Control system, suspension control method, controller, medium, product and vehicle

Abstract

According to the control system, the suspension control method, the controller, the medium, the product and the vehicle, the suspension is controlled to reach the target height through the height adjusting main power actuator, the suspension is maintained at the target height through the height maintaining main power actuator, and the comfort of a user can be improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a control system, suspension control method, controller, medium, product and vehicle. Background Technology

[0002] The suspension system is an important component of the vehicle chassis system. Its main function is to transmit all forces and torques between the wheels and the frame or body, suppress the impact of the road surface on the vehicle body and buffer vibrations, and ensure that the wheels have ideal motion characteristics when the road surface is uneven and the load changes.

[0003] Currently, vehicle suspension is usually adjusted by shifting gears, which can lead to poor user comfort during suspension adjustment. Summary of the Invention

[0004] This application provides a control system that can improve user comfort during suspension adjustment, thereby at least partially solving the above-mentioned technical problems.

[0005] To achieve the above objectives, according to a first aspect of this application, a control system is provided for use in a vehicle, the control system comprising at least one height adjustment active force actuator and a height maintenance active force actuator, the height adjustment active force actuator being used to control the suspension to reach a target height, and the height maintenance active force actuator being used to maintain the suspension at the target height.

[0006] Optionally, the height adjustment active force actuator includes a first active force actuator, and the height maintenance active force actuator includes a second active force actuator.

[0007] Optionally, the height adjustment active force actuator includes a first active force actuator and a second active force actuator, and the height maintenance active force actuator includes the second active force actuator.

[0008] Optionally, the vehicle includes vehicle wheels and a vehicle body, and the at least one height adjustment drive actuator and the height maintenance drive actuator are disposed between the vehicle wheels and the vehicle body.

[0009] Optionally, the first active power actuator is used to control the suspension to reach the target height according to a first control force, the first control force being determined based on the actual height of the suspension during the height adjustment process.

[0010] According to a second aspect of this application, a suspension control method is provided, applied to a control system, the method comprising:

[0011] The suspension is controlled to reach the target height via a height adjustment actuator.

[0012] The suspension is maintained at the target height by a height-maintaining active force actuator.

[0013] Optionally, the height adjustment active force actuator includes a first active force actuator, and the height maintenance active force actuator includes a second active force actuator.

[0014] Optionally, controlling the suspension to reach the target height via the first active power actuator includes:

[0015] Based on the actual height of the suspension during the height adjustment process, the first control force required by the first active force actuator to control the suspension is determined.

[0016] The suspension is controlled to reach the target height by the first active power actuator based on the first control force.

[0017] Optionally, determining the first control force required for the first active force actuator to control the suspension based on the actual height of the suspension during the height adjustment process includes:

[0018] Based on the actual height and target speed of the suspension during the height adjustment process, the first control force required by the first active force actuator to control the suspension is determined.

[0019] Optionally, determining the first control force required for the first active force actuator to control the suspension based on the actual height and target speed of the suspension during height adjustment includes:

[0020] The actual speed of the suspension during the height adjustment process is determined based on the actual height of the suspension during the height adjustment process.

[0021] Based on the actual speed and the target speed, the first control force required for the first active force actuator to control the suspension is determined.

[0022] Optionally, during the process of adjusting the height of the suspension based on the first control force, the method further includes:

[0023] If the current speed of the suspension meets a preset speed condition with respect to the target speed, the first control force is updated to adjust the rate at which the suspension rises.

[0024] Optionally, if the preset rate condition includes the suspension's current rate being greater than the target rate, the rate at which the suspension rises decreases; if the preset rate condition includes the suspension's current rate being less than the target rate, the rate at which the suspension rises increases.

[0025] Optionally, the height adjustment active force actuator includes a first active force actuator and a second active force actuator, and the height maintenance active force actuator includes the second active force actuator.

[0026] Optionally, the suspension is controlled to reach the target height via a first active force actuator and a second active force actuator, including:

[0027] The suspension is controlled by the first active force actuator based on a first control force, and the suspension is controlled by the second active force actuator based on a second control force at a fixed rate, so that the suspension can be controlled to reach the target height by the first active force actuator and the second active force actuator together.

[0028] Optionally, the step of controlling the suspension at a fixed rate based on the second control force using the second active force actuator precedes the step of controlling the suspension based on the first control force using the first active force actuator; or, the step of controlling the suspension at a fixed rate based on the second control force using the second active force actuator and the step of controlling the suspension based on the first control force using the first active force actuator are performed simultaneously.

[0029] Optionally, maintaining the suspension at the target height via a second active power actuator includes:

[0030] If the second control force of the second active force actuator does not reach the control force threshold, the suspension is controlled by the second active force actuator to continue to rise until it remains unchanged when the second control force reaches the control threshold.

[0031] According to the third control force, the first active force actuator is controlled to perform a retraction operation so that the suspension is maintained at the target height.

[0032] Optionally, the process of determining the third control force includes:

[0033] The actual height of the suspension is collected;

[0034] The third control force is determined based on the target height of the suspension and the actual height.

[0035] Optionally, the method further includes:

[0036] When the third control force is less than a preset force threshold, the first active force actuator is turned off.

[0037] Optionally, controlling the suspension to reach the target height via the height adjustment active force actuator includes:

[0038] When both the height adjustment actuator and the height maintenance actuator meet preset conditions, the suspension is controlled to reach the target height by means of the height adjustment actuator.

[0039] Optionally, the preset conditions include the height adjustment active force actuator and the height maintenance active force actuator being in an executable state.

[0040] Optionally, the method further includes:

[0041] If it is determined that the height adjustment active force actuator is not faulty and / or not suppressed, the height adjustment active force actuator is determined to be in an executable state;

[0042] If it is determined that the height maintenance active force actuator is not faulty and / or not suppressed, the height maintenance active force actuator is determined to be in an executable state.

[0043] Optionally, the height adjustment active force actuator includes a first active force actuator, the height maintenance active force actuator includes a second active force actuator, and the method further includes:

[0044] If the first active power actuator does not meet the preset conditions, the suspension is controlled by the second active power actuator; or, if the second active power actuator does not meet the preset conditions, the control of the suspension by the first and second active power actuators is stopped.

[0045] Optionally, during the process of controlling the suspension via the first active force actuator, the method further includes:

[0046] If the first active force actuator does not meet the preset conditions, the first active force actuator is controlled to perform a force reduction operation, maintain the control force of the first active force actuator unchanged, or generate a control force to maintain the stability of the suspension.

[0047] Optionally, the fault includes a low-level fault or a high-level fault, and the step of retracting the force or maintaining the control force of the first active force actuator unchanged is performed when the first active force actuator has a low-level fault and / or is not suppressed.

[0048] The step of controlling the first active force actuator to generate a control force to maintain the stability of the suspension is performed in the event of an advanced fault in the first active force actuator.

[0049] Optionally, during the process of controlling the suspension, the method further includes:

[0050] If neither the height adjustment active force actuator nor the height maintenance active force actuator meets the preset conditions and has not entered the height maintenance stage, the height adjustment active force actuator is controlled to perform a retraction operation.

[0051] If neither the height adjustment actuator nor the height maintenance actuator meets the preset conditions and enters the height maintenance phase, the height adjustment actuator is controlled to perform a retraction operation, and the control force of the height maintenance actuator is controlled to remain unchanged.

[0052] According to a third aspect of this application, a suspension control device is provided, the device comprising:

[0053] The height adjustment module is used to control the suspension to reach the target height via the height adjustment drive actuator;

[0054] A height-maintaining module is used to maintain the suspension at the target height via a height-maintaining active force actuator.

[0055] According to a fourth aspect of this application, a controller is provided, including one or more processors and a memory, wherein the memory stores a computer program that, when executed by the processor, causes the processor to perform any of the suspension control methods provided in the embodiments of this application.

[0056] According to a fifth aspect of this application, a computer-readable storage medium is provided, including a computer program that, when run on a controller, causes the controller to perform any of the suspension control methods provided in the embodiments of this application.

[0057] According to a sixth aspect of this application, a computer program product is provided, including a computer program or instructions, which, when executed by a processor, implement any of the suspension control methods provided in the embodiments of this application.

[0058] According to a seventh aspect of this application, a vehicle is provided, the vehicle including a controller.

[0059] The advantage of this application is that by controlling the suspension height of the vehicle with at least two active force actuators, the user's comfort during suspension adjustment can be improved.

[0060] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0061] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0062] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0063] Figure 1 This is a schematic diagram of a control system provided in an embodiment of this application;

[0064] Figure 2 This is a flowchart of a suspension control method provided in an embodiment of this application;

[0065] Figure 3 This is a schematic diagram of a rate adjustment interface provided in an embodiment of this application;

[0066] Figure 4 This is a schematic diagram illustrating the calculation of the first control force using a PID algorithm according to an embodiment of this application;

[0067] Figure 5 This is a schematic diagram illustrating the calculation of the third control force using a PID algorithm according to an embodiment of this application;

[0068] Figure 6 This is a schematic diagram of suspension height variation provided in one embodiment of this application;

[0069] Figure 7 This is a schematic diagram of the control force change of a first active power actuator provided in an embodiment of this application;

[0070] Figure 8 This is a schematic diagram of the control force change of a second active force actuator provided in an embodiment of this application;

[0071] Figure 9 This is a schematic diagram of the control force change of the second active force actuator provided in another embodiment of this application;

[0072] Figure 10 This is a schematic diagram illustrating suspension control via different speeds according to an embodiment of this application;

[0073] Figure 11 This is a schematic diagram illustrating the change in control force of the first active force actuator under different speed conditions according to an embodiment of this application;

[0074] Figure 12 This is a schematic flowchart of another suspension control method provided in an embodiment of this application;

[0075] Figure 13 This is a schematic diagram of the suspension control device provided in the embodiments of this application;

[0076] Figure 14 This is a schematic diagram of the structure of a controller provided in an embodiment of this application;

[0077] Figure 15 This is a schematic diagram of the architecture of a vehicle provided in an embodiment of this application. Detailed Implementation

[0078] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0079] Furthermore, in the embodiments of this application, "multiple" refers to two or more. The terms "first" and "second," etc., in the embodiments of this application are used for distinguishing descriptions and should not be construed as implying relative importance.

[0080] The following sections provide detailed descriptions of each example. It should be noted that the order in which the embodiments are described is not intended to limit the preferred order of the embodiments.

[0081] Please see Figure 1 , Figure 1 This is a schematic diagram of a control system provided in one embodiment of this application. The control system is applied to a vehicle and includes at least one height adjustment active force actuator and a height maintenance active force actuator. The height adjustment active force actuator is used to control the suspension to reach a target height, and the height maintenance active force actuator is used to maintain the suspension at the target height. It is understood that... Figure 1 The diagram illustrates a control system comprising two types of active power actuators (height adjustment active power actuator and height maintenance active power actuator). This application embodiment does not limit the number of active power actuators included in the control system. In some embodiments, the vehicle may be a vehicle, the height adjustment active power actuator is used to control the raising and lowering of the vehicle's suspension, and the height maintenance active power actuator is used to maintain the vehicle's suspension at a preset height.

[0082] The control system also includes an ECU (electronic control unit), which can control the height adjustment actuator and the height maintenance actuator to control the vehicle's suspension height.

[0083] In some embodiments, the vehicle includes vehicle wheels and a vehicle body, and the at least one height adjustment active force actuator and the height maintenance active force actuator are disposed between the vehicle wheels and the vehicle body. Taking a vehicle as an example, the vehicle wheels can be the vehicle's wheels, the vehicle body can be the vehicle body, and the height adjustment active force actuator and the height maintenance active force actuator are disposed between the wheels and the vehicle body. When the vehicle encounters a bump in the road surface while driving, the height adjustment active force actuator can control the suspension to rise to prevent the bump from damaging the vehicle.

[0084] In some embodiments, the vehicle also includes springs and dampers. Compression and / or tension springs generate spring stiffness. Higher spring stiffness can lead to greater vehicle body vibration, affecting ride comfort, while lower spring stiffness can make the vehicle body too soft, affecting vehicle stability. Dampers are used to generate damping, converting the mechanical energy of spring vibration into heat energy, thereby reducing vehicle body vibration and improving vehicle ride comfort and handling stability.

[0085] In some embodiments, the height adjustment active force actuator includes a first active force actuator, and the height maintenance active force actuator includes a second active force actuator.

[0086] In this embodiment, the first active force actuator can be a fast active force actuator, and the second active force actuator can be a slow active force actuator. The fast active force output by the fast active force actuator can be controlled in real time, and the rate of suspension rise can be adjusted through the fast active force actuator. However, after the fast active force is released, the suspension height maintenance function cannot be completed, and the suspension height will return to the initial height. The slow active force actuator slowly adjusts the suspension height, and the adjustment rate is relatively fixed. It cannot adjust the suspension height at the rate most comfortable for the human body. Typical slow active force actuators include air actuators and hydraulic actuators. Taking an air actuator as an example, it inflates at a certain rate, generating control force to control the suspension rise. After closing the air inlet and outlet valves, the suspension can be maintained at a certain height.

[0087] The suspension height can be adjusted at a comfortable rate by using a first active power actuator to control the suspension height. A second active power actuator maintains the suspension height; by controlling the relevant valves of the second active power actuator, no further energy supply is needed to keep the suspension at the target height.

[0088] In some embodiments, the height adjustment active force actuator includes a first active force actuator and a second active force actuator, and the height maintenance active force actuator includes a second active force actuator.

[0089] Specifically, during the suspension height adjustment phase, a fast active force can be output by the first active force actuator and a slow active force can be output by the second active force actuator. The fast and slow active forces work together to control the suspension to reach the target height.

[0090] In some embodiments, the first active power actuator is used to control the suspension to reach the target height according to a first control force, the first control force being determined based on the actual height of the suspension during the height adjustment process.

[0091] In this embodiment, the actual speed of the suspension can be determined based on the actual height of the suspension during the height adjustment process. Based on the actual speed, a first control force is determined by a preset algorithm, and the first active force actuator is controlled to control the suspension to rise to the target height with the first control force.

[0092] The control system provided in this application controls the height of the vehicle's suspension through at least two types of active force actuators, which can improve user comfort during suspension adjustment.

[0093] like Figure 2 As shown, Figure 2 This is a flowchart illustrating a suspension control method provided in an embodiment of this application. The suspension control method includes:

[0094] Step S201: Control the suspension to reach the target height using the height adjustment active force actuator;

[0095] Step S202: The suspension is maintained at the target height by means of the height maintaining active force actuator.

[0096] In some embodiments, the vehicle may be a car. When the road surface is uneven or there is gravel on the road surface, it is necessary to control the vehicle's suspension to rise in order to prevent road bumps or flying gravel from hitting the vehicle.

[0097] In some embodiments, the height adjustment active force actuator includes a first active force actuator, and the height maintenance active force actuator includes a second active force actuator.

[0098] Specifically, the first active force actuator can be a fast active force actuator, and the second active force actuator can be a slow active force actuator. During the suspension lifting process controlled by the fast active force actuator, the control force of the fast active force actuator can be adjusted in real time, thereby making the suspension lifting rate adjustable and improving user comfort. The slow active force actuator maintains the suspension height; after controlling the relevant valves of the second active force actuator, no further energy supply is needed to maintain the suspension at the target height.

[0099] In some embodiments, controlling the suspension to reach a target height via the first active force actuator includes: determining a first control force required by the first active force actuator to control the suspension based on the actual height of the suspension during the height adjustment process; and controlling the suspension to reach the target height via the first active force actuator based on the first control force.

[0100] Specifically, the target height is the height after the vehicle suspension is adjusted. This application does not limit the process of determining the target height. The target height can be determined by the user based on road conditions, or it can be calculated by the vehicle actuators using road condition information collected by vehicle sensors.

[0101] This application does not limit the numerical value corresponding to the target height; the target height will vary depending on the type of vehicle and the road conditions.

[0102] In some embodiments, determining the first control force required by the first active power actuator to control the suspension based on the actual height of the suspension during the height adjustment process includes: determining the first control force required by the first active power actuator to control the suspension based on the actual height of the suspension during the height adjustment process and the target speed.

[0103] Specifically, the target rate is the rate at which the user feels comfortable during suspension rise and / or fall, and this target rate can be user-defined. Different users may experience different levels of comfort at different rates; by allowing the user to determine the target rate, user comfort during suspension adjustment can be improved.

[0104] like Figure 3 The diagram shown is a schematic of a speed adjustment interface provided in an embodiment of this application. The interface includes three speed adjustment methods: gear adjustment, up and down button adjustment, and pull adjustment.

[0105] The adjustment area corresponding to the gear adjustment mode is located in the upper left corner of the interface. There are three gears: H is the high-speed adjustment gear, N is the normal speed adjustment gear, and L is the low-speed adjustment gear. By selecting the corresponding gear, the adjustment rate of the corresponding gear is used as the target rate.

[0106] The adjustment area corresponding to the up and down buttons is located in the upper right corner of the interface. It includes the up button and the down button. When the user touches the up button, the speed will increase; when the user touches the down button, the speed will decrease.

[0107] The adjustment area corresponding to the drag-to-adjust method is located at the bottom of the interface. Users can adjust the speed by dragging the progress bar, and the speed corresponding to the end position of the progress bar is the target speed.

[0108] After determining the actual height of the suspension and the target speed, the first control force can be calculated, and the first active force actuator can be controlled to adjust the height of the suspension with the first control force.

[0109] The forces on the suspension satisfy the following conditions:

[0110]

[0111] Where m is the mass of the spring support, v is the actual speed of the suspension, h is the actual height of the suspension, C is the damping coefficient, K is the stiffness coefficient, and F is the damping coefficient. fast F is the control force of the first active actuator. slow The control force of the second active force actuator is used to adjust the actual speed of the suspension by controlling the control forces of both the first and second active force actuators. The control force of the second active force actuator increases slowly; therefore, the faster the control force of the first active force actuator changes, the greater the actual speed of the suspension. Thus, the first control force required by the first active force actuator can be calculated based on the actual suspension height and the target speed.

[0112] In some embodiments, determining the first control force required by the first active power actuator to control the suspension based on the actual height and target speed of the suspension includes: determining the actual speed of the suspension during the height adjustment process based on the actual height of the suspension during the height adjustment process; and determining the first control force required by the first active power actuator to control the suspension based on the actual speed and the target speed.

[0113] Specifically, the actual height of the suspension during height adjustment can be collected by a height sensor, and then the actual speed of the suspension during height adjustment can be determined by differentiating the actual height. The formula for calculating the actual speed is as follows:

[0114] v current =dh sensor / dt

[0115] Among them, v current h represents the actual speed of the suspension. sensor dh is the actual height of the suspension. sensor / dt is the derivative of the actual height of the suspension.

[0116] Based on the actual rate and the target rate, the first control force can be calculated using a preset algorithm, which may be a PID algorithm.

[0117] like Figure 4The diagram shown is a schematic diagram of calculating the first control force using a PID algorithm according to an embodiment of this application. After obtaining the actual speed of the suspension, the speed difference between the actual speed and the target speed is calculated. The speed difference is used as the control quantity, and the first control force is calculated using the PID algorithm.

[0118] The formula for calculating the first control force is:

[0119]

[0120] Among them, F target1 As the primary control force, e v For the rate difference, Kp is the differential of the rate difference, Ki is the proportional coefficient, Kd is the integral coefficient, and Kd is the differential coefficient.

[0121] In some embodiments, during the process of adjusting the height of the suspension based on the first control force, the method further includes: updating the first control force to adjust the rate at which the suspension rises, provided that a preset rate condition is met between the current rate of the suspension and the target rate.

[0122] Specifically, the first control force is not a constant force, but a changing force. It needs to be updated based on the relationship between the current speed of the suspension and the target speed, and the rate at which the suspension rises is adjusted by the updated first control force.

[0123] In some embodiments, when the preset rate condition includes the suspension's current rate being greater than the target rate, the rate at which the suspension rises decreases; when the preset rate condition includes the suspension's current rate being less than the target rate, the rate at which the suspension rises increases.

[0124] Specifically, if the current suspension speed is greater than the target speed, it is considered that the current speed is greater than the speed that the user is comfortable with, and the first control force needs to be updated. The updated control force reduces the rate at which the suspension rises. If the current suspension speed is less than the target speed, it is considered that the current speed is less than the speed that the user is comfortable with, and the first control force needs to be updated. The updated control force increases the rate at which the suspension rises.

[0125] In some embodiments, the height adjustment active force actuator includes a first active force actuator and a second active force actuator, and the height maintenance active force actuator includes a second active force actuator.

[0126] Specifically, during suspension height adjustment, the suspension height can be controlled by the control force output by the first active force actuator and the control force output by the second active force actuator. During the height maintenance phase, the suspension is maintained at the target height solely by the control force output by the second active force actuator.

[0127] In some embodiments, controlling the suspension to reach a target height via a first active force actuator and a second active force actuator includes: controlling the suspension based on a first control force via the first active force actuator, and controlling the suspension at a fixed rate based on a second control force via the second active force actuator, so that the suspension can be controlled to reach the target height together via the first active force actuator and the second active force actuator.

[0128] Specifically, the control force of the second active force actuator can slowly adjust the height of the suspension at a relatively fixed rate, while the control force of the first active force actuator can be adjusted in real time. The first and second active force actuators can work together to adjust the suspension height, providing greater flexibility.

[0129] In some embodiments, the step of controlling the suspension at a fixed rate based on a second control force using the second active force actuator precedes the step of controlling the suspension based on a first control force using the first active force actuator; or, the step of controlling the suspension at a fixed rate based on a second control force using the second active force actuator and the step of controlling the suspension based on a first control force using the first active force actuator are performed simultaneously.

[0130] Specifically, the control force of the second active force actuator can intervene at different points in the height adjustment. For example, the suspension height can be adjusted first by the control force of the second active force actuator, and then the suspension height can be adjusted by the control force of the first active force actuator; or the control force of the first active force actuator and the control force of the second active force actuator can be provided simultaneously to adjust the suspension height.

[0131] In the process of controlling the suspension rise solely by the first control force and in the process of controlling the suspension rise by both the first and second control forces, the calculation process for the first control force is the same.

[0132] In an alternative embodiment, the suspension height can be adjusted solely by the control force of the first active force actuator, with the control force of the second active force actuator intervening during the suspension height maintenance phase.

[0133] In some embodiments, after the suspension reaches a target height, maintaining the suspension at the target height via a second active force actuator includes: if the second control force of the second active force actuator does not reach a control force threshold, controlling the suspension to continue rising via the second active force actuator until it remains unchanged when the second control force reaches the control force threshold; and controlling the first active force actuator to perform a deceleration operation according to a third control force to maintain the suspension at the target height.

[0134] Specifically, the control force threshold is the control force required for the suspension to maintain the target height. The control force of the second active actuator increases slowly. After the suspension reaches the target height, if the control force of the second active actuator has not reached the control force threshold, the control force of the second active actuator needs to continue to increase, causing the suspension to continue to rise. At this time, the active actuator can perform a slow force reduction operation to return the suspension to the target height. Controlling the first active actuator to perform the force reduction operation at this stage also helps to avoid energy waste, because if the control force of the first active actuator is required to keep the suspension at the target height, the first active actuator needs to continuously provide force.

[0135] In some embodiments, the process of determining the third control force includes: acquiring the actual height of the suspension; and determining the third control force based on the target height of the suspension and the actual height.

[0136] Specifically, the actual height of the suspension at the current moment can be collected by a height sensor, a third control force can be calculated by a preset algorithm, and the first active force actuator can be controlled to perform a force reduction operation according to the third control force so that the suspension can be maintained at the target height. The preset algorithm can be a PID algorithm.

[0137] like Figure 5 The diagram shown is a schematic diagram of calculating the third control force using a PID algorithm according to an embodiment of this application. After obtaining the actual height of the suspension, the height difference between the actual height and the target height is calculated. The height difference is used as the control quantity, and the third control force is calculated using a PID algorithm.

[0138] The formula for calculating the third control force using the PID algorithm is:

[0139]

[0140] Among them, F target2 As the third control force, e h For the height difference, Kp is the differential of the height difference, Ki is the proportionality coefficient, and Kd is the integral coefficient.

[0141] In some embodiments, the method further includes: shutting down the first active force actuator when the third control force is less than a preset force threshold.

[0142] Specifically, during the retraction process, if the third control force output by the first active force actuator is less than the preset force threshold, it means that the third control force is relatively small and the first active force actuator can stop providing control force.

[0143] In some embodiments, after shutting down the first active force actuator, the method further includes: maintaining the control force of the second active force actuator unchanged.

[0144] Understandably, after the first active force actuator is closed, the suspension is maintained at the target height by the control force provided by the second active force actuator. This means that the control force provided by the second active force actuator has reached the control force threshold and there is no need to continue to increase the control force provided by the second active force actuator. The second active force actuator can be controlled to maintain the current control force unchanged. Taking the second active force actuator as an air actuator as an example, after the air inlet and outlet valves of the air actuator are closed, the control force it provides remains unchanged.

[0145] In some embodiments, controlling the suspension to reach a target height via the height adjustment active force actuator includes: controlling the suspension to reach the target height via the height adjustment active force actuator when both the height adjustment active force actuator and the height maintenance active force actuator meet preset conditions. The preset conditions include the height adjustment active force actuator and the height maintenance active force actuator being in an executable state.

[0146] Specifically, before controlling the suspension height, it is necessary to ensure that both the height adjustment active force actuator and the height maintenance active force actuator meet preset conditions. In this embodiment, the preset conditions include that both the height adjustment active force actuator and the height maintenance active force actuator are in an executable state. Only when they are in an executable state can the height adjustment active force actuator and the height maintenance active force actuator output control force to control the suspension height.

[0147] In some embodiments, the method further includes: determining that the height adjustment active force actuator is in an executable state if it is determined that the height adjustment active force actuator is not faulty and / or not suppressed; and determining that the height maintenance active force actuator is in an executable state if it is determined that the height maintenance active force actuator is not faulty and / or not suppressed.

[0148] Specifically, the height adjustment active force actuator being in an executable state means that it can respond to suspension adjustment requests and output control force to adjust the suspension height; the height maintenance active force actuator being in an executable state means that it can output control force to maintain the suspension at the target height. An active force actuator being in an executable state includes the absence of malfunctions and suppression. A malfunction refers to an abnormality in the active force actuator; suppression includes situations such as the active force actuator being controlled or power suppression, which renders the active force actuator unexecutable.

[0149] In some embodiments, the height adjustment active force actuator includes a first active force actuator, the height maintenance active force actuator includes a second active force actuator, and the method further includes: controlling the suspension through the second active force actuator when the first active force actuator does not meet the preset condition, or stopping the control of the suspension through the first active force actuator and the second active force actuator when the second active force actuator does not meet the preset condition.

[0150] Specifically, during the process of controlling the suspension height via the first and second active force actuators, it is monitored in real time whether the two active force actuators meet preset conditions. If the preset conditions are not met, the suspension height adjustment strategy is adjusted. For example, if the first active force actuator does not meet the preset conditions but the second active force actuator does, the suspension height can be controlled via the second active force actuator. If the second active force actuator does not meet the preset conditions but the first active force actuator does, since the first active force actuator needs to continuously consume energy to provide the first control force for height adjustment and maintenance, from an energy-saving perspective, the first active force actuator can be deactivated to stop controlling the suspension. Alternatively, a waiting time can be set, for example, waiting 3 seconds. If the first active force actuator still does not meet the preset conditions, then deactivation is performed. To ensure user comfort, the first active force actuator can be deactivated slowly. If the second active actuator does not meet the preset conditions, the suspension is controlled by the current control force of the second active actuator. Taking the second active actuator as an air actuator as an example, when the air actuator does not meet the preset conditions, the inlet and outlet valves of the air actuator are closed to keep the control force output by the air actuator unchanged. If the air actuator does not meet the preset conditions during the suspension height adjustment stage, the suspension is kept at the current height by the control force output by the air actuator (for example, if the target height is 10 cm and the current height is 6 cm, the suspension is kept at 6 cm until the second active actuator meets the preset conditions, and then the height adjustment continues). If the air actuator does not meet the preset conditions during the suspension height maintenance stage, the suspension is kept at the target height by the control force output by the air actuator.

[0151] In some embodiments, during the process of controlling the suspension through the first active force actuator, the method further includes: when the first active force actuator does not meet the preset conditions, controlling the first active force actuator to perform a force reduction operation, maintaining the control force of the first active force actuator unchanged, or controlling the first active force actuator to generate a control force to maintain the stability of the suspension.

[0152] Specifically, if the first active force actuator does not meet the preset conditions, it means that the first active force actuator is suppressed or has malfunctioned. The malfunction includes low-level malfunction or high-level malfunction, and the handling strategy is different in different cases.

[0153] In some embodiments, the step of retracting the force or maintaining the control force of the first active force actuator unchanged is performed when the first active force actuator has a low-level fault and / or is not suppressed; the step of controlling the first active force actuator to generate a control force to maintain the stability of the suspension is performed when the first active force actuator has a high-level fault.

[0154] When the first active power actuator malfunctions and / or is suppressed, it cannot be directly shut down to avoid causing the vehicle to lose control. The low-level faults may include abnormal temperature sensors, abnormal wheel speeds, etc. These are peripheral faults and do not affect the output of the control force. When the first active power actuator malfunctions and / or is suppressed, it can be controlled to slowly reduce its force or maintain the current control force.

[0155] Advanced faults include actuator failure, uncalibrated or malfunctioning height sensor, uncalibrated or malfunctioning IMU, etc. When an advanced fault occurs in the first active force actuator, it will affect its control of the suspension. In this case, the first active force actuator should be controlled first to generate control force to maintain the stability of the suspension in order to ensure the stability of the vehicle, and then the fault should be handled.

[0156] In some embodiments, during the process of controlling the suspension, the method further includes: when both the height adjustment active force actuator and the height maintenance active force actuator fail to meet preset conditions and have not entered the height maintenance phase, controlling the height adjustment active force actuator to perform a force reduction operation;

[0157] If neither the height adjustment actuator nor the height maintenance actuator meets the preset conditions and enters the height maintenance phase, the height adjustment actuator is controlled to perform a retraction operation, and the control force of the height maintenance actuator is controlled to remain unchanged.

[0158] Specifically, when neither the first active force actuator nor the second active force actuator meets the preset conditions and the suspension is still in the height adjustment stage, the control of the suspension to continue rising is stopped. At this time, the first active force actuator is controlled to perform a slow force reduction operation, and the second active force actuator is controlled to maintain the current control force so that the suspension is maintained at the current height.

[0159] When neither the first nor the second active force actuator meets the preset conditions, and the suspension is in the height maintenance phase, there are two possibilities: the first active force actuator completes the force reduction operation and the control force output by the second active force actuator keeps the suspension at the target height; or the first active force actuator is slowly reducing force and the control force output by the second active force actuator has not reached the control force threshold.

[0160] After the first active force actuator completes the force reduction operation and the control force output by the second active force actuator keeps the suspension at the target height, the control force output by the second active force actuator continues to keep the suspension at the target height.

[0161] When the first active force actuator is slowly depressurizing and the control force output by the second active force actuator has not reached the control force threshold, the first active force actuator is controlled to slowly depressurize, and the second active force actuator is controlled to maintain the suspension height according to the current control force (at this time, the suspension height may not be the target height).

[0162] like Figure 6 The diagram illustrates a suspension height change according to an embodiment of this application. t0 to t1 represents the suspension height adjustment phase, where the control force of the first active force actuator is controlled to achieve a target suspension height at a target rate. t1 to t2 represents the suspension height maintenance phase. During the height adjustment phase, the suspension lifting rate fluctuates around the target rate. When the lifting rate is determined to be too low, the control force of the first active force actuator is increased to increase the lifting rate. When the lifting rate is determined to be too high, the control force of the first active force actuator is decreased to reduce the lifting rate. During the height maintenance phase, if the control force of the second active force actuator has not reached a control force threshold, the control force of the second active force actuator will continue to increase. To maintain a constant height, the first active force actuator will gradually reduce its force until the control force of the first active force actuator is less than a preset force threshold, at which point the first active force actuator is deactivated. At this point, the second active force actuator is controlled to maintain the current control force.

[0163] like Figure 7The diagram illustrates the change in control force of a first active force actuator according to an embodiment of this application. During the suspension height adjustment phase, the first active force actuator rapidly outputs control force to quickly adjust the suspension height to near the target height. Then, due to the slow output of force from the second active force actuator, the control force of the first active force actuator begins to dissipate in order to maintain the suspension at the target height, until the control force of the first active force actuator is less than a preset force threshold, at which point the first active force actuator is deactivated. At this time, the second active force actuator is controlled to maintain the current control force. The suspension speed is controlled by the control force output by the first active force actuator. When the change in the control force output by the first active force actuator per unit time is large, the suspension speed is also large. When the state of the suspension changes, for example, when the vehicle load changes, since the rate at which the second active force actuator controls the suspension to rise is fixed, the suspension height will change. In this case, the change in the suspension lifting rate caused by external influences such as load can be compensated by adjusting the control force output by the first active force actuator.

[0164] like Figure 8 The diagram shown is a schematic representation of the control force change of a second active force actuator according to an embodiment of this application. Figure 9 This is a schematic diagram illustrating the control force variation of a second active force actuator according to another embodiment of this application, wherein... Figure 8 The control force of the second active power actuator intervenes during the suspension height adjustment phase. Figure 9 The control force of the second active force actuator intervenes during the suspension height maintenance phase. The timing of the second active force actuator's intervention has little impact on the rate of suspension height adjustment; the difference lies in that earlier intervention can shorten the suspension height adjustment time. Furthermore, there is always a certain response time when the second active force actuator starts working. Under constant external environmental conditions, the control force of the second active force actuator adjusts the suspension at a relatively fixed rate, and its impact on the suspension height rate is also relatively constant. However, changes in the external environment will cause changes in the suspension adjustment rate, requiring the intervention of the first active force actuator to adjust the suspension rate. Additionally, the second active force actuator causes suspension rate fluctuations at the start of adjustment (activating the corresponding actuator) and at the end of adjustment (deactivating the corresponding actuator). The control force output by the first active force actuator can quickly adjust to compensate for the discomfort caused by these rate fluctuations.

[0165] like Figure 10 The diagram shown is a schematic of controlling the suspension by different speeds according to an embodiment of this application. When the speed is adjusted, the suspension can reach the target height faster; when the speed is adjusted, it takes more time for the suspension to reach the target height.

[0166] like Figure 11 As shown, this is a schematic diagram illustrating the change in control force of the first active force actuator under different speed conditions according to an embodiment of this application. When adjusting at high speed, the control force of the first active force actuator increases rapidly during the height adjustment phase, and decreases rapidly during the height maintenance phase.

[0167] The suspension control method provided in this application controls the height of the vehicle's suspension through at least two active force actuators, which can improve user comfort during suspension adjustment.

[0168] Reference Figure 12 The diagram shown is a flowchart of another suspension control method provided in this application embodiment, which specifically includes the following steps:

[0169] Step 1201: Receive height adjustment request;

[0170] Specifically, in this embodiment, height adjustment is achieved through a fast-acting actuator and a slow-acting actuator, with the slow-acting actuator serving as the control center. In other embodiments, the fast-acting actuator can be used as the control center, or a separate controller can be provided as the control center.

[0171] Step 1202: Determine whether the slow-moving power actuator is malfunctioning or suppressed;

[0172] Step 1203: If the slow-acting actuator does not malfunction or become suppressed, control the suspension through the slow-acting actuator;

[0173] Step 1204: Determine whether fusion control is suppressed;

[0174] Step 1205: If the fusion control is not suppressed, determine whether the fast-acting actuator is in an executable state;

[0175] Step 1206: When the fast-acting actuator is in an executable state, control the suspension through the fast-acting actuator;

[0176] Step 1207: Determine whether the suspension adjustment has been completed and the adjustment can be exited.

[0177] Step 1208: When the fast-acting actuator is in an unexecutable state, that is, when the fast-acting actuator has experienced a low-level fault and / or is suppressed, control the fast-acting actuator to generate the corresponding control force.

[0178] Specifically, controlling the fast-acting actuator to generate the corresponding control force can be either controlling the fast-acting actuator to slowly decelerate, or controlling the fast-acting actuator to maintain the current control force unchanged.

[0179] Step 1209: Determine whether a force control request has been received from the slow-acting actuator;

[0180] Specifically, since the slow-moving power actuator is used as the control center, the slow-moving power actuator issues the force control demand.

[0181] Step 1210: Upon receiving a force control request from the slow-acting actuator, determine whether the system state of the fast-acting actuator is executable.

[0182] Step 1211: When the fast-acting actuator is in an executable state, control the fast-acting actuator to generate the required control force;

[0183] Step 1212: Control the suspension adjustment by using the demand control force generated by the fast-acting power actuator;

[0184] Step 1213: Collect the actual control force of the fast-acting actuator;

[0185] Step 1214: When the fast-acting actuator is in an unexecutable state, that is, when the fast-acting actuator has experienced a high-level fault, control the fast-acting actuator to generate the corresponding control force.

[0186] Specifically, controlling the fast-acting actuator to generate the corresponding control force can be controlling the fast-acting actuator to generate a control force that makes the suspension stable;

[0187] Step 1215: In the event of a malfunction or suppression of the slow-acting power actuator, determine whether the suspension is in adjustment.

[0188] Step 1216: While the suspension is being adjusted, control the slow-acting power actuator to interrupt the height adjustment;

[0189] Step 1217: Control the fast-acting power actuator to retract;

[0190] Step 1218: Complete the suspension height adjustment.

[0191] As can be seen from the above, the suspension control method provided in this application can improve the user's comfort during suspension adjustment by controlling the suspension height of the vehicle through at least two active force actuators.

[0192] To facilitate better implementation of the suspension control method provided in this application, this application also provides a suspension control device. The meanings of the terms used are the same as in the suspension control method described above, and specific implementation details can be found in the descriptions within the method embodiments.

[0193] For example, such as Figure 13 As shown, the suspension control device may include:

[0194] The height adjustment module 1301 is used to control the suspension to reach the target height via the height adjustment active force actuator;

[0195] The height maintenance module 1302 is used to maintain the suspension at the target height via a height maintenance active force actuator.

[0196] Optionally, the height adjustment active force actuator includes a first active force actuator, and the height maintenance active force actuator includes a second active force actuator.

[0197] Optionally, the height adjustment module 1301 is used for:

[0198] Based on the actual height of the suspension during the height adjustment process, the first control force required by the first active force actuator to control the suspension is determined.

[0199] The suspension is controlled to reach the target height by the first active power actuator based on the first control force.

[0200] Optionally, the height adjustment module 1301 is used for:

[0201] Based on the actual height and target speed of the suspension during the height adjustment process, the first control force required by the first active force actuator to control the suspension is determined.

[0202] Optionally, the height adjustment module 1301 is used for:

[0203] The actual speed of the suspension during the height adjustment process is determined based on the actual height of the suspension during the height adjustment process.

[0204] Based on the actual speed and the target speed, the first control force required for the first active force actuator to control the suspension is determined.

[0205] Optionally, during the process of adjusting the height of the suspension based on the first control force, the height adjustment module 1301 is further configured to:

[0206] If the current speed of the suspension meets a preset speed condition with respect to the target speed, the first control force is updated to adjust the rate at which the suspension rises.

[0207] Optionally, if the preset rate condition includes the suspension's current rate being greater than the target rate, the rate at which the suspension rises decreases; if the preset rate condition includes the suspension's current rate being less than the target rate, the rate at which the suspension rises increases.

[0208] Optionally, the height adjustment active force actuator includes a first active force actuator and a second active force actuator, and the height maintenance active force actuator includes the second active force actuator.

[0209] Optionally, the height adjustment module 1301 is further used for:

[0210] The suspension is controlled by the first active force actuator based on a first control force, and the suspension is controlled by the second active force actuator based on a second control force at a fixed rate, so that the suspension can be controlled to reach the target height by the first active force actuator and the second active force actuator together.

[0211] Optionally, the step of controlling the suspension at a fixed rate based on the second control force using the second active force actuator precedes the step of controlling the suspension based on the first control force using the first active force actuator; or, the step of controlling the suspension at a fixed rate based on the second control force using the second active force actuator and the step of controlling the suspension based on the first control force using the first active force actuator are performed simultaneously.

[0212] Optionally, the height maintaining module 1302 is further configured to:

[0213] If the second control force of the second active force actuator does not reach the control force threshold, the suspension is controlled by the second active force actuator to continue to rise until it remains unchanged when the second control force reaches the control threshold.

[0214] According to the third control force, the first active force actuator is controlled to perform a retraction operation so that the suspension is maintained at the target height.

[0215] Optionally, the height maintaining module 1302 is further configured to:

[0216] The actual height of the suspension is collected;

[0217] The third control force is determined based on the target height of the suspension and the actual height.

[0218] Optionally, the height maintaining module 1302 is further configured to:

[0219] When the third control force is less than a preset force threshold, the first active force actuator is turned off.

[0220] Optionally, the height adjustment module 1301 is further used for:

[0221] When both the height adjustment actuator and the height maintenance actuator meet preset conditions, the suspension is controlled to reach the target height by means of the height adjustment actuator.

[0222] Optionally, the preset conditions include the height adjustment active force actuator and the height maintenance active force actuator being in an executable state.

[0223] Optionally, the height adjustment module 1301 is further used for:

[0224] If it is determined that the height adjustment active force actuator is not faulty and / or not suppressed, the height adjustment active force actuator is determined to be in an executable state;

[0225] If it is determined that the height maintenance active force actuator is not faulty and / or not suppressed, the height maintenance active force actuator is determined to be in an executable state.

[0226] Optionally, the height adjustment active force actuator includes a first active force actuator, the height maintenance active force actuator includes a second active force actuator, and the height adjustment module 1301 is further configured to:

[0227] If the first active power actuator does not meet the preset conditions, the suspension is controlled by the second active power actuator; or, if the second active power actuator does not meet the preset conditions, the control of the suspension by the first and second active power actuators is stopped.

[0228] Optionally, during the process of controlling the suspension via the first active force actuator, the height adjustment module 1301 is further configured to:

[0229] If the first active force actuator does not meet the preset conditions, the first active force actuator is controlled to perform a force reduction operation, maintain the control force of the first active force actuator unchanged, or generate a control force to maintain the stability of the suspension.

[0230] Optionally, the fault includes a low-level fault or a high-level fault, and the step of retracting the force or maintaining the control force of the first active force actuator unchanged is performed when the first active force actuator has a low-level fault and / or is not suppressed.

[0231] The step of controlling the first active force actuator to generate a control force to maintain the stability of the suspension is performed in the event of an advanced fault in the first active force actuator.

[0232] Optionally, during the control of the suspension, the height adjustment module 1301 is further used for:

[0233] If neither the height adjustment actuator nor the height maintenance actuator meets the preset conditions and has not entered the height maintenance phase, the height adjustment actuator is controlled to perform a retraction operation.

[0234] The height maintenance module 1302 is also used for:

[0235] If neither the height adjustment actuator nor the height maintenance actuator meets the preset conditions and enters the height maintenance phase, the height adjustment actuator is controlled to perform a retraction operation, and the control force of the height maintenance actuator is controlled to remain unchanged.

[0236] This application also provides a controller, such as... Figure 14 As shown, it illustrates a schematic diagram of the controller involved in an embodiment of this application. Specifically:

[0237] The controller may include components such as a processor 1401 with one or more processing cores, a memory 1402 with one or more computer-readable storage media, a power supply 1403, and an input unit 1404. Those skilled in the art will understand that... Figure 14 The controller structure shown does not constitute a limitation on the controller and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein:

[0238] The processor 1401 is the control center of the controller, connecting various parts of the controller via various interfaces and lines. It executes computer programs and / or modules stored in the memory 1402, and calls data stored in the memory 1402, to perform various functions of the controller and process data. Optionally, the processor 1401 may include one or more processing cores; preferably, the processor 1401 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 1401.

[0239] The memory 1402 can be used to store computer programs and modules. The processor 1401 executes various functional applications and data processing by running the computer programs and modules stored in the memory 1402. The memory 1402 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, computer programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the controller, etc. In addition, the memory 1402 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 1402 may also include a memory controller to provide the processor 1401 with access to the memory 1402.

[0240] The controller also includes a power supply 1403 that supplies power to the various components. Preferably, the power supply 1403 can be logically connected to the processor 1401 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 1403 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0241] The controller may also include an input unit 1404, which can be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0242] Although not shown, the controller may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 1401 in the controller loads the executable files corresponding to the processes of one or more computer programs into the memory 1402 according to the following instructions, and the processor 1401 runs the computer programs stored in the memory 1402 to realize various functions, such as:

[0243] The suspension is controlled to reach the target height via a height adjustment actuator.

[0244] The suspension is maintained at the target height by a height-maintaining active force actuator.

[0245] For details on the specific implementation methods and corresponding beneficial effects of the above operations, please refer to the detailed description of the suspension control method above, which will not be repeated here.

[0246] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by a computer program, or by a computer program controlling related hardware. The computer program can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0247] Therefore, embodiments of this application provide a computer-readable storage medium storing a computer program that can be loaded by a processor to execute steps in any of the suspension control methods provided in embodiments of this application. For example, the computer program can execute the following steps:

[0248] The suspension is controlled to reach the target height via a height adjustment actuator.

[0249] The suspension is maintained at the target height by a height-maintaining active force actuator.

[0250] For details on the specific implementation methods and corresponding beneficial effects of the above operations, please refer to the previous embodiments, which will not be repeated here.

[0251] The computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0252] Since the computer program stored in the computer-readable storage medium can execute the steps in any of the suspension control methods provided in the embodiments of this application, the beneficial effects that any of the suspension control methods provided in the embodiments of this application can achieve can be realized, as detailed in the preceding embodiments, and will not be repeated here.

[0253] According to one aspect of this application, a computer program product or computer program is provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the aforementioned suspension control method.

[0254] According to one aspect of this application, such as Figure 15 As shown, an embodiment of this application also provides a vehicle 1500, including the aforementioned controller, which can be used to execute the aforementioned suspension control method. This vehicle possesses all the beneficial effects of the aforementioned controller or the aforementioned suspension control method, which will not be elaborated further here.

[0255] The vehicle may be a gasoline-powered vehicle, a plug-in hybrid electric vehicle, or a new energy vehicle, etc., and this application does not make any specific restrictions.

[0256] The above provides a detailed description of a control system, suspension control method, device, controller, medium, product, and vehicle provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A control system, characterized in that, Applied to a vehicle, the control system includes at least one height adjustment active force actuator and a height maintenance active force actuator, the height adjustment active force actuator being used to control the suspension to reach a target height, and the height maintenance active force actuator being used to maintain the suspension at the target height.

2. The control system according to claim 1, characterized in that, The height adjustment active force actuator includes a first active force actuator, and the height maintenance active force actuator includes a second active force actuator.

3. The control system according to claim 1, characterized in that, The height adjustment active force actuator includes a first active force actuator and a second active force actuator, and the height maintenance active force actuator includes a second active force actuator.

4. The control system according to claim 1, characterized in that, The vehicle includes vehicle wheels and a vehicle body, and at least one height adjustment power actuator and a height maintenance power actuator are disposed between the vehicle wheels and the vehicle body.

5. The control system according to claim 2 or 3, characterized in that, The first active power actuator is used to control the suspension to reach the target height according to a first control force, the first control force being determined based on the actual height of the suspension during the height adjustment process.

6. A suspension control method, characterized in that, Applied to the control system as described in any one of claims 1-5, the method comprises: The suspension is controlled to reach the target height via a height adjustment actuator. The suspension is maintained at the target height by a height-maintaining active force actuator.

7. The suspension control method according to claim 6, characterized in that, The height adjustment active force actuator includes a first active force actuator, and the height maintenance active force actuator includes a second active force actuator.

8. The suspension control method according to claim 7, characterized in that, Controlling the suspension to reach the target height via the first active power actuator includes: Based on the actual height of the suspension during the height adjustment process, the first control force required by the first active force actuator to control the suspension is determined. The suspension is controlled to reach the target height by the first active power actuator based on the first control force.

9. The suspension control method according to claim 8, characterized in that, The determination of the first control force required by the first active force actuator to control the suspension based on the actual height of the suspension during the height adjustment process includes: Based on the actual height and target speed of the suspension during the height adjustment process, the first control force required by the first active force actuator to control the suspension is determined.

10. The suspension control method according to claim 9, characterized in that, The determination of the first control force required by the first active force actuator to control the suspension based on the actual height and target speed of the suspension during height adjustment includes: The actual speed of the suspension during the height adjustment process is determined based on the actual height of the suspension during the height adjustment process. Based on the actual speed and the target speed, the first control force required for the first active force actuator to control the suspension is determined.

11. The suspension control method according to claim 10, characterized in that, During the process of adjusting the height of the suspension based on the first control force, the method further includes: If the current speed of the suspension meets a preset speed condition with respect to the target speed, the first control force is updated to adjust the rate at which the suspension rises.

12. The suspension control method according to claim 11, characterized in that, When the preset rate condition includes a suspension current speed greater than the target speed, the rate at which the suspension rises decreases; when the preset rate condition includes a suspension current speed less than the target speed, the rate at which the suspension rises increases.

13. The suspension control method according to claim 6, characterized in that, The height adjustment active force actuator includes a first active force actuator and a second active force actuator, and the height maintenance active force actuator includes a second active force actuator.

14. The suspension control method according to claim 13, characterized in that, The suspension is controlled to reach the target height via a first and a second power actuator, including: The suspension is controlled by the first active force actuator based on a first control force, and the suspension is controlled by the second active force actuator based on a second control force at a fixed rate, so that the suspension can be controlled to reach the target height by the first active force actuator and the second active force actuator together.

15. The suspension control method according to claim 14, characterized in that, The step of controlling the suspension at a fixed rate based on the second control force using the second active force actuator precedes the step of controlling the suspension based on the first control force using the first active force actuator. Alternatively, the step of controlling the suspension at a fixed rate based on the second control force using the second active force actuator and the step of controlling the suspension based on the first control force using the first active force actuator are performed simultaneously.

16. The suspension control method according to claim 13, characterized in that, Maintaining the suspension at the target height via a second active power actuator includes: If the second control force of the second active force actuator does not reach the control force threshold, the suspension is controlled by the second active force actuator to continue to rise until it remains unchanged when the second control force reaches the control threshold. According to the third control force, the first active force actuator is controlled to perform a retraction operation so that the suspension is maintained at the target height.

17. The suspension control method according to claim 16, characterized in that, The process of determining the third control force includes: The actual height of the suspension is collected; The third control force is determined based on the target height of the suspension and the actual height.

18. The suspension control method according to claim 16, characterized in that, The method further includes: When the third control force is less than a preset force threshold, the first active force actuator is turned off.

19. The suspension control method according to claim 6, characterized in that, The method of controlling the suspension to reach the target height via the height adjustment active force actuator includes: When both the height adjustment actuator and the height maintenance actuator meet preset conditions, the suspension is controlled to reach the target height by means of the height adjustment actuator.

20. The suspension control method according to claim 19, characterized in that, The preset conditions include the height adjustment active force actuator and the height maintenance active force actuator being in an executable state.

21. The suspension control method according to claim 20, characterized in that, The method further includes: If it is determined that the height adjustment active force actuator is not faulty and / or not suppressed, the height adjustment active force actuator is determined to be in an executable state; If it is determined that the height maintenance active force actuator is not faulty and / or not suppressed, the height maintenance active force actuator is determined to be in an executable state.

22. The suspension control method according to claim 21, characterized in that, The height adjustment active force actuator includes a first active force actuator, the height maintenance active force actuator includes a second active force actuator, and the method further includes: If the first active power actuator does not meet the preset conditions, the suspension is controlled by the second active power actuator; or, if the second active power actuator does not meet the preset conditions, the control of the suspension by the first and second active power actuators is stopped.

23. The suspension control method according to claim 22, characterized in that, In the process of controlling the suspension through the first active force actuator, the method further includes: If the first active force actuator does not meet the preset conditions, the first active force actuator is controlled to perform a force reduction operation, maintain the control force of the first active force actuator unchanged, or generate a control force to maintain the stability of the suspension.

24. The suspension control method according to claim 23, characterized in that, The fault includes a low-level fault or a high-level fault. The step of retracting the force or maintaining the control force of the first active force actuator unchanged is performed when the first active force actuator has a low-level fault and / or is not suppressed. The step of controlling the first active force actuator to generate a control force to maintain the stability of the suspension is performed in the event of an advanced fault in the first active force actuator.

25. The suspension control method according to claim 19, characterized in that, In controlling the suspension, the method further includes: If neither the height adjustment active force actuator nor the height maintenance active force actuator meets the preset conditions and has not entered the height maintenance stage, the height adjustment active force actuator is controlled to perform a retraction operation. If neither the height adjustment actuator nor the height maintenance actuator meets the preset conditions and enters the height maintenance phase, the height adjustment actuator is controlled to perform a retraction operation, and the control force of the height maintenance actuator is controlled to remain unchanged.

26. A controller, characterized in that, It includes one or more processors and a memory, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of the suspension control method of any one of claims 6 to 25.

27. A storage medium, characterized in that, Includes a computer program, which, when run on a controller, causes the controller to perform the steps of the suspension control method according to any one of claims 6 to 25.

28. A computer program product, characterized in that, Includes a computer program or instructions that, when executed by a processor, implement the steps of the suspension control method according to any one of claims 6 to 25.

29. A vehicle, characterized in that, The vehicle includes the controller as described in claim 26.

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