Shock absorber adjusting method of all-terrain vehicle, all-terrain vehicle and electronic equipment

Abstract

The embodiment of the invention provides a damper adjusting method of an all-terrain vehicle, the all-terrain vehicle and electronic equipment, and relates to the technical field of vehicle control. The damper adjusting method comprises the steps that the current vehicle motion state and the current driving mode are obtained; the preset initial damper parameters are adjusted according to the current vehicle motion state and the current driving mode, and damper pre-adjusting parameters are obtained; and the damper parameters of the current vehicle are adjusted according to the damper pre-adjusting parameters. The problems that in the prior art, damper parameters of a current vehicle easily exceed a preset range and cannot be adjusted, adjustment of the damper parameters of the current vehicle according to the motion state of the vehicle may be unfavorable for vehicle running, and the adjustment requirements of the damper of the vehicle cannot be reflected in multiple aspects are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a shock absorber adjustment method of an all-terrain vehicle, an all-terrain vehicle and an electronic device. BACKGROUND

[0002] With the development of vehicle technology, people are increasingly pursuing more casual vehicle damping characteristics. When a driver wants higher operating performance or comfort performance, the current vehicle shock absorber parameters need to be adjusted accordingly to meet the driver's needs.

[0003] However, the current method for adjusting the shock absorber parameters of the current vehicle is to adjust the current shock absorber parameters according to the current vehicle motion state, for example, adjusting the current vehicle shock absorber parameters when the vehicle is accelerating, so that the vehicle shock absorber stiffness becomes smaller and the damping becomes smaller.

[0004] In this way, the first aspect is that the current vehicle shock absorber parameters have a threshold value, which cannot be adjusted if the threshold value is exceeded, for example, when the shock absorber damping is adjusted to the lower limit, it cannot be further reduced. The second aspect is that the current vehicle shock absorber parameters are adjusted according to the vehicle motion state, but the current vehicle shock absorber parameters may already meet the current vehicle motion state, and adjusting the current vehicle shock absorber parameters is not conducive to vehicle driving, for example, when the vehicle starts, the current vehicle shock absorber parameters are the shock absorber parameters before parking. If the shock absorber parameters are adjusted according to the current vehicle motion state, which is an acceleration state, it is easy to cause the shock absorber stiffness to be too small and the damping to be too small, thereby causing the driver's comfort performance to be poor. The third aspect is that the current vehicle shock absorber parameters are adjusted according to only the single indicator of the current vehicle motion state, which cannot reflect the vehicle shock absorber adjustment demand from multiple aspects. SUMMARY

[0005] Therefore, the present application provides a shock absorber adjustment method of an all-terrain vehicle, an all-terrain vehicle and an electronic device, which optimizes the shock absorber adjustment performance of the all-terrain vehicle.

[0006] In a first aspect, the present application provides a shock absorber adjustment method of an all-terrain vehicle, comprising the following steps: obtaining a current vehicle motion state and a current driving mode; adjusting a preset initial shock absorber parameter according to the current vehicle motion state and the current driving mode to obtain a shock absorber pre-adjustment parameter; and adjusting the current vehicle shock absorber parameters according to the shock absorber pre-adjustment parameter.

[0007] In a possible implementation, the adjusting the shock absorber parameter of the current vehicle according to the shock absorber pre-adjustment parameter includes: if a difference degree between the shock absorber pre-adjustment parameter and the current shock absorber parameter is not within a preset range, adjusting the shock absorber parameter of the current vehicle according to the shock absorber pre-adjustment parameter; or if the difference degree between the shock absorber pre-adjustment parameter and the current shock absorber parameter is within the preset range, not adjusting the shock absorber parameter of the current vehicle.

[0008] In a possible implementation, the adjusting the preset initial shock absorber parameter according to the current vehicle motion state and the current driving mode to obtain the shock absorber pre-adjustment parameter includes: adjusting the preset initial shock absorber parameter according to the current vehicle motion state to obtain a first adjustment parameter, the first adjustment parameter being an adjustment parameter adapted to the current vehicle motion state; adjusting the first adjustment parameter according to the current driving mode to obtain the shock absorber pre-adjustment parameter; or the adjusting the preset initial shock absorber parameter according to the current vehicle motion state and the current driving mode to obtain the shock absorber pre-adjustment parameter includes: adjusting the preset initial shock absorber parameter according to the current vehicle motion state to obtain a first adjustment parameter, the first adjustment parameter being an adjustment parameter adapted to the current vehicle motion state; adjusting the preset initial shock absorber parameter according to the current driving mode to obtain a second adjustment parameter, the second adjustment parameter being an adjustment parameter adapted to the current driving mode; and obtaining the shock absorber pre-adjustment parameter based on the first adjustment parameter and the second adjustment parameter.

[0009] In a possible implementation, the obtaining the shock absorber pre-adjustment parameter based on the first adjustment parameter and the second adjustment parameter includes:

[0010] obtaining a preset first weight corresponding to the current vehicle motion state and a preset second weight corresponding to the current driving mode; and obtaining the shock absorber pre-adjustment parameter according to the preset first weight, the preset second weight, the first adjustment parameter, and the second adjustment parameter.

[0011] In a possible implementation, the current driving mode includes a two-wheel drive mode and a four-wheel drive mode, and the preset initial shock absorber parameter or the first adjustment parameter includes a stiffness coefficient and a damping coefficient; the adjustment of the first adjustment parameter according to the current driving mode includes: if the current driving mode is the two-wheel drive mode, adjusting the stiffness coefficient to increase the stiffness of the shock absorber corresponding to the first adjustment parameter, or adjusting the damping coefficient to increase the damping of the shock absorber corresponding to the first adjustment parameter; or if the current driving mode is the four-wheel drive mode, adjusting the stiffness coefficient to decrease the stiffness of the shock absorber corresponding to the first adjustment parameter, or adjusting the damping coefficient to decrease the damping of the shock absorber corresponding to the first adjustment parameter; or the adjustment of the preset initial shock absorber parameter according to the current driving mode includes: if the current driving mode is the two-wheel drive mode, adjusting the stiffness coefficient to increase the stiffness of the shock absorber corresponding to the preset initial shock absorber parameter, or adjusting the damping coefficient to increase the damping of the shock absorber corresponding to the preset initial shock absorber parameter; or if the current driving mode is the four-wheel drive mode, adjusting the stiffness coefficient to decrease the stiffness of the shock absorber corresponding to the preset initial shock absorber parameter, or adjusting the damping coefficient to decrease the damping of the shock absorber corresponding to the preset initial shock absorber parameter.

[0012] In a possible implementation, before the shock absorber pre-adjustment parameter is obtained according to the current vehicle motion state and the current driving mode, the method further includes: obtaining a mapping relationship, the mapping relationship including a corresponding relationship among a historical vehicle motion state, a historical driving mode and a historical shock absorber pre-adjustment parameter; and the adjustment of the preset initial shock absorber parameter according to the current vehicle motion state and the current driving mode to obtain the shock absorber pre-adjustment parameter includes: if there is no historical vehicle motion state and historical driving mode in the mapping relationship that match the current vehicle motion state and the current driving mode, adjusting the preset initial shock absorber parameter according to the current vehicle motion state and the current driving mode to obtain the shock absorber pre-adjustment parameter; or if there is a historical vehicle motion state and a historical driving mode in the mapping relationship that match the current vehicle motion state and the current driving mode, obtaining the historical shock absorber pre-adjustment parameter corresponding to the matched historical vehicle motion state and historical driving mode in the mapping relationship as the shock absorber pre-adjustment parameter.

[0013] In a second aspect, an all-terrain vehicle shock absorber adjustment device is provided, including:

[0014] a vehicle frame;

[0015] a suspension assembly connected with the vehicle frame, the suspension assembly including a shock absorber;

[0016] a walking assembly connected with the vehicle frame through the suspension assembly;

[0017] a power system at least partially arranged on the vehicle frame, the power system being in transmission connection with the walking assembly.

[0018] The control system is configured to control the power system, and the control system executes the method provided in the first aspect of the embodiments.

[0019] In a third aspect, the embodiments of the present application provide an electronic device, which comprises a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the electronic device is triggered to execute the method provided in the first aspect of the embodiments.

[0020] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, which comprises stored program, wherein when the program is running, the device where the computer readable storage medium is located is controlled to execute the method provided in the first aspect of the embodiments.

[0021] According to the embodiments of the present application, the preset initial shock absorber parameter is adjusted according to the current vehicle motion state and the current driving mode to obtain a shock absorber pre-adjustment parameter, and the shock absorber parameter of the current vehicle is adjusted according to the shock absorber pre-adjustment parameter. The preset initial shock absorber parameter is adjusted, and the preset initial shock absorber parameter is adjusted in the first aspect, which avoids that the shock absorber parameter of the current vehicle is directly adjusted and is easy to exceed the threshold value; the preset initial shock absorber parameter is adjusted in the second aspect, and thus the shock absorber pre-adjustment parameter obtained is adapted to the vibration condition of the current vehicle and is not affected by the unadjusted current shock absorber parameter adapted to the historical vibration condition; and the shock absorber pre-adjustment parameter is obtained according to the current vehicle motion state and the current driving mode in the third aspect, which reflects the vehicle shock absorber adjustment demand from multiple aspects. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0023] Figure 1 A schematic diagram of an all-terrain vehicle is provided for the embodiments of the present application;

[0024] Figure 2 A flowchart of a shock absorber adjustment method of an all-terrain vehicle is provided for the embodiments of the present application;

[0025] Figure 3 A flowchart of a first shock absorber pre-adjustment parameter acquisition method is provided for the embodiments of the present application;

[0026] Figure 4A flowchart of a second method for obtaining shock absorber pre-adjustment parameters provided in an embodiment of the present application;

[0027] Figure 5 A flowchart of a third method for obtaining shock absorber pre-adjustment parameters provided in an embodiment of the present application;

[0028] Figure 6 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0030] It should be clear that the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0031] The terms used in the embodiments of the present application are for the purpose of describing specific embodiments only and are not intended to limit the present application. The singular forms "a", "an", "the" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.

[0032] It should be understood that the term "and / or" as used herein simply describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. Furthermore, the character " / " in this document generally indicates an "or" relationship between the associated objects.

[0033] Before providing a detailed introduction to the embodiments of the present application, the terms that are applied or may be applied to the embodiments of the present application are first explained.

[0034] In the related art, the method for adjusting the shock absorber parameters of the current vehicle is to adjust the current shock absorber parameters according to the current vehicle motion state. For example, when the vehicle accelerates, the shock absorber parameters of the current vehicle are adjusted according to the acceleration to reduce the vehicle's shock absorber stiffness and damping.

[0035] So, in the first aspect, there is a threshold value for the shock absorber parameter of the current vehicle, and the shock absorber parameter cannot be adjusted when the threshold value is exceeded, for example, when the shock absorber damping is adjusted to the lower limit, the shock absorber cannot be further reduced; in the second aspect, the shock absorber parameter of the current vehicle is adjusted according to the motion state of the vehicle, but the shock absorber parameter of the current vehicle may already meet the motion state of the current vehicle, and adjusting the shock absorber parameter of the current vehicle is not conducive to vehicle driving; for example, when the vehicle starts, the shock absorber parameter of the current vehicle is the shock absorber parameter before parking, and if the shock absorber parameter is adjusted according to the motion state of the current vehicle as an acceleration state, the shock absorber stiffness is too small and the damping is too small, which leads to poor driver comfort performance; in the third aspect, only the motion state of the current vehicle is used as a single indicator to adjust the shock absorber parameter of the current vehicle, which cannot reflect the demand for shock absorber adjustment of the vehicle from multiple aspects.

[0036] To solve the above problems, the embodiments of the present application provide a shock absorber adjustment method and device and electronic equipment to solve the problems in the related art that the adjustment of the shock absorber parameter of the current vehicle is easy to exceed the preset threshold range and cannot be adjusted, the adjustment of the shock absorber parameter of the current vehicle according to the motion state of the vehicle may be not conducive to vehicle driving, and the demand for shock absorber adjustment of the vehicle cannot be reflected from multiple aspects. The following will be described in detail.

[0037] Referring to Figure 1 A schematic diagram of an all-terrain vehicle is provided for the embodiments of the present application. As Figure 1 shown, the all-terrain vehicle includes:

[0038] a frame 1;

[0039] a suspension assembly 2 connected with the frame 1, the suspension assembly 2 including a shock absorber 4;

[0040] a walking assembly 3 connected with the frame 1 through the suspension assembly 2;

[0041] a power system, at least part of which is arranged on the frame 1, and the power system is in transmission connection with the walking assembly 3;

[0042] a control system (not shown in the figure), which is used to control the shock absorber, and the control system performs part or all of the steps in each embodiment of the shock absorber adjustment method of the all-terrain vehicle provided by the present application.

[0043] In some embodiments, the control system includes an electronic control unit, a sensor, and an actuator. The electronic control unit receives the electrical signal of the sensor and sends a signal to the actuator; the sensor collects vehicle motion state information and converts the vehicle motion state information into an electrical signal, and sends the electrical signal to the electronic control unit; the actuator receives the electrical signal of the electronic control unit and adjusts the shock absorber according to the electrical signal of the electronic control unit.

[0044] Referring to Figure 2 A flow chart of a shock absorber adjustment method of an all-terrain vehicle is provided in an embodiment of the present application. As shown in Figure 2 , the method comprises the following steps:

[0045] Step S101: Obtain the current vehicle motion state and the current driving mode.

[0046] In order to ensure that the adjustment of the shock absorber parameters of the current vehicle does not exceed the preset threshold range, the adjustment of the shock absorber parameters of the current vehicle is beneficial to the vehicle driving and reflects the vehicle shock absorber adjustment demand from multiple aspects. In an embodiment of the present application, the preset initial shock absorber parameters need to be adjusted according to the current vehicle motion state and the current driving mode to obtain the shock absorber pre-adjustment parameters, and then the shock absorber parameters of the current vehicle are adjusted according to the shock absorber pre-adjustment parameters, so as to avoid directly adjusting the shock absorber parameters of the current vehicle according to the current vehicle motion state. Therefore, the current vehicle motion state and the current driving mode need to be obtained first.

[0047] Step S102: Adjust the preset initial shock absorber parameters according to the current vehicle motion state and the current driving mode to obtain the shock absorber pre-adjustment parameters. The current vehicle motion state includes at least one of the current driving mode, the current acceleration, and the current wheel speed difference.

[0048] The current driving mode can include a sports mode, an off-road mode, and an energy-saving mode. The current acceleration can include a positive acceleration and a negative acceleration.

[0049] It should be noted that it should be ensured that no matter how the preset initial shock absorber parameters are adjusted by the vehicle motion state and the current driving mode, the obtained shock absorber pre-adjustment parameters are within the preset threshold range of the shock absorber parameters of the vehicle. The preset threshold range of the shock absorber parameters of the vehicle is the range that the shock absorber of the vehicle can reach, and the preset threshold range of the shock absorber parameters of the vehicle is different for different vehicle models. For example, in some vehicle models, the shock absorber parameters of the vehicle include stiffness, and the preset threshold range of the stiffness is between 5-6 N / mm. In some embodiments, the preset initial shock absorber parameters can be the middle value of the preset threshold range of the shock absorber parameters of the vehicle, and even if the preset initial shock absorber parameters are adjusted in the same direction according to the current vehicle motion state and the current driving mode, the obtained shock absorber pre-adjustment parameters will not exceed the preset threshold range of the shock absorber parameters of the vehicle. For example, the shock absorber parameters of the vehicle include stiffness, and the preset threshold range of the stiffness is 0-10 N / mm, the preset initial shock absorber parameters are 5 N / mm, the preset initial shock absorber parameters are increased by 4 N / mm and decreased by 4 N / mm according to the current vehicle motion state and the current driving mode, and the obtained shock absorber pre-adjustment parameters will not exceed the preset threshold range of the shock absorber parameters of the vehicle.

[0050] In the embodiments of the present application, the shock absorber pre-adjusted parameter obtained by adjusting the preset initial shock absorber parameter according to the current vehicle motion state and the current driving mode is within the preset threshold range of the shock absorber parameter of the vehicle. Thus, when the shock absorber parameter of the current vehicle is adjusted according to the shock absorber pre-adjusted parameter, the adjusted shock absorber parameter of the vehicle is also within the preset threshold range of the shock absorber parameter of the vehicle. Moreover, the preset initial shock absorber parameter is adjusted according to the current vehicle motion state and the current driving mode instead of directly adjusting the shock absorber parameter of the current vehicle. Therefore, the adjusted shock absorber parameter of the current vehicle is not affected by the historical vibration of the vehicle, i.e., the adjusted shock absorber parameter of the current vehicle is adapted to the vibration of the current vehicle, so that the adjustment of the shock absorber parameter of the vehicle is beneficial to the driving of the vehicle.

[0051] As a possible implementation manner, as shown in Figure 3 adjusting the preset initial shock absorber parameter according to the current vehicle motion state and the current driving mode to obtain a shock absorber pre-adjusted parameter includes:

[0052] Step S11a: adjusting the preset initial shock absorber parameter according to the current vehicle motion state to obtain a first adjusted parameter, wherein the first adjusted parameter is an adjusted parameter adapted to the current vehicle motion state.

[0053] Step S12a: adjusting the first adjusted parameter according to the current driving mode to obtain the shock absorber pre-adjusted parameter.

[0054] That is, since the vehicle motion state usually changes slightly when the vehicle is running, the adjustment amount of the preset initial shock absorber parameter according to the vehicle motion state is relatively small, while the adjustment amount of the preset initial shock absorber parameter according to the change of the current driving mode is relatively large. Therefore, the preset initial shock absorber parameter can be first adjusted according to the current vehicle motion state to obtain a first adjusted parameter, and then the first adjusted parameter is adjusted according to the current driving mode, so that the obtained shock absorber pre-adjusted parameter is adapted to both the current vehicle motion state and the current driving mode. Thus, when the first adjusted parameter is adjusted according to the current driving mode, the change of the current vehicle motion state has little effect on the final obtained shock absorber pre-adjusted parameter.

[0055] As a possible implementation manner, as shown in Figure 4 adjusting the preset initial shock absorber parameter according to the current vehicle motion state and the current driving mode to obtain a shock absorber pre-adjusted parameter includes:

[0056] Step S11b: adjusting the preset initial shock absorber parameter according to the current vehicle motion state to obtain a first adjustment parameter, the first adjustment parameter being an adjustment parameter adapted to the current vehicle motion state;

[0057] Step S12b: adjusting the preset initial shock absorber parameter according to the current driving mode to obtain a second adjustment parameter, the second adjustment parameter being an adjustment parameter adapted to the current driving mode;

[0058] Step S13b: obtaining the shock absorber pre-adjustment parameter based on the first adjustment parameter and the second adjustment parameter.

[0059] That is, the preset initial shock absorber parameter is adjusted according to the current vehicle motion state and the current driving mode respectively to obtain the first adjustment parameter and the second adjustment parameter, and the shock absorber pre-adjustment parameter is obtained based on the first adjustment parameter and the second adjustment parameter, so that the obtained shock absorber pre-adjustment parameter is adapted to both the current vehicle motion state and the current driving mode. In this way, the preset initial shock absorber parameter is adjusted by the current motion state and the current driving mode at the same time, and the shock absorber pre-adjustment parameter is obtained according to the current motion state and the current driving mode at the same time, thereby improving the accuracy of the shock absorber parameter adjustment of the vehicle.

[0060] As a possible implementation manner, as shown in Figure 5 obtaining the shock absorber pre-adjustment parameter based on the first adjustment parameter and the second adjustment parameter includes:

[0061] Step S131b: obtaining a preset first weight corresponding to the current vehicle motion state and a preset second weight corresponding to the current driving mode;

[0062] Step S132b: obtaining the shock absorber pre-adjustment parameter according to the preset first weight, the preset second weight, the first adjustment parameter and the second adjustment parameter.

[0063] That is, since the current vehicle motion state and the current driving mode have different influences on the vehicle vibration, the preset weight values of the current vehicle motion state and the current driving mode can be obtained respectively. The obtained shock absorber pre-adjustment parameter reflects the comprehensive influence of the current vehicle motion state and the current driving mode on the vehicle vibration, thereby improving the accuracy of the shock absorber parameter adjustment of the vehicle.

[0064] In some embodiments, the preset first weight is less than or equal to the preset second weight.

[0065] In some embodiments, the preset first weight and the preset second weight are both 0.5, and obtaining the shock absorber pre-adjustment parameter according to the preset first weight, the preset second weight, the first adjustment parameter and the second adjustment parameter comprises: obtaining the shock absorber pre-adjustment parameter according to an average value of the first adjustment parameter and the second adjustment parameter.

[0066] As a possible implementation, the preset initial shock absorber parameter comprises at least one of a stiffness coefficient and a damping coefficient.

[0067] That is, adjusting the stiffness coefficient or the damping coefficient can adjust the stiffness or the damping of the shock absorber, for example, increasing the stiffness coefficient can increase the stiffness of the shock absorber.

[0068] In some embodiments, the current vehicle motion state comprises a current driving mode, and the current driving mode comprises a sports mode, an off-road mode and an energy-saving mode. In step S12a or step S12b, adjusting the preset initial shock absorber parameter according to the current vehicle motion state to obtain the first adjustment parameter comprises:

[0069] If the current driving mode is the sports mode, the stiffness coefficient is adjusted to increase the stiffness of the shock absorber, or the damping coefficient is adjusted to increase the damping of the shock absorber; if the current driving mode is the energy-saving mode, the stiffness coefficient is not adjusted, or the damping coefficient is not adjusted; if the current driving mode is the off-road mode, the stiffness coefficient is adjusted to decrease the stiffness of the shock absorber, or the damping coefficient is adjusted to decrease the damping of the shock absorber.

[0070] In some embodiments, the current vehicle motion state comprises a current acceleration, and the current acceleration comprises a positive acceleration and a negative acceleration. In step S12a or step S12b, adjusting the preset initial shock absorber parameter according to the current vehicle motion state to obtain the first adjustment parameter comprises:

[0071] If the current acceleration is the positive acceleration, the stiffness coefficient is adjusted to decrease the stiffness of the shock absorber, or the damping coefficient is adjusted to decrease the damping of the shock absorber; if the current acceleration is the negative acceleration, the stiffness coefficient is adjusted to increase the stiffness of the shock absorber, or the damping coefficient is adjusted to increase the damping of the shock absorber.

[0072] In some embodiments, the current vehicle motion state comprises a current wheel speed difference, and the current wheel speed difference comprises a single wheel speed difference and an opposite wheel speed difference. In step S12a or step S12b, adjusting the preset initial shock absorber parameter according to the current vehicle motion state to obtain the first adjustment parameter comprises:

[0073] If the single wheel speed difference is positive, the stiffness coefficient is adjusted to reduce the shock absorber stiffness of the wheel corresponding to the single wheel speed difference, or the damping coefficient is adjusted to reduce the shock absorber damping of the wheel corresponding to the single wheel speed difference; if the single wheel speed difference is negative, the stiffness coefficient is adjusted to increase the shock absorber stiffness of the wheel corresponding to the single wheel speed difference, or the damping coefficient is adjusted to increase the shock absorber damping of the wheel corresponding to the single wheel speed difference.

[0074] Or, if there is a contralateral wheel speed difference, the stiffness coefficients of the two wheels corresponding to the contralateral wheel speed difference are adjusted to reduce the stiffness of the first shock absorber and increase the stiffness of the second shock absorber, or the damping coefficients of the two wheels corresponding to the contralateral wheel speed difference are adjusted to reduce the damping of the first shock absorber and increase the damping of the second shock absorber. Wherein, the first shock absorber is the shock absorber on the side of the wheel with faster speed of the two wheels close to the other wheel, and the second shock absorber is the shock absorber on the side of the wheel with slower speed of the two wheels close to the other wheel.

[0075] It should be noted that the value of the single wheel speed difference can be compared with the average value of the four wheel speed differences, and the single wheel speed difference is greater than the average value of the four wheel speed differences, and the single wheel speed difference is greater than the average value of the four wheel speed differences, and the single wheel speed difference is greater than the average value of the four wheel speed differences.

[0076] As a possible implementation manner, the current drive mode includes two-wheel drive mode and four-wheel drive mode, and the preset initial shock absorber parameter or the first adjustment parameter includes the stiffness coefficient and the damping coefficient.

[0077] In step S12a, the first adjustment parameter is adjusted according to the current drive mode, including: if the current drive mode is two-wheel drive mode, the stiffness coefficient is adjusted to increase the shock absorber stiffness corresponding to the first adjustment parameter, or the damping coefficient is adjusted to increase the shock absorber damping corresponding to the first adjustment parameter.

[0078] If the current drive mode is four-wheel drive mode, the stiffness coefficient is adjusted to reduce the shock absorber stiffness corresponding to the first adjustment parameter, or the damping coefficient is adjusted to reduce the shock absorber damping corresponding to the first adjustment parameter.

[0079] That is, the two-wheel drive mode and the four-wheel drive mode are common drive modes of the vehicle, and because the vehicle is relatively stable in the two-wheel drive mode, the stiffness and damping of the shock absorber are increased in the two-wheel drive mode, so that the shock absorber coefficient is adapted to the vibration condition of the current vehicle. Because the vehicle is relatively bumpy in the four-wheel drive mode, the stiffness and damping of the shock absorber are reduced in the four-wheel drive mode, so that the shock absorber coefficient is adapted to the vibration condition of the current vehicle.

[0080] In the embodiments of the present application, in addition to adjusting the first adjustment parameter according to the current drive mode, the preset initial shock absorber parameter can also be adjusted according to the current drive mode, as follows:

[0081] In step S12b, the preset initial shock absorber parameter is adjusted according to the current driving mode, including: if the current driving mode is two-wheel drive mode, the stiffness coefficient is adjusted to increase the shock absorber stiffness corresponding to the preset initial shock absorber parameter, or the damping coefficient is adjusted to increase the shock absorber damping corresponding to the preset initial shock absorber parameter;

[0082] If the current driving mode is four-wheel drive mode, the stiffness coefficient is adjusted to decrease the shock absorber stiffness corresponding to the preset initial shock absorber parameter, or the damping coefficient is adjusted to decrease the shock absorber damping corresponding to the preset initial shock absorber parameter.

[0083] In the embodiment of the present application, in order to reduce the calculation amount, the historical vehicle motion state, the historical driving mode and the corresponding historical shock absorber pre-adjustment parameter can be called, and the historical shock absorber pre-adjustment parameter corresponding to the historical vehicle motion state and the historical driving mode matched with the current vehicle motion state and the current driving mode is taken as the shock absorber pre-adjustment parameter. The following will be described.

[0084] As a possible implementation manner, before obtaining the shock absorber pre-adjustment parameter according to the current vehicle motion state and the current driving mode, the method further includes: obtaining a mapping relationship, the mapping relationship including the corresponding relationship among the historical vehicle motion state, the historical driving mode and the historical shock absorber pre-adjustment parameter.

[0085] Adjusting the preset initial shock absorber parameter according to the current vehicle motion state and the current driving mode to obtain the shock absorber pre-adjustment parameter includes:

[0086] Step S12c: if there is no historical vehicle motion state and historical driving mode matched with the current vehicle motion state and the current driving mode in the mapping relationship, the preset initial shock absorber parameter is adjusted according to the current vehicle motion state and the current driving mode to obtain the shock absorber pre-adjustment parameter.

[0087] That is, because the adjustment amount of the preset shock absorber parameter is the same under the same vehicle motion state and driving mode, the preset shock absorber parameter corresponding to the same vehicle motion state and driving mode is the same. Thus, if the current vehicle motion state, the current driving mode, and the historical vehicle motion state and the historical driving mode all match, the preset shock absorber parameter corresponding to the current vehicle motion state and the current driving mode is the same as the preset shock absorber parameter corresponding to the historical vehicle motion state and the historical driving mode. Before obtaining the preset shock absorber parameter according to the current vehicle motion state and the current driving mode, the mapping relationship is obtained first, and when there is no historical vehicle motion state and historical driving mode in the mapping relationship that matches both the current vehicle motion state and the current driving mode, it indicates that the current vehicle motion state and the current driving mode are first appeared, and then the preset initial shock absorber parameter is adjusted according to the current vehicle motion state and the current driving mode, so as to reduce the calculation amount.

[0088] It should be noted that the meaning of "matching" in the matching of the current vehicle motion state and the historical vehicle motion state and the matching of the current driving mode and the historical driving mode can be that the two are the same, or that the difference between the two is within the preset mapping relationship threshold.

[0089] In some embodiments, obtaining the mapping relationship includes obtaining the historical vehicle motion state and the historical driving mode that are closest to the current vehicle motion state and the current driving mode according to the current vehicle motion state and the current driving mode.

[0090] In some embodiments, when obtaining the mapping relationship includes obtaining the historical vehicle motion state and the historical driving mode that are closest to the current vehicle motion state and the current driving mode according to the current vehicle motion state and the current driving mode, if there is no historical vehicle motion state and historical driving mode in the mapping relationship that matches both the current vehicle motion state and the current driving mode, it includes: if the historical vehicle motion state and the historical driving mode that are closest to the current vehicle motion state and the current driving mode are greater than the preset mapping relationship threshold, there is no historical vehicle motion state and historical driving mode in the mapping relationship that matches both the current vehicle motion state and the current driving mode.

[0091] Step S12d: If there is a historical vehicle motion state and a historical driving mode in the mapping relationship that matches both the current vehicle motion state and the current driving mode, the historical shock absorber pre-adjustment parameter corresponding to the matched historical vehicle motion state and historical driving mode in the mapping relationship is obtained as the shock absorber pre-adjustment parameter.

[0092] That is, if there are historical vehicle motion states and historical driving modes in the mapping relationship that match both the current vehicle motion state and the current driving mode, the historical shock absorber pre-adjustment parameters corresponding to the matched historical vehicle motion states and historical driving modes can be directly used as the shock absorber pre-adjustment parameters, thereby reducing the amount of calculation.

[0093] In some embodiments, when obtaining the mapping relationship includes obtaining the historical vehicle motion state and historical driving mode with the smallest difference from the current vehicle motion state and the current driving mode based on the current vehicle motion state and the current driving mode, in step S403b, if the mapping relationship contains historical vehicle motion states and historical driving modes that match both the current vehicle motion state and the current driving mode, it includes: if the historical vehicle motion state and historical driving mode with the smallest difference from the current vehicle motion state and the current driving mode is not greater than a preset mapping relationship threshold, then the mapping relationship contains historical vehicle motion states and historical driving modes that match both the current vehicle motion state and the current driving mode.

[0094] It should be noted that, since the mapping relationship can only contain historical vehicle motion states and historical driving modes that match both the current vehicle motion state and the current driving mode, or there is no historical vehicle motion state and historical driving mode that matches both the current vehicle motion state and the current driving mode, only one of step S12c and step S12d needs to be executed.

[0095] Step S103: adjusting the shock absorber parameters of the current vehicle according to the shock absorber pre-adjustment parameters.

[0096] That is, because the shock absorber pre-adjustment parameters are obtained by adjusting the preset initial shock absorber parameters based on the current vehicle motion state and current driving mode, the shock absorber pre-adjustment parameters are adapted to the current vehicle vibration conditions. The unadjusted shock absorber parameters of the current vehicle are obtained by adjusting the historical shock absorber pre-adjustment parameters, and therefore, the unadjusted shock absorber parameters of the current vehicle are adapted to the historical vehicle vibration conditions. Thus, adjusting the shock absorber parameters of the current vehicle based on the shock absorber pre-adjustment parameters can adapt the shock absorber parameters of the current vehicle to the current vehicle vibration conditions.

[0097] As a possible implementation method, adjusting the shock absorber parameters of the current vehicle according to the shock absorber pre-adjustment parameters includes: Step S131a: If the difference between the shock absorber pre-adjustment parameters and the current shock absorber parameters is not within a preset range, adjusting the shock absorber parameters of the current vehicle according to the shock absorber pre-adjustment parameters.

[0098] That is, if the difference between the shock absorber pre-adjustment parameter and the current shock absorber parameter is not within the preset range, it indicates that the difference between the shock absorber pre-adjustment parameter and the current shock absorber parameter is large, and thus the shock absorber parameter of the current vehicle needs to be adjusted according to the shock absorber pre-adjustment parameter to adapt the shock absorber parameter of the current vehicle to the vibration condition of the current vehicle, thereby improving the comfort performance of the personnel in the vehicle and the safety of the vehicle.

[0099] It should be noted that the preset range should be the difference range of the shock absorber parameter that cannot be perceived by the personnel in the vehicle, and the preset range can be obtained by taking an empirical value according to multiple experiments, or can be set by the user. For example, the shock absorber parameter of the vehicle includes stiffness, and the preset range threshold of the stiffness is between 5-6 N / mm, and thus the preset range can be 0.5-0.6 N / mm.

[0100] In some embodiments, the difference between the shock absorber pre-adjustment parameter and the current shock absorber parameter can be the absolute value of the difference between the shock absorber pre-adjustment parameter and the current shock absorber parameter, or the ratio of the shock absorber pre-adjustment parameter to the current shock absorber parameter, etc.

[0101] As a possible implementation manner, the method further includes:

[0102] Step S131b: If the difference between the shock absorber pre-adjustment parameter and the current shock absorber parameter is within the preset range, the shock absorber parameter of the current vehicle is not adjusted.

[0103] That is, if the difference between the shock absorber pre-adjustment parameter and the current shock absorber parameter is within the preset range, it indicates that the difference between the shock absorber pre-adjustment parameter and the current shock absorber parameter is small, and thus even if the shock absorber parameter of the current vehicle is not adjusted, the influence on the comfort performance of the personnel in the vehicle and the safety of the vehicle is small, and thus to reduce the calculation amount, the shock absorber parameter of the current vehicle can not be adjusted.

[0104] It should be noted that since the difference between the shock absorber pre-adjustment parameter and the current shock absorber parameter can only be within the preset range or not within the preset range, the step S131a and the step S131b only need to be executed one of them.

[0105] As a possible implementation manner, after the step S102, or after the step S103, the method further includes:

[0106] Updating the mapping relationship according to the current vehicle motion state, the current driving mode, and the shock absorber pre-adjustment parameter.

[0107] That is, the current vehicle motion state, the current driving mode, and the shock absorber pre-adjustment parameter are updated as the historical vehicle motion state, the historical driving mode, and the historical shock absorber pre-adjustment parameter, and the historical vehicle motion state, the historical driving mode, the historical shock absorber pre-adjustment parameter and the corresponding relationship among the three are saved in the mapping relationship, so that when the mapping relationship is obtained subsequently, the mapping relationship among the current vehicle motion state, the current driving mode and the shock absorber pre-adjustment parameter can be obtained.

[0108] Corresponding to the above-mentioned embodiments, the application further provides an electronic device. Figure 6 A structural schematic diagram of an electronic device provided by the embodiment of the application is shown in the figure. The electronic device 700 is a component in a control system. For example, when the control system includes an electronic control unit, a sensor, and an actuator, the electronic device 700 is an electronic control unit in the control system. The electronic device 700 can include a processor 701, a memory 702, and a communication unit 703. These components communicate through one or more buses. Those skilled in the art can understand that the structure of the electronic device shown in the figure does not limit the embodiments of the application. It can be a bus structure, a star structure, or include more or fewer components, or combine certain components, or different component arrangements.

[0109] The communication unit 703 is configured to establish a communication channel, so that the electronic device can communicate with other devices. It receives user data sent by other devices or sends user data to other devices.

[0110] The processor 701 is the control center of the electronic device. It connects various parts of the electronic device through various interfaces and lines, executes or runs software programs and / or modules stored in the memory 702, and calls data stored in the memory, to perform various functions of the electronic device and / or process data. The processor can be composed of integrated circuits (ICs). For example, it can be composed of a single packaged IC, or multiple packaged ICs with the same function or different functions connected. For example, the processor 701 can only include a central processing unit (CPU). In the embodiments of the application, the CPU can be a single operation core or include multiple operation cores.

[0111] The memory 702 is configured to store execution instructions of the processor 701, and the memory 702 can be implemented by any type of volatile or nonvolatile storage device or combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0112] When the execution instructions in the memory 702 are executed by the processor 701, the electronic device 700 is enabled to perform Figure 1 part or all of the steps in the illustrated embodiments.

[0113] In specific implementations, the present application further provides a computer storage medium, wherein the computer storage medium can store a program, and the program can include part or all of the steps in each embodiment of the method for adjusting the shock absorber of the all-terrain vehicle provided by the present application when executed. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0114] Those skilled in the art can clearly understand that the technologies in the embodiments of the present application can be realized by means of software and necessary general hardware platforms. Based on such understanding, the technical solutions in the embodiments of the present application can be embodied in the form of a software product, which can be stored in a storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in the various embodiments or some parts of the embodiments of the present application.

[0115] The same or similar parts among the various embodiments in the present specification can be referred to each other. In particular, for the device embodiments and the terminal embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description in the method embodiments.

Claims

1. A method of adjusting a shock absorber of an all-terrain vehicle, characterized by, The method comprises the following steps: acquiring a current vehicle motion state and a current driving mode; adjusting a preset initial shock absorber parameter according to the current vehicle motion state and the current driving mode to obtain a shock absorber pre-adjustment parameter, the current vehicle motion state comprising at least one of a current driving mode, a current vehicle acceleration and a current wheel speed difference, and the current driving mode comprising a two-wheel drive mode and a four-wheel drive mode; adjusting a current vehicle shock absorber parameter according to the shock absorber pre-adjustment parameter.

2. The method of claim 1, wherein, The adjusting of the current vehicle shock absorber parameter according to the shock absorber pre-adjustment parameter comprises: if a difference degree of the shock absorber pre-adjustment parameter and a current shock absorber parameter is not within a preset range, adjusting the current vehicle shock absorber parameter according to the shock absorber pre-adjustment parameter; or, if the difference degree of the shock absorber pre-adjustment parameter and the current shock absorber parameter is within the preset range, not adjusting the current vehicle shock absorber parameter.

3. The method of claim 1, wherein, The adjusting of the preset initial shock absorber parameter according to the current vehicle motion state to obtain a first adjustment parameter, the first adjustment parameter being an adjustment parameter adapted to the current vehicle motion state; adjusting the first adjustment parameter according to the current driving mode to obtain the shock absorber pre-adjustment parameter; or, adjusting the preset initial shock absorber parameter according to the current vehicle motion state to obtain a first adjustment parameter, the first adjustment parameter being an adjustment parameter adapted to the current vehicle motion state; adjusting the preset initial shock absorber parameter according to the current driving mode to obtain a second adjustment parameter, the second adjustment parameter being an adjustment parameter adapted to the current driving mode; obtaining the shock absorber pre-adjustment parameter based on the first adjustment parameter and the second adjustment parameter. The obtaining of the shock absorber pre-adjustment parameter based on the first adjustment parameter and the second adjustment parameter comprises:

4. The method of claim 3, wherein, acquiring a preset first weight corresponding to the current vehicle motion state and a preset second weight corresponding to the current driving mode; obtaining the shock absorber pre-adjustment parameter according to the preset first weight, the preset second weight, the first adjustment parameter and the second adjustment parameter. The current driving mode comprises a two-wheel drive mode and a four-wheel drive mode, and the preset initial shock absorber parameter or the first adjustment parameter comprises a stiffness coefficient and a damping coefficient; 5. The method according to claim 3 or 4, characterized in that, The adjusting of the first adjustment parameter according to the current driving mode comprises: if the current driving mode is the two-wheel drive mode, adjusting the stiffness coefficient to increase a shock absorber stiffness corresponding to the first adjustment parameter, or adjusting the damping coefficient to increase a shock absorber damping corresponding to the first adjustment parameter; if the current driving mode is the four-wheel drive mode, adjusting the stiffness coefficient to decrease the shock absorber stiffness corresponding to the first adjustment parameter, or adjusting the damping coefficient to decrease the shock absorber damping corresponding to the first adjustment parameter; ​ Or, the preset initial shock absorber parameter is adjusted according to the current driving mode, including: if the current driving mode is two-wheel drive mode, the stiffness coefficient is adjusted to increase the shock absorber stiffness corresponding to the preset initial shock absorber parameter, or the damping coefficient is adjusted to increase the shock absorber damping corresponding to the preset initial shock absorber parameter. If the current driving mode is four-wheel drive mode, the stiffness coefficient is adjusted to reduce the shock absorber stiffness corresponding to the preset initial shock absorber parameter, or the damping coefficient is adjusted to reduce the shock absorber damping corresponding to the preset initial shock absorber parameter.

6. The method of claim 1, wherein, Before the shock absorber pre-adjustment parameter is obtained according to the current vehicle motion state and the current driving mode, the method further comprises: Obtain a mapping relationship, the mapping relationship comprising a corresponding relationship among historical vehicle motion states, historical driving modes and historical shock absorber pre-adjustment parameters; The preset initial shock absorber parameter is adjusted according to the current vehicle motion state and the current driving mode to obtain the shock absorber pre-adjustment parameter, including: If there is no historical vehicle motion state and historical driving mode in the mapping relationship that matches the current vehicle motion state and the current driving mode, the preset initial shock absorber parameter is adjusted according to the current vehicle motion state and the current driving mode to obtain the shock absorber pre-adjustment parameter. Or, if there is a historical vehicle motion state and a historical driving mode in the mapping relationship that matches the current vehicle motion state and the current driving mode, the historical shock absorber pre-adjustment parameter corresponding to the matched historical vehicle motion state and historical driving mode in the mapping relationship is obtained as the shock absorber pre-adjustment parameter.

7. An all-terrain vehicle characterized by, Comprise: A vehicle frame; A suspension assembly connected with the vehicle frame, the suspension assembly comprising a shock absorber; A walking assembly connected with the vehicle frame through the suspension assembly; A power system at least partially arranged on the vehicle frame, the power system being in transmission connection with the walking assembly; A control system for controlling the shock absorber, the control system executing the method of any one of claims 1-6.

8. An electronic device, comprising: A memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the electronic device is triggered to execute the method of any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium comprises a stored program, wherein when the program runs, the device where the computer readable storage medium is located executes the method of any one of claims 1-6.

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