of the suspension at each of the wheels other than the highest wheel and the corresponding second height, to obtain the second target suspension height of each of the wheels other than the highest wheel.

[0060] In an embodiment, the control of the suspension to adjust the height according to the suspension height adjustment strategy comprises: if the suspension height adjustment strategy is the rising and falling coordination strategy, determining the target falling height of the wheels on the same axis of the lowest wheel and the target rising height of the lowest wheel according to the first height of the wheels on the same axis of the lowest wheel; controlling the suspension at the wheels on the same axis of the lowest wheel to adjust the height according to the target falling height, and controlling the suspension at the lowest wheel to adjust the height according to the target rising height; and controlling the suspension at the front axle and / or the suspension at the rear axle to adjust the height according to the height difference between the front axle and the rear axle of the vehicle, wherein the vehicle is a four-wheel vehicle, and the attitude information further comprises the height difference between the front axle and the rear axle.

[0061] In this embodiment, the target falling height of the wheels on the same axis of the lowest wheel can be obtained by multiplying the first height of the wheel by an adjustment coefficient, and the adjustment coefficient has a value range of (0, 1). The specific value can be set according to specific requirements or conditions, for example, the value is 0.5. The target rising height of the lowest wheel can be calculated by subtracting the target falling height from the first height of the wheels on the same axis of the lowest wheel.

[0062] In this embodiment, the rising and falling coordination strategy indicates that the suspension height adjustment has both rising and falling operations, thereby realizing the vehicle leveling. Specifically, the height of the lowest wheel and the wheels on the same axis thereof are first coordinately adjusted, that is, the lowest wheel is raised and the wheels on the same axis thereof are lowered, to eliminate the roll angle of the vehicle and keep the vehicle horizontal in the left-right direction, and then the height difference between the front axle and the rear axle is adjusted to eliminate the pitch angle of the vehicle and keep the vehicle horizontal in the front-rear direction, thereby realizing the precise leveling of the vehicle under the condition of complex uneven road surface. The adjustment sequence of first left-right and then front-rear is helpful to keep the stability of the vehicle in each step of adjustment, and reduce unnecessary movement and inclination of the vehicle.

[0063] In an embodiment, the control of the suspension at the front axle and / or the suspension at the rear axle to adjust the height according to the height difference between the front axle and the rear axle comprises: if the front axle of the vehicle is higher than the rear axle, controlling the suspension at the front axle to fall and / or the suspension at the rear axle to rise according to the height difference between the front axle and the rear axle; if the rear axle of the vehicle is higher than the front axle, controlling the suspension at the front axle to rise and / or the suspension at the rear axle to fall according to the height difference between the front axle and the rear axle.

[0064] In this embodiment, after the roll angle is eliminated, the vehicle may have either a front axle or a rear axle higher, based on the pitch angle. Therefore, if the front axle is higher than the rear axle, the suspension at the front axle is controlled to be lowered and / or raised according to the height difference between the front and rear axles. In this case, there are three specific scenarios: first, only the suspension at the front axle is controlled to be lowered to achieve vehicle leveling; second, only the suspension at the rear axle is controlled to be raised to achieve vehicle leveling; and third, both the suspension at the front axle and the suspension at the rear axle are controlled to be lowered and raised to achieve vehicle leveling. In the case of the rear axle being higher than the front axle, the suspension at the front axle is controlled to be raised and / or lowered according to the height difference between the front and rear axles. In this case, there are also three specific scenarios: first, only the suspension at the front axle is controlled to be raised to achieve vehicle leveling; second, only the suspension at the rear axle is controlled to be lowered to achieve vehicle leveling; and third, both the suspension at the front axle and the suspension at the rear axle are controlled to be raised and lowered to achieve vehicle leveling.

[0065] Furthermore, when the front axle of a vehicle is higher than the rear axle, three methods of controlling the suspension at the front axle to lower and / or the suspension at the rear axle to raise based on the height difference between the front and rear axles, and three methods of controlling the suspension at the front axle to raise and / or the suspension at the rear axle to lower based on the height difference between the front and rear axles, can also be used to make decisions based on the height adjustment constraints to determine the target method. For example, when the front axle of a vehicle is higher than the rear axle, if the height to which the suspension at the front axle needs to be lowered during vehicle leveling is less than or equal to the height to which the front axle can be lowered, then only the suspension at the front axle can be controlled to lower to achieve vehicle leveling. If the height to which the suspension at the rear axle needs to be raised during vehicle leveling is less than or equal to the height to which the rear axle can be raised, then only the suspension at the rear axle can be controlled to raise to achieve vehicle leveling. If neither of these conditions is met, then both the suspension at the front axle and the suspension at the rear axle can be controlled to raise to achieve vehicle leveling. The same applies when the rear axle of a vehicle is higher than the front axle.

[0066] In this embodiment, the height difference between the front and rear axles is combined with the height conditions of the front and rear axles to adaptively control the height of the front or rear axle to adjust the height, thereby effectively realizing automatic leveling control of the vehicle.

[0067] Taking a four-wheeled vehicle as an example, if the left front wheel FL is the lowest wheel, first lower the coaxial wheel with the left front wheel FL, that is, the right front wheel FR, based on the target descent height, then raise the left front wheel FL based on the target ascent height, adjust the rear roll angle to 0, and then calculate the front and rear axle height difference at this time. The front and rear axle height difference is calculated based on the pitch angle and the front and rear wheelbase at this time. Continuing with the example of the vehicle's front axle being higher than the rear axle, if the height that the suspension at the front axle needs to descend during vehicle leveling (that is, the front and rear axle height difference) is less than or equal to the height that the front axle can descend, then only the suspension at the front axle can be controlled to descend to achieve vehicle leveling. If the height that the suspension at the rear axle needs to rise during vehicle leveling (that is, the front and rear axle height difference) is less than or equal to the height that the rear axle can rise, then only the suspension at the rear axle can be controlled to rise to achieve vehicle leveling. If neither condition is met, then both the front axle suspension and the rear axle suspension can be controlled to descend and rise to achieve vehicle leveling.

[0068] In one possible embodiment, if the front axle of a vehicle is higher than the rear axle, and if the height to which the suspension at the front axle needs to be lowered during vehicle leveling is less than or equal to the height to which the front axle can be lowered, and if the height to which the suspension at the rear axle needs to be raised during vehicle leveling is less than or equal to the height to which the rear axle can be raised, it is preferred to lower the front axle to achieve vehicle leveling. If the rear axle of a vehicle is higher than the front axle, and if the height to which the suspension at the front axle needs to be raised during vehicle leveling is less than or equal to the height to which the front axle can be raised, and if the height to which the suspension at the rear axle needs to be lowered during vehicle leveling is less than or equal to the height to which the rear axle can be lowered, it is preferred to lower the rear axle to achieve vehicle leveling. This saves unnecessary wear and tear on the suspension.

[0069] In one possible embodiment, the suspension at the coaxial wheel of the lowest wheel is controlled to adjust its height according to the target descent height, and the suspension at the lowest wheel is controlled to adjust its height according to the target ascending height. The descent speed of the suspension at the coaxial wheel of the lowest wheel and the ascending speed of the suspension at the lowest wheel are determined in combination with the target descent height and the target ascending height to ensure the smoothness of the vehicle leveling process.

[0070] In one possible embodiment, when controlling the front axle suspension to descend and the rear axle suspension to ascend based on the front and rear axle height differences, the front axle lowering height and the rear axle raising height are combined to determine the front axle suspension lowering speed and the rear axle suspension raising speed. Similarly, when controlling the front axle suspension to ascend and the rear axle suspension to descend based on the front and rear axle height differences, the front axle suspension raising speed and the rear axle suspension lowering speed are combined to determine the front axle suspension raising speed and the rear axle suspension lowering speed. This ensures smooth vehicle leveling.

[0071] In one possible embodiment, when the suspensions at the other wheels are simultaneously lowered based on the lowest wheel, the lowering speed of each wheel is determined based on the height at which each wheel is lowered; and when the suspensions at the other wheels are simultaneously raised based on the highest wheel, the raising speed of each wheel is determined based on the height at which each wheel is raised. This ensures smooth vehicle leveling.

[0072] In one embodiment, a method for determining the first height to which each wheel except the lowest wheel needs to descend and the second height to which each wheel except the highest wheel needs to rise includes: among the wheels except the lowest wheel, determining the height difference between the left and right wheels of the vehicle as the first height of the coaxial wheel of the lowest wheel, determining the sum of the front and rear axle height difference and the left and right wheel height difference as the first height of the highest wheel, and determining the front and rear axle height difference as the first height of the coaxial wheel of the highest wheel, wherein the posture information also includes the left and right wheel height difference; among the wheels except the highest wheel, determining the height difference between the left and right wheels as the second height of the coaxial wheel of the highest wheel, determining the sum of the front and rear axle height difference and the left and right wheel height difference as the second height of the lowest wheel, and determining the front and rear axle height difference as the second height of the coaxial wheel of the lowest wheel.

[0073] In this embodiment, by comprehensively considering the height differences between the front and rear axles and the left and right wheels of the vehicle, accurate determination of the height values ​​that need to be adjusted for other wheels is achieved.

[0074] For example, in a four-wheeled vehicle, the first height that each wheel except the lowest wheel needs to descend is calculated as follows: The calculation formula for the first height that the lowest wheel coaxial wheel needs to drop is: Formula (5) in, Indicates the first height to which the lowest coaxial wheel needs to be lowered; Indicates the left and right wheelbase; Indicates the roll angle; The calculation formula for the first height that the highest wheel coaxial wheel needs to drop is: Formula (6) in, Indicates the first height to which the highest coaxial wheel needs to be lowered; Indicates the front and rear wheelbase; Indicates the pitch angle; The calculation formula for the first height that the highest wheel needs to descend is: Formula (7) in, Indicates the first height to which the highest wheel needs to descend; Indicates the left and right wheelbase; Indicates the roll angle; Indicates the front and rear wheelbase; Indicates the pitch angle.

[0075] For example, in a four-wheeled vehicle, the second height required to be raised by each wheel except the highest wheel is calculated as follows: The calculation formula for the second height that the highest wheel coaxial wheel needs to rise is: Formula (8) in, Indicates the second height to which the highest coaxial wheel needs to rise; Indicates the left and right wheelbase; Indicates the roll angle; The calculation formula for the second height that the lowest wheel coaxial wheel needs to rise is: Formula (9) in, Indicates the second height to which the lowest coaxial wheel must rise; Indicates the front and rear wheelbase; Indicates the pitch angle; The calculation formula for the second height that the lowest wheel needs to rise is: Formula (10) in, Indicates the second height to which the lowest wheel must rise; Indicates the left and right wheelbase; Indicates the roll angle; Indicates the front and rear wheelbase; Indicates the pitch angle.

[0076] In one embodiment, a method for calculating the height difference between the front and rear axles and the height difference between the left and right wheels includes: obtaining the pitching moment, roll moment and parameter information of the vehicle, wherein the parameter information includes the front and rear wheelbase, the left and right wheel tracks, the first moment of inertia of the vehicle around the pitch angle and the second moment of inertia of the vehicle around the roll axis; calculating the pitching moment and the first moment of inertia to obtain the pitch angle influence coefficient, and calculating the roll moment and the second moment of inertia to obtain the roll angle influence coefficient; calculating the front and rear axle height difference based on the front and rear wheelbase, the pitch angle influence coefficient and the pitch angle of the vehicle, and calculating the left and right wheel height difference based on the left and right wheel tracks, the roll angle influence coefficient and the roll angle of the vehicle, wherein the posture information also includes the pitch angle and the roll angle.

[0077] In this embodiment, taking into account the change in vehicle load or the transfer of vehicle load, the center of mass of the vehicle will change, and the pitch angle and roll angle will also change slightly. Two influencing factors, the pitch angle influence coefficient and the roll angle influence coefficient, are introduced to correct the pitch angle and roll angle, thereby ensuring the accuracy of the calculated front and rear axle height differences and the left and right wheel height differences.

[0078] Exemplarily, the pitch angle calculation method includes: obtaining an initial pitch angle and monitoring the pitch angle velocity; discretizing continuous pitch angle velocity data; integrating the pitch angle velocity in multiple time periods to obtain a pitch angle change value; and calculating the initial pitch angle and the pitch angle change value to obtain a current pitch angle.

[0079] The pitch angle calculation formula is: Formula (11) in, is the current time Pitch angle; Indicates the initial pitch angle (time =0); express time periods; Indicates the Pitch angular velocity within a time period; Indicates the length of each time period.

[0080] Exemplarily, the method for calculating the roll angle includes: obtaining an initial roll angle and monitoring the roll angle velocity; discretizing continuous roll angle velocity data; integrating the roll angle velocity in multiple time periods to obtain a roll angle change value; and calculating the initial roll angle and the roll angle change value to obtain a current roll angle.

[0081] The formula for calculating the roll angle is: Formula (12) in, is the current time The roll angle; Indicates the initial roll angle (time =0); express time periods; Indicates the Roll angular velocity within a time period; Indicates the length of each time period.

[0082] For example, the calculation formula of the pitch angle influence coefficient is: Formula (13) in, represents the pitch angle influence coefficient; represents the pitching moment; Represents the first moment of inertia of the vehicle around the pitch angle; The calculation formula for the pitching moment is: Formula (14) in, represents the pitching moment; Indicates the front axle load change; Indicates the distance from the center of mass to the front axle; Indicates the rear axle load change; Indicates the distance from the center of mass to the rear axle.

[0083] For example, the calculation formula of the roll angle influence coefficient is: Formula (15) in, represents the roll angle influence coefficient; represents the rolling moment; Represents the second moment of inertia of the vehicle around the roll axis; The formula for calculating the rolling moment is: Formula (16) in, represents the rolling moment; Indicates vehicle weight; Indicates the lateral acceleration of the vehicle; Indicates the distance from the roll center to the center of mass.

[0084] Exemplarily, the front and rear axle height difference is calculated based on the front and rear wheelbases, the pitch angle influence coefficient and the pitch angle of the vehicle, including: calculating the product of the pitch angle influence coefficient and the pitch angle of the vehicle to obtain the corrected pitch angle; calculating the product of the front and rear wheelbases and the cosine value of the corrected pitch angle to obtain the front and rear axle height difference.

[0085] Exemplarily, the left and right wheel height difference is calculated based on the left and right wheel tracks, the roll angle influence coefficient and the roll angle of the vehicle, including: calculating the product of the roll angle influence coefficient and the roll angle of the vehicle to obtain the corrected roll angle; calculating the product of the left and right wheel tracks and the cosine value of the corrected roll angle to obtain the left and right wheel height difference.

[0086] See Figure 3 , Figure 3 FIG. 1 is a flow chart of another vehicle leveling control method shown in an exemplary embodiment of the present application. Figure 3As shown, the vehicle leveling operation is realized by the vehicle air spring height adjustment, and the process is specifically as follows: first, the vehicle CAN network communication is realized based on the CAN (Controller Area Network) communication module, the sensor signal acquisition module and the air spring height system transmit information to the main control chip, the main control chip is responsible for sensor height analysis, target height calculation and target height control, the sensor signal acquisition module includes an acceleration sensor, a height sensor, a temperature sensor and a pressure sensor, and the data of these sensors is transmitted to the main control chip for processing. In the air spring height system, the compressor provides compressed air to the left front, right front, left rear and right rear air springs through the exhaust valve and the switching valve to adjust the height of each wheel and realize the vehicle leveling operation. In addition, the main control chip calculates the valve block enable request to be controlled according to the rising and falling states of the four vehicle suspensions and the air path conditions of different vehicle models, that is, the height and pressure values are obtained by using the air suspension structure in the suspension system to calculate the spring load, and the suspension system responds to the valve block request to adjust the height.

[0087] The vehicle leveling control method described above first acquires attitude information of the vehicle, the attitude information including the lowest wheel and the highest wheel of the vehicle, then if the vehicle is in a target working condition, determines a first height required for each wheel other than the lowest wheel to drop in the vehicle leveling process based on the lowest wheel, and determines a second height required for each wheel other than the highest wheel to rise in the vehicle leveling process based on the highest wheel, then determines a suspension height adjustment strategy according to the preset suspension height adjustment constraint condition, each first height and each second height, the suspension height adjustment strategy including a dropping strategy, a rising strategy and a rising and dropping collaborative strategy, and finally controls the suspension to adjust the height according to the suspension height adjustment strategy to complete the vehicle leveling operation. In combination with the attitude of the vehicle and the suspension height constraint, a more optimal suspension adjustment scheme is intelligently decided from the dropping strategy, the rising strategy or the rising and dropping collaborative strategy of the suspension adjustment, which can effectively solve the automatic leveling problem of the vehicle based on the terrain in the static parking, especially in the camping scene, and realize more accurate leveling effect through the multi-strategy selection adjustment mode, thereby improving the comfort and experience of the user when resting or riding in the vehicle.

[0088] Please refer to Figure 4 , Figure 4 is a block diagram of a vehicle leveling control system according to an example embodiment of the present application. The system can be applied to Figure 1 The implementation environment shown in the embodiment should be understood as that the system can also be applied to other example implementation environments, and the embodiment does not limit the implementation environment to which the system is applied.

[0089] As Figure 4As shown, in an exemplary embodiment, the vehicle leveling control system 400 includes at least an acquisition module 410, a calculation module 420, a decision module 430 and a control module 440, which are described in detail as follows: An acquisition module 410 is configured to acquire posture information of the vehicle, wherein the posture information includes the lowest wheel and the highest wheel of the vehicle; a calculation module 420 configured to determine, if the vehicle is in a target operating condition, a first height to which each wheel other than the lowest wheel needs to be lowered during vehicle leveling based on the lowest wheel as a reference, and a second height to which each wheel other than the highest wheel needs to be raised during vehicle leveling based on the highest wheel as a reference; a decision module 430 for determining a suspension height adjustment strategy based on preset suspension height adjustment constraints, each first height, and each second height, wherein the suspension height adjustment strategy includes a lowering strategy, an raising strategy, and a raising-lowering coordinated strategy; The control module 440 is used to control the suspension to adjust its height according to the suspension height adjustment strategy to complete the vehicle leveling operation.

[0090] It should be noted that the vehicle leveling control system provided in the above embodiment and the vehicle leveling control method provided in the above embodiment belong to the same concept, wherein the contents of the operations performed by each module have been described in detail in the method embodiment and will not be repeated here.

[0091] An embodiment of the present application further provides a vehicle, using the above-mentioned vehicle leveling control method, or including the above-mentioned vehicle leveling control system.

[0092] Please continue to see Figure 3 The vehicle includes a main control chip, a sensor signal acquisition module, an air spring height system and a CAN communication module. The CAN communication module realizes the CAN network communication of the whole vehicle. The entire operation logic of the vehicle leveling control system is integrated in the main control chip. The sensor signal acquisition module can provide the vehicle's posture information, that is, the lowest wheel, the highest wheel, the height difference between the front and rear axles, the height difference between the left and right wheels, etc. The air spring height system can provide suspension information, that is, the constraints of the suspension height adjustment and the current height of each wheel suspension, etc. The main control chip determines the suspension height adjustment strategy based on the posture information and suspension information, and controls the suspension to adjust the height according to the suspension height adjustment strategy, thereby completing the vehicle leveling operation.

[0093] See Figure 5 , Figure 5 This is a structural diagram of a vehicle-mounted terminal provided in one embodiment of the present application. Figure 5 The following is a schematic diagram showing the structure of a computer system suitable for implementing the vehicle-mounted terminal of the embodiment of the present application. Figure 5The computer system 500 of the vehicle-mounted terminal shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0094] like Figure 5 As shown, computer system 500 includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, based on programs stored in read-only memory (ROM) 502 or programs loaded from storage 508 into random access memory (RAM) 503. RAM 503 also stores various programs and data required for system operation. CPU 501, ROM 502, and RAM 503 are interconnected via bus 504. An input / output (I / O) interface 505 is also connected to bus 504.

[0095] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, mouse, and the like; an output section 507 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and speakers; a storage section 508 including devices such as a hard disk; and a communication section 509 including a network interface card such as a LAN (Local Area Network) card or a modem. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as needed. Removable media 511, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 510 as needed, so that computer programs read from the media can be installed in the storage section 508 as needed.

[0096] In particular, according to embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for executing the methods illustrated in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via the communication section 509 and / or installed from removable media 511. When executed by the central processing unit (CPU) 501, the computer program performs the various functions defined in the system of the present application.

[0097] The above embodiments are only illustrative of the principles of the present application and its effects, and are not intended to limit the present application. Any modification or change made by any person skilled in the art without departing from the spirit and scope of the present application shall be covered by the claims of the present application.

Claims

1. A vehicle leveling control method, characterized in that: The method comprises: Acquiring posture information of the vehicle, wherein the posture information includes the lowest wheel and the highest wheel of the vehicle; If the vehicle is in the target operating condition, determining a first height to which each wheel except the lowest wheel needs to be lowered during vehicle leveling based on the lowest wheel, and determining a second height to which each wheel except the highest wheel needs to be raised during vehicle leveling based on the highest wheel; Determining a suspension height adjustment strategy based on preset suspension height adjustment constraints, each of the first heights, and each of the second heights, wherein the suspension height adjustment strategy includes a descending strategy, an ascending strategy, and an ascending-descending coordinated strategy; The suspension is controlled to adjust its height according to the suspension height adjustment strategy to complete the vehicle leveling operation.

2. The vehicle leveling control method according to claim 1, characterized in that: The determining of the suspension height adjustment strategy according to the preset suspension height adjustment constraint conditions, each of the first heights, and each of the second heights includes: If at least one of the first heights of the wheels other than the lowest wheel is greater than the respective suspension lowerable heights, and at least one of the second heights of the wheels other than the highest wheel is greater than the respective suspension raiseable heights, then the suspension height adjustment strategy is determined to be the rising and falling coordinated strategy, or, under the condition that the first flatness that the vehicle can achieve in the falling strategy is greater than or equal to the second flatness that the vehicle can achieve in the rising strategy, the suspension height adjustment strategy is determined to be the falling strategy, and under the condition that the first flatness is less than the second flatness, the suspension height adjustment strategy is determined to be the rising strategy.

3. The vehicle leveling control method according to claim 1, characterized in that: The determining of the suspension height adjustment strategy according to the preset suspension height adjustment constraint conditions, each of the first heights, and each of the second heights further includes: If the first heights of all wheels except the lowest wheel are less than or equal to their corresponding suspension lowerable heights, determining that the suspension height adjustment strategy is the lowering strategy; If the second heights of the wheels except the highest wheel are all less than or equal to the corresponding suspension riseable heights, determining that the suspension height adjustment strategy is the rising strategy; If the first heights of the wheels except the lowest wheel are all less than or equal to the corresponding suspension lowering heights, and the second heights of the wheels except the highest wheel are all less than or equal to the corresponding suspension raising heights, then the suspension height adjustment strategy is determined to be the lowering strategy.

4. The vehicle leveling control method according to claim 1, characterized in that: The step of controlling the suspension to adjust the height according to the suspension height adjustment strategy includes: If the suspension height adjustment strategy is the ascending-descending coordinated strategy, determining a target descending height of the coaxial wheel of the lowest wheel and a target ascending height of the lowest wheel according to the first height of the coaxial wheel of the lowest wheel; Controlling the suspension at the coaxial wheel of the lowest wheel to adjust the height according to the target descending height, and controlling the suspension at the lowest wheel to adjust the height according to the target ascending height; According to the height difference between the front and rear axles of the vehicle, the suspension at the front axle and / or the suspension at the rear axle is controlled to adjust the height, wherein the vehicle is a four-wheel vehicle and the posture information also includes the height difference between the front and rear axles.

5. The vehicle leveling control method according to claim 4, characterized in that: The controlling of the front axle suspension and / or the rear axle suspension to adjust the height according to the height difference between the front and rear axles includes: If the front axle of the vehicle is higher than the rear axle, controlling the suspension at the front axle to lower and / or the suspension at the rear axle to raise according to the height difference between the front and rear axles; If the rear axle of the vehicle is higher than the front axle, the suspension at the front axle is controlled to rise and / or the suspension at the rear axle is controlled to fall according to the height difference between the front and rear axles.

6. The vehicle leveling control method according to claim 1, characterized in that: The controlling the suspension to adjust the height according to the suspension height adjustment strategy further includes: If the suspension height adjustment strategy is the descending strategy, then according to the first heights of the wheels other than the lowest wheel, the suspensions at the corresponding wheels are controlled to descend to their respective first suspension target heights, or, according to the minimum value of the respective suspension descendable heights of the wheels other than the lowest wheel, the suspensions at the wheels other than the lowest wheel are controlled to descend; If the suspension height adjustment strategy is the rising strategy, then according to the second heights of the wheels except the highest wheel, the suspension at the corresponding wheels is controlled to rise to their respective second suspension target heights, or, according to the minimum value of the respective suspension riseable heights of the wheels except the highest wheel, the suspension at the wheels except the highest wheel is controlled to rise.

7. The vehicle leveling control method according to claim 4, characterized in that: The method for determining the first height to which each wheel except the lowest wheel needs to descend and the second height to which each wheel except the highest wheel needs to ascend includes: Among the wheels other than the lowest wheel, a height difference between the left and right wheels of the vehicle is determined as the first height of the coaxial wheel of the lowest wheel, a sum of the front-rear axle height difference and the left-right wheel height difference is determined as the first height of the highest wheel, and the front-rear axle height difference is determined as the first height of the coaxial wheel of the highest wheel, wherein the posture information also includes the left-right wheel height difference; Among the wheels other than the highest wheel, the left and right wheel height difference is determined as the second height of the coaxial wheel of the highest wheel, the sum of the front and rear axle height difference and the left and right wheel height difference is determined as the second height of the lowest wheel, and the front and rear axle height difference is determined as the second height of the coaxial wheel of the lowest wheel.

8. The vehicle leveling control method according to claim 7, characterized in that: The calculation method of the front and rear axle height difference and the left and right wheel height difference includes: Obtaining pitching moment, rolling moment, and parameter information of the vehicle, wherein the parameter information includes front and rear wheelbase, left and right wheelbase, a first moment of inertia of the vehicle about the pitch angle, and a second moment of inertia of the vehicle about the roll axis; Calculating the pitching moment and the first moment of inertia to obtain a pitch angle influence coefficient, and calculating the roll moment and the second moment of inertia to obtain a roll angle influence coefficient; The front and rear axle height difference is calculated based on the front and rear wheelbases, the pitch angle influence coefficient and the pitch angle of the vehicle, and the left and right wheel height difference is calculated based on the left and right wheel tracks, the roll angle influence coefficient and the roll angle of the vehicle, wherein the posture information also includes the pitch angle and the roll angle.

9. A vehicle leveling control system, characterized in that: The system comprises: An acquisition module, configured to acquire posture information of the vehicle, wherein the posture information includes the lowest wheel and the highest wheel of the vehicle; a calculation module configured to, if the vehicle is in a target operating condition, determine, based on the lowest wheel as a reference, a first height to which each wheel other than the lowest wheel needs to be lowered during vehicle leveling, and to determine, based on the highest wheel as a reference, a second height to which each wheel other than the highest wheel needs to be raised during vehicle leveling; a decision module, configured to determine a suspension height adjustment strategy based on preset suspension height adjustment constraints, each of the first heights, and each of the second heights, wherein the suspension height adjustment strategy includes a descending strategy, an ascending strategy, and an ascending-descending coordinated strategy; The control module is used to control the suspension to adjust the height according to the suspension height adjustment strategy to complete the vehicle leveling operation.

10. A vehicle, characterized in that: The vehicle leveling control method according to any one of claims 1 to 8 is used, or the vehicle leveling control system according to claim 9 is included.

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