Vehicle pitching attitude control method, device and equipment, vehicle, medium and product

Abstract

The invention relates to a vehicle pitching attitude control method, device and equipment, a vehicle, a medium and a product. According to the method, whether an established target condition exists in preset vehicle state judgment conditions or not is determined according to a first vehicle speed and an acceleration judgment parameter within a first preset duration before the current moment and a second vehicle speed and a deceleration judgment parameter within a second preset duration before the current moment. And if the established target condition exists in the preset vehicle state judgment conditions, vehicle data are obtained according to the target condition, and then a front axle double-valve shock absorber, a rear axle double-valve shock absorber, a front axle hydraulic pump and a rear axle hydraulic pump are controlled to operate after target control parameters are determined according to the vehicle data. According to the scheme, after the target control parameters are determined according to the established target conditions, the front-axle double-valve shock absorber, the rear-axle double-valve shock absorber, the front-axle hydraulic pump and the rear-axle hydraulic pump are controlled to operate, the active suspension is controlled, and therefore the pitching posture of the vehicle is controlled.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, specifically to a method, device, equipment, vehicle, medium, and product for controlling vehicle pitch attitude. Background Technology

[0002] With the continuous development of technology and people's increasing attention to vehicle safety, more and more vehicles are equipped with active suspension. Active suspension can adjust wheel height and shock absorber damping, thereby improving driving safety and comfort.

[0003] In existing technologies, passive suspensions use shock absorbers with fixed damping. During driving, vehicles inevitably pitch due to acceleration or deceleration, affecting driving comfort. Therefore, active suspensions can be used to mitigate vehicle pitch.

[0004] However, there is no existing technology for controlling active suspension to control the vehicle's pitch attitude. Summary of the Invention

[0005] One objective of this invention is to provide a vehicle pitch attitude control method to solve the problem that the prior art does not control the active suspension to control the vehicle pitch attitude; a second objective is to provide a vehicle pitch attitude control device; a third objective is to provide an electronic device; a fourth objective is to provide a vehicle; a fifth objective is to provide a readable storage medium; and a sixth objective is to provide a computer program product.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] In a first aspect, the present invention provides a vehicle pitch attitude control method, comprising:

[0008] Obtain the first vehicle speed and acceleration judgment parameters within the first preset time period before the current moment, and the second vehicle speed and deceleration judgment parameters within the second preset time period before the current moment;

[0009] Based on each first vehicle speed, each second vehicle speed, each acceleration judgment parameter, and each deceleration judgment parameter, determine whether there is a target condition in the preset vehicle state judgment conditions; the preset vehicle state judgment conditions include preset rapid acceleration conditions, preset steady acceleration conditions, preset rapid deceleration conditions, preset steady deceleration conditions, and preset braking and stopping phase conditions.

[0010] If any of the preset vehicle status judgment conditions are met, then vehicle data is obtained according to the target condition;

[0011] Based on the vehicle data, determine the target control parameters;

[0012] Based on the target control parameters, control the operation of the front axle dual-valve shock absorber, the rear axle dual-valve shock absorber, the front axle hydraulic pump, and the rear axle hydraulic pump.

[0013] Furthermore, the step of determining whether a target condition exists in the preset vehicle state judgment conditions based on each first vehicle speed, each second vehicle speed, each acceleration judgment parameter, and each deceleration judgment parameter includes:

[0014] Based on each initial vehicle speed, determine the reference speed for acceleration judgment;

[0015] Based on each second vehicle speed, determine the reference speed for deceleration judgment;

[0016] Based on the preset correspondence between vehicle speed and acceleration parameter threshold, the target acceleration parameter threshold corresponding to the acceleration judgment benchmark vehicle speed is determined.

[0017] Based on the preset correspondence between vehicle speed and deceleration parameter threshold, the target deceleration parameter threshold corresponding to the deceleration judgment benchmark vehicle speed is determined.

[0018] Based on each second vehicle speed, the target acceleration parameter threshold, the target deceleration parameter threshold, each acceleration judgment parameter, and each deceleration judgment parameter, determine whether there is a target condition that is met among the preset vehicle state judgment conditions.

[0019] Furthermore, each acceleration judgment parameter includes the rate of change of the accelerator pedal opening;

[0020] The preset rapid acceleration condition is: the absolute value of the rate of change of the opening of each accelerator pedal is greater than the target acceleration parameter threshold.

[0021] The preset stable acceleration condition is: the absolute value of the rate of change of the opening of each accelerator pedal is less than or equal to the target acceleration parameter threshold, and is greater than 0.

[0022] Furthermore, each deceleration judgment parameter includes a first deceleration parameter and a second deceleration parameter. The first deceleration parameter is the pressure change rate of the brake cylinder, and the second deceleration parameter is the negative of the pressure of the brake cylinder or the longitudinal acceleration of the vehicle.

[0023] The preset rapid deceleration condition is: the absolute value of each first deceleration parameter is greater than the target deceleration parameter threshold;

[0024] The preset steady deceleration condition is: the absolute value of each first deceleration parameter is less than or equal to the target deceleration parameter threshold, and greater than 0;

[0025] The preset braking stage conditions are: each second vehicle speed is greater than 0 and less than the preset braking stop speed, and each second deceleration parameter is less than the preset deceleration parameter threshold.

[0026] Furthermore, the target control parameters include: the opening degree of the compression valve and the opening degree of the rebound valve of the front axle dual-valve shock absorber, the opening degree of the compression valve and the opening degree of the rebound valve of the rear axle dual-valve shock absorber, the rotation direction and torque of the front axle hydraulic pump, and the rotation direction and torque of the rear axle hydraulic pump.

[0027] If the target condition is the preset rapid acceleration condition, the vehicle data includes driving mode, current longitudinal acceleration, current front axle drive torque, current rear axle drive torque, current vehicle speed, and the current rate of change of accelerator pedal opening; based on the vehicle data, target control parameters are determined, including:

[0028] Based on the first preset correspondence, determine the compression valve opening and rebound valve opening of the front axle dual-valve shock absorber, as well as the compression valve opening and rebound valve opening of the rear axle dual-valve shock absorber, corresponding to the driving mode, the current vehicle speed, and the current opening change rate of the accelerator pedal.

[0029] If the current longitudinal acceleration is greater than the first preset acceleration threshold, then according to the second preset correspondence, the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump corresponding to the current longitudinal acceleration, the current opening rate of the accelerator pedal, the current front axle drive torque, and the current rear axle drive torque are determined, and the rotation direction of the front axle hydraulic pump is determined as the first direction, and the rotation direction of the rear axle hydraulic pump is determined as the second direction. The first direction is the direction of driving hydraulic oil from the lower chamber to the upper chamber of the shock absorber, and the second direction is the direction of driving hydraulic oil from the upper chamber to both chambers of the shock absorber.

[0030] If the current longitudinal acceleration is less than or equal to the first preset acceleration threshold, then the rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be the first direction or the second direction, and the torque of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be 0.

[0031] Wherein, the compression valve opening of the front axle dual-valve shock absorber in the first preset correspondence is greater than the first preset opening, the rebound valve opening of the front axle dual-valve shock absorber in the first preset correspondence is less than the second preset opening, and the first preset opening is greater than the second preset opening.

[0032] In the first preset correspondence, the compression valve opening of the rear axle dual-valve shock absorber is less than the third preset opening, and the rebound valve opening of the rear axle dual-valve shock absorber in the first preset correspondence is greater than the fourth preset opening, which is greater than the third preset opening.

[0033] Furthermore, if the target condition is the preset stable acceleration condition, the vehicle data includes the current longitudinal acceleration, the current rate of change of the accelerator pedal opening, the current front axle drive torque, the current rear axle drive torque, the current vehicle speed, and the current rate of change of the accelerator pedal opening; based on the vehicle data, target control parameters are determined, including:

[0034] Based on the third preset correspondence, determine the compression valve opening and rebound valve opening of the front axle dual-valve shock absorber corresponding to the current front axle drive torque, the current rear axle drive torque, and the current longitudinal acceleration, as well as the compression valve opening and rebound valve opening of the rear axle dual-valve shock absorber.

[0035] If the current longitudinal acceleration is greater than the second preset acceleration threshold, then according to the fourth preset correspondence, the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump corresponding to the current longitudinal acceleration, the current opening rate of the accelerator pedal, the current front axle drive torque and the current rear axle drive torque are determined, and the rotation direction of the front axle hydraulic pump is determined as the first direction, and the rotation direction of the rear axle hydraulic pump is determined as the second direction.

[0036] If the current longitudinal acceleration is less than or equal to the second preset acceleration threshold, then the rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be the first direction or the second direction, and the torque of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be 0.

[0037] Wherein, the compression valve opening of the front axle dual-valve shock absorber in the third preset correspondence is greater than the fifth preset opening, the rebound valve opening of the front axle dual-valve shock absorber in the third preset correspondence is less than the sixth preset opening, and the fifth preset opening is greater than the sixth preset opening.

[0038] The compression valve opening of the rear axle dual-valve shock absorber in the third preset correspondence is less than the seventh preset opening, the rebound valve opening of the rear axle dual-valve shock absorber in the third preset correspondence is greater than the eighth preset opening, and the eighth preset opening is greater than the seventh preset opening.

[0039] The first preset opening is less than the fifth preset opening, the second preset opening is less than the sixth preset opening, the third preset opening is less than the seventh preset opening, and the fourth preset opening is less than the eighth preset opening.

[0040] Furthermore, if the target condition is the preset rapid deceleration condition, the vehicle data includes driving mode, current longitudinal acceleration, current vehicle speed, and current brake cylinder pressure; based on the vehicle data, target control parameters are determined, including:

[0041] Based on the fifth preset correspondence, determine the compression valve opening and rebound valve opening of the front axle dual-valve shock absorber, as well as the compression valve opening and rebound valve opening of the rear axle dual-valve shock absorber, corresponding to the driving mode, the current vehicle speed, the current longitudinal acceleration, and the current brake cylinder pressure.

[0042] If the current longitudinal acceleration is less than the third preset acceleration threshold, then according to the sixth preset correspondence, the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump corresponding to the current brake cylinder pressure and the current longitudinal acceleration are determined, and the rotation direction of the front axle hydraulic pump is determined as the second direction, and the rotation direction of the rear axle hydraulic pump is determined as the first direction.

[0043] If the current longitudinal acceleration is greater than or equal to the third preset acceleration threshold, then the rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be the first direction or the second direction, and the torque of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be 0.

[0044] Wherein, the compression valve opening of the front axle dual-valve shock absorber in the fifth preset correspondence is less than the ninth preset opening, and the rebound valve opening of the front axle dual-valve shock absorber in the first preset correspondence is greater than the tenth preset opening, and the tenth preset opening is greater than the ninth preset opening.

[0045] The compression valve opening of the rear axle dual-valve shock absorber in the fifth preset correspondence is greater than the eleventh preset opening, the rebound valve opening of the rear axle dual-valve shock absorber in the fifth preset correspondence is less than the twelfth preset opening, and the eleventh preset opening is greater than the twelfth preset opening.

[0046] Furthermore, if the target condition is the preset steady deceleration condition, the vehicle data includes driving mode, current longitudinal acceleration, current vehicle speed, and current brake cylinder pressure; based on the vehicle data, target control parameters are determined, including:

[0047] According to the seventh preset correspondence, determine the compression valve opening and rebound valve opening of the front axle dual-valve shock absorber, and the compression valve opening and rebound valve opening of the rear axle dual-valve shock absorber, corresponding to the driving mode, the current vehicle speed, the current longitudinal acceleration, and the current brake cylinder pressure.

[0048] If the current longitudinal acceleration is less than the fourth preset acceleration threshold, then according to the eighth preset correspondence, the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump corresponding to the current brake cylinder pressure and the current longitudinal acceleration are determined, and the rotation direction of the front axle hydraulic pump is determined as the second direction, and the rotation direction of the rear axle hydraulic pump is determined as the first direction.

[0049] If the current longitudinal acceleration is greater than or equal to the fourth preset acceleration threshold, then the rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be the first direction or the second direction, and the torque of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be 0.

[0050] Wherein, the compression valve opening of the front axle dual-valve shock absorber in the seventh preset correspondence is less than the thirteenth preset opening, the rebound valve opening of the front axle dual-valve shock absorber in the seventh preset correspondence is greater than the fourteenth preset opening, and the fourteenth preset opening is greater than the thirteenth preset opening.

[0051] The compression valve opening of the rear axle dual-valve shock absorber in the seventh preset correspondence is greater than the fifteenth preset opening; the rebound valve opening of the rear axle dual-valve shock absorber in the seventh preset correspondence is less than the sixteenth preset opening; and the fifteenth preset opening is greater than the sixteenth preset opening.

[0052] The ninth preset opening is less than the thirteenth preset opening, the tenth preset opening is less than the fourteenth preset opening, the eleventh preset opening is less than the fifteenth preset opening, and the twelfth preset opening is less than the sixteenth preset opening.

[0053] Furthermore, if the target condition is the preset braking stage condition, the vehicle data includes the current brake cylinder pressure, current longitudinal acceleration, and current brake cylinder pressure change rate; determining the target control parameters based on the vehicle data includes:

[0054] According to the ninth preset correspondence, determine the opening degree of the compression valve and the opening degree of the rebound valve of the front axle dual valve shock absorber corresponding to the current brake cylinder pressure, as well as the opening degree of the compression valve and the opening degree of the rebound valve of the rear axle dual valve shock absorber.

[0055] If the current longitudinal acceleration is less than the fifth preset acceleration threshold, then according to the tenth preset correspondence, the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump corresponding to the current brake cylinder pressure and the current brake cylinder pressure change rate are determined, and the rotation direction of the front axle hydraulic pump is determined as the second direction, and the rotation direction of the rear axle hydraulic pump is determined as the first direction.

[0056] If the current longitudinal acceleration is greater than or equal to the fifth preset acceleration threshold, then the rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be the first direction or the second direction, and the torque of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be 0.

[0057] Wherein, the compression valve opening of the front axle dual-valve shock absorber in the ninth preset correspondence is less than the seventeenth preset opening, the rebound valve opening of the front axle dual-valve shock absorber in the ninth preset correspondence is greater than the eighteenth preset opening, and the eighteenth preset opening is greater than the seventeenth preset opening.

[0058] The compression valve opening of the rear axle dual-valve shock absorber in the ninth preset correspondence is greater than the nineteenth preset opening, the rebound valve opening of the rear axle dual-valve shock absorber in the ninth preset correspondence is less than the twentieth preset opening, and the nineteenth preset opening is greater than the twentieth preset opening.

[0059] In a second aspect, the present invention provides a vehicle pitch attitude control device, comprising:

[0060] The acquisition module is used to acquire the first vehicle speed and acceleration judgment parameters within a first preset time period before the current moment, and the second vehicle speed and deceleration judgment parameters within a second preset time period before the current moment;

[0061] Processing module, used for:

[0062] Based on each first vehicle speed, each second vehicle speed, each acceleration judgment parameter, and each deceleration judgment parameter, determine whether there is a target condition in the preset vehicle state judgment conditions; the preset vehicle state judgment conditions include preset rapid acceleration conditions, preset steady acceleration conditions, preset rapid deceleration conditions, preset steady deceleration conditions, and preset braking and stopping phase conditions.

[0063] If any of the preset vehicle status judgment conditions are met, then vehicle data is obtained according to the target condition;

[0064] Based on the vehicle data, determine the target control parameters;

[0065] The control module is used to control the operation of the front axle dual-valve shock absorber, the rear axle dual-valve shock absorber, the front axle hydraulic pump, and the rear axle hydraulic pump according to the target control parameters.

[0066] Thirdly, the present invention provides an electronic device, comprising:

[0067] Processor, memory, communication interface;

[0068] The memory is used to store the executable instructions of the processor;

[0069] The processor is configured to execute the vehicle pitch attitude control method according to any one of the first aspects by executing the executable instructions.

[0070] Fourthly, the present invention provides a vehicle, including a controller;

[0071] The controller is used to execute the vehicle pitch attitude control method described in any of the first aspects above.

[0072] Fifthly, the present invention provides a readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the vehicle pitch attitude control method according to any one of the first aspects.

[0073] In a sixth aspect, the present invention provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the vehicle pitch attitude control method according to any one of the first aspects.

[0074] The beneficial effects of this invention are:

[0075] (1) This application determines whether a target condition exists in the preset vehicle state judgment conditions by using the first vehicle speed and acceleration judgment parameters within the first preset time period before the current time, and the second vehicle speed and deceleration judgment parameters within the second preset time period before the current time. If a target condition exists in the preset vehicle state judgment conditions, vehicle data is obtained according to the target condition, and then the target control parameters are determined according to the vehicle data, and the operation of the front axle dual-valve shock absorber, the rear axle dual-valve shock absorber, the front axle hydraulic pump, and the rear axle hydraulic pump is controlled. This scheme achieves the control of the active suspension by determining the target control parameters according to the established target conditions and then controlling the operation of the front axle dual-valve shock absorber, the rear axle dual-valve shock absorber, the front axle hydraulic pump, and the rear axle hydraulic pump to control the vehicle pitch attitude.

[0076] (2) This application determines the target conditions from preset rapid acceleration conditions, preset steady acceleration conditions, preset rapid deceleration conditions, preset steady deceleration conditions and preset braking stage conditions, and then obtains vehicle data based on the target conditions, and then determines the target control parameters, which can improve the accuracy and applicability of vehicle pitch attitude control. Attached Figure Description

[0077] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0078] Figure 1 A flowchart illustrating an embodiment of the vehicle pitch attitude control method provided in this application;

[0079] Figure 2 A flowchart illustrating Embodiment 2 of the vehicle pitch attitude control method provided in this application;

[0080] Figure 3 A flowchart illustrating Embodiment 3 of the vehicle pitch attitude control method provided in this application;

[0081] Figure 4 A flowchart illustrating Embodiment 4 of the vehicle pitch attitude control method provided in this application;

[0082] Figure 5 A flowchart illustrating Embodiment 5 of the vehicle pitch attitude control method provided in this application;

[0083] Figure 6 A flowchart illustrating Embodiment Six of the vehicle pitch attitude control method provided in this application;

[0084] Figure 7 A schematic diagram of the structure of an embodiment of the vehicle pitch attitude control device provided in this application;

[0085] Figure 8 This is a schematic diagram of the structure of an electronic device provided in this application.

[0086] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0087] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0088] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0089] Vehicle suspension is divided into passive suspension and active suspension. The damping of the shock absorbers in passive suspension is fixed, so during vehicle operation, pitching is inevitable due to acceleration or deceleration, affecting driving comfort. To improve comfort and safety, active suspension can be used. Active suspension can adjust wheel height and shock absorber damping.

[0090] However, there is currently no corresponding method in the technology for controlling the active suspension to control the vehicle's pitch attitude. Therefore, there is an urgent need for a vehicle pitch attitude control method that can control the active suspension to control the vehicle's pitch attitude.

[0091] To address the problems existing in the prior art, the inventors, during their research on vehicle pitch attitude control methods, discovered that vehicles experience pitch under various operating conditions, such as rapid acceleration, steady acceleration, rapid deceleration, steady deceleration, and braking to a stop. Therefore, by acquiring the first vehicle speed, second vehicle speed, acceleration judgment parameters, and deceleration judgment parameters from a previous period, they can determine whether the vehicle is pitching and, if so, the target conditions corresponding to the pitching conditions. Based on these target conditions, target control parameters are determined to control the operation of the front axle dual-valve shock absorbers, rear axle dual-valve shock absorbers, front axle hydraulic pump, and rear axle hydraulic pump in the active suspension, thereby reducing the degree of vehicle pitch. Based on the above inventive concept, the vehicle pitch attitude control scheme of this application was designed.

[0092] The vehicle pitch attitude control method in this application can be executed by a controller in the vehicle, or by a server, terminal equipment, etc. This application does not limit it. The following description uses a controller as an example.

[0093] The following provides examples illustrating the application scenarios of the vehicle pitch attitude control method provided in this application.

[0094] For example, in this application scenario, when a driver is driving on the road and needs to overtake another vehicle, he quickly presses the accelerator pedal to accelerate rapidly, causing the vehicle to pitch up.

[0095] In order to detect whether the vehicle is pitching and to suppress pitching, the controller in the vehicle acquires the first vehicle speed and acceleration judgment parameters within the first preset time period before the current moment, and the second vehicle speed and deceleration judgment parameters within the second preset time period before the current moment.

[0096] It should be noted that the first preset duration and the second preset duration can be 0.1 seconds, 0.2 seconds, 0.3 seconds, 0.5 seconds, 0.7 seconds, 0.9 seconds, etc. This application embodiment does not limit the first preset duration and the second preset duration, and can be determined according to the actual situation.

[0097] Then, based on each first vehicle speed, each second vehicle speed, each acceleration judgment parameter, and each deceleration judgment parameter, it is determined whether the target condition exists in the preset vehicle state judgment conditions; the preset vehicle state judgment conditions include preset rapid acceleration conditions, preset steady acceleration conditions, preset rapid deceleration conditions, preset steady deceleration conditions, and preset braking stage conditions.

[0098] Because the driver accelerates rapidly, it can be determined that a target condition among the preset vehicle state judgment conditions is met, indicating that the vehicle is pitching. Furthermore, the target condition is the preset rapid acceleration condition. Based on this target condition, the controller acquires vehicle data and then determines the target control parameters.

[0099] The controller controls the operation of the front axle dual-valve shock absorber, rear axle dual-valve shock absorber, front axle hydraulic pump, and rear axle hydraulic pump in the active suspension according to the target control parameters, thereby reducing the vehicle's pitch.

[0100] It should be noted that the above scenario is only an example of an application scenario provided by the embodiments of this application. The embodiments of this application do not limit the actual form of the various devices included in the scenario, nor do they limit the interaction method between devices. In the specific application of the solution, it can be set according to actual needs.

[0101] The technical solution of this application will now be described in detail through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0102] Figure 1 This is a flowchart illustrating an embodiment of the vehicle pitch attitude control method provided in this application. This embodiment describes how, when the controller determines that the vehicle is in a pitch state, it determines target control parameters and controls the operation of the front axle dual-valve shock absorber, rear axle dual-valve shock absorber, front axle hydraulic pump, and rear axle hydraulic pump in the active suspension based on these target control parameters. The method in this embodiment can be implemented through software, hardware, or a combination of both. Figure 1 As shown, the vehicle pitch attitude control method specifically includes the following steps:

[0103] S101: Obtain the first vehicle speed and acceleration judgment parameters within the first preset time period before the current time, and the second vehicle speed and deceleration judgment parameters within the second preset time period before the current time.

[0104] In this step, in order to determine whether the vehicle is pitching, the controller needs to obtain the first vehicle speed and acceleration judgment parameters within the first preset time period before the current moment, and the second vehicle speed and deceleration judgment parameters within the second preset time period before the current moment.

[0105] Each acceleration judgment parameter includes the rate of change of the accelerator pedal opening; each deceleration judgment parameter includes a first deceleration parameter and a second deceleration parameter, the first deceleration parameter being the rate of change of the brake cylinder pressure, and the second deceleration parameter being the negative of the brake cylinder pressure or the longitudinal acceleration of the vehicle.

[0106] S102: Based on each first vehicle speed, each second vehicle speed, each acceleration judgment parameter, and each deceleration judgment parameter, determine whether the target condition exists in the preset vehicle state judgment conditions.

[0107] In this step, after the controller obtains the first vehicle speed, the second vehicle speed, the acceleration judgment parameter, and the deceleration judgment parameter, it determines whether the target condition in the preset vehicle state judgment conditions is met based on each first vehicle speed, each second vehicle speed, each acceleration judgment parameter, and each deceleration judgment parameter, so as to determine whether the vehicle is pitching.

[0108] Specifically, an acceleration judgment benchmark speed is determined based on each initial vehicle speed.

[0109] It should be noted that the method for determining the acceleration benchmark speed can be: using the speed with the earliest timestamp among all the first speeds as the acceleration benchmark speed; randomly selecting a speed from all the first speeds as the acceleration benchmark speed; or using the average of all the first speeds as the acceleration benchmark speed. This application does not limit the method for determining the acceleration benchmark speed; it can be determined according to the actual situation.

[0110] Determine the reference speed for deceleration based on each second vehicle speed.

[0111] It should be noted that the method for determining the reference speed for deceleration can be: using the speed with the earliest timestamp among all the second speeds as the reference speed for deceleration; randomly selecting a speed from all the second speeds as the reference speed for deceleration; or using the average value of all the second speeds as the reference speed for deceleration. This application does not limit the method for determining the reference speed for deceleration, and it can be determined according to the actual situation.

[0112] After obtaining the acceleration judgment reference speed, the controller determines the target acceleration parameter threshold corresponding to the acceleration judgment reference speed based on the preset correspondence between vehicle speed and acceleration parameter threshold.

[0113] It should be noted that the acceleration parameter threshold is the threshold of the rate of change of the accelerator pedal opening; in the correspondence between vehicle speed and the acceleration parameter threshold, vehicle speed is directly proportional to the acceleration parameter threshold. For example, a vehicle speed of 50 km / h corresponds to an acceleration parameter threshold of 100% / s; a vehicle speed of 60 km / h corresponds to an acceleration parameter threshold of 130% / s; a vehicle speed of 70 km / h corresponds to an acceleration parameter threshold of 140% / s; and a vehicle speed of 90 km / h corresponds to an acceleration parameter threshold of 150% / s. This application does not limit the correspondence between vehicle speed and acceleration parameter thresholds; it can be determined according to actual conditions.

[0114] After obtaining the deceleration judgment reference speed, the controller determines the target deceleration parameter threshold corresponding to the deceleration judgment reference speed based on the preset correspondence between vehicle speed and deceleration parameter threshold.

[0115] It should be noted that in the correspondence between vehicle speed and deceleration parameter thresholds, the vehicle speed and the deceleration parameter threshold are directly proportional. The deceleration parameter threshold is the threshold for the rate of change of brake cylinder pressure. For example, a vehicle speed of 50 km / h corresponds to a deceleration parameter threshold of 200 bar / s; a vehicle speed of 60 km / h corresponds to a deceleration parameter threshold of 300 bar / s; a vehicle speed of 70 km / h corresponds to a deceleration parameter threshold of 400 bar / s; and a vehicle speed of 90 km / h corresponds to a deceleration parameter threshold of 500 bar / s.

[0116] This application does not limit the correspondence between vehicle speed and deceleration parameter threshold; it can be determined according to the actual situation.

[0117] After obtaining the target acceleration parameter threshold and the target deceleration parameter threshold, the controller combines each second vehicle speed, each acceleration judgment parameter and each deceleration judgment parameter to determine whether the preset vehicle state judgment conditions meet the target conditions.

[0118] Among them, the preset vehicle state judgment conditions include preset rapid acceleration conditions, preset steady acceleration conditions, preset rapid deceleration conditions, preset steady deceleration conditions, and preset braking and stopping conditions.

[0119] The preset rapid acceleration condition is: the absolute value of the rate of change of the opening of each accelerator pedal is greater than the target acceleration parameter threshold.

[0120] The preset rapid acceleration condition is met, indicating that the driver rapidly depressed the accelerator pedal within a first preset time period before the current moment was acquired, causing the vehicle to accelerate rapidly and exhibit pitching. Furthermore, the preset rapid acceleration condition requires that the absolute value of the rate of change of each accelerator pedal opening is greater than the target acceleration parameter threshold, reducing the occurrence of misjudgments.

[0121] The preset stable acceleration condition is: the absolute value of the rate of change of the opening of each accelerator pedal is less than or equal to the target acceleration parameter threshold, and greater than 0.

[0122] If the preset steady acceleration condition is met, it means that the driver slowly pressed the accelerator pedal within the first preset time period before the current moment was obtained, and the vehicle accelerated steadily, resulting in a pitching motion. Furthermore, the preset steady acceleration condition requires that the absolute value of the rate of change of the accelerator pedal opening for each pedal is less than or equal to the target acceleration parameter threshold and greater than 0, reducing the occurrence of misjudgments.

[0123] The preset rapid deceleration condition is: the absolute value of each first deceleration parameter is greater than the target deceleration parameter threshold.

[0124] The preset rapid deceleration condition being met indicates that the driver rapidly pressed the brake pedal within the second preset time period before the current moment was acquired, causing the vehicle to decelerate rapidly and resulting in a pitching motion. Furthermore, the preset rapid deceleration condition requires that the absolute value of each first deceleration parameter be greater than the target deceleration parameter threshold, reducing the occurrence of misjudgments.

[0125] The preset steady deceleration condition is: the absolute value of each first deceleration parameter is less than or equal to the target deceleration parameter threshold, and greater than 0.

[0126] If the preset steady deceleration condition is met, it means that the driver slowly pressed the brake pedal within the second preset time period before the current moment was obtained, and the vehicle decelerates steadily, resulting in a pitching motion. Furthermore, the preset steady deceleration condition requires that the absolute value of each first deceleration parameter be less than or equal to the target deceleration parameter threshold and greater than 0, reducing the occurrence of misjudgments.

[0127] The preset braking phase conditions are: each second vehicle speed is greater than 0 and less than the preset braking stop speed, and each second deceleration parameter is less than the preset deceleration parameter threshold.

[0128] The preset braking phase condition being met indicates that the vehicle speed is relatively low, and the vehicle is still braking with significant braking force. The vehicle is in the braking phase and will exhibit pitching. Furthermore, the preset braking phase condition requires that each second vehicle speed be greater than 0 and less than the preset braking stop speed, and that each second deceleration parameter be less than the preset deceleration parameter threshold, reducing the possibility of misjudgments.

[0129] It should be noted that the preset braking speed can be 4km / h, 5km / h, 6km / h, etc. This application embodiment does not limit the preset braking speed, and it can be determined according to the actual situation.

[0130] It should be noted that the preset deceleration parameter threshold is either the negative value of the brake cylinder pressure or the threshold of the vehicle's longitudinal acceleration. When the second deceleration parameter is the negative value of the brake cylinder pressure, the preset deceleration parameter threshold is the negative value of the brake cylinder pressure, and the preset deceleration parameter threshold can be -30 bar, -50 bar, -70 bar, etc.

[0131] When the second deceleration parameter is the vehicle's longitudinal acceleration, the preset deceleration parameter threshold is the threshold value of the vehicle's longitudinal acceleration. The preset deceleration parameter threshold value can be -1 m / s², -1.5 m / s², -2 m / s², etc.

[0132] This application does not limit the preset deceleration parameter threshold, which can be determined according to the actual situation.

[0133] S103: If there is a target condition that is met in the preset vehicle status judgment conditions, then obtain vehicle data according to the target condition.

[0134] In this step, if the controller determines that a target condition is met among the preset vehicle state judgment conditions, it means that the vehicle is pitching and the active suspension needs to be controlled to reduce the degree of vehicle pitch. Then, the vehicle data is acquired according to the target condition.

[0135] If the target condition is a preset rapid acceleration condition, the vehicle data includes driving mode, current longitudinal acceleration, current front axle drive torque, current rear axle drive torque, current vehicle speed, and the current rate of change of accelerator pedal opening.

[0136] If the target condition is a preset steady acceleration condition, the vehicle data includes the current longitudinal acceleration, the current rate of change of the accelerator pedal opening, the current front axle drive torque, the current rear axle drive torque, the current vehicle speed, and the current rate of change of the accelerator pedal opening.

[0137] If the target condition is a preset rapid deceleration condition, the vehicle data includes driving mode, current longitudinal acceleration, current vehicle speed, and current brake cylinder pressure.

[0138] If the target condition is a preset steady deceleration condition, the vehicle data includes driving mode, current longitudinal acceleration, current vehicle speed, and current brake cylinder pressure.

[0139] If the target condition is the preset braking stage condition, the vehicle data includes the current brake cylinder pressure, the current longitudinal acceleration, and the current brake cylinder pressure change rate.

[0140] It should be noted that if no target condition is met in the preset vehicle state judgment conditions, the current vehicle pitch attitude control will end.

[0141] S104: Determine the target control parameters based on vehicle data.

[0142] In this step, after the controller obtains the vehicle data, it needs to determine the target control parameters based on the vehicle data in order to control the main suspension.

[0143] The target control parameters include: the opening degree of the compression valve and the opening degree of the rebound valve of the front axle dual-valve shock absorber, the opening degree of the compression valve and the opening degree of the rebound valve of the rear axle dual-valve shock absorber, the rotation direction and torque of the front axle hydraulic pump, and the rotation direction and torque of the rear axle hydraulic pump.

[0144] S105: Controls the operation of the front axle dual-valve shock absorber, rear axle dual-valve shock absorber, front axle hydraulic pump, and rear axle hydraulic pump according to the target control parameters.

[0145] In this step, after the controller obtains the target control parameters, it controls the operation of the front axle dual-valve shock absorber, the rear axle dual-valve shock absorber, the front axle hydraulic pump, and the rear axle hydraulic pump in the active suspension according to the target control parameters.

[0146] It should be noted that the controller can also convert the opening degree of the compression valve of the front axle dual-valve shock absorber into the compression valve current of the front axle dual-valve shock absorber, the opening degree of the rebound valve of the front axle dual-valve shock absorber into the rebound valve current of the front axle dual-valve shock absorber, the opening degree of the compression valve of the rear axle dual-valve shock absorber into the compression valve current of the rear axle dual-valve shock absorber, and the opening degree of the rebound valve of the rear axle dual-valve shock absorber into the rebound valve current of the rear axle dual-valve shock absorber, based on the correspondence between the opening degree and the current.

[0147] Based on the relationship between torque and speed, the torque of the front axle hydraulic pump is converted into the speed of the front axle hydraulic pump; the torque of the rear axle hydraulic pump is converted into the speed of the rear axle hydraulic pump.

[0148] Furthermore, based on the compression valve current and rebound valve current of the front axle dual-valve shock absorber, the compression valve current and rebound valve current of the rear axle dual-valve shock absorber, the rotation direction and speed of the front axle hydraulic pump, and the rotation direction and speed of the rear axle hydraulic pump, the controller controls the operation of the front axle dual-valve shock absorber, the rear axle dual-valve shock absorber, the front axle hydraulic pump, and the rear axle hydraulic pump in the active suspension. When the controller controls the compression valve and rebound valve based on the current, it can monitor the valve body operating data and make adjustments accordingly to meet the opening requirements.

[0149] The vehicle pitch attitude control method provided in this embodiment determines whether a target condition exists in the preset vehicle state judgment conditions by using the first vehicle speed and acceleration judgment parameters within a first preset time period before the current moment, and the second vehicle speed and deceleration judgment parameters within a second preset time period before the current moment. If a target condition exists in the preset vehicle state judgment conditions, vehicle data is acquired based on the target condition, and then the target control parameters are determined based on the vehicle data. The front axle dual-valve shock absorber, rear axle dual-valve shock absorber, front axle hydraulic pump, and rear axle hydraulic pump are then controlled to operate. This solution, by determining the target control parameters based on the established target condition and then controlling the operation of the front axle dual-valve shock absorber, rear axle dual-valve shock absorber, front axle hydraulic pump, and rear axle hydraulic pump, achieves control of the active suspension to control the vehicle pitch attitude.

[0150] In addition, by determining the target conditions from preset rapid acceleration conditions, preset steady acceleration conditions, preset rapid deceleration conditions, preset steady deceleration conditions, and preset braking stage conditions, and then obtaining vehicle data based on the target conditions, and then determining the target control parameters, the accuracy and applicability of vehicle pitch attitude control can be improved.

[0151] Figure 2 This is a flowchart illustrating a second embodiment of the vehicle pitch attitude control method provided in this application. Based on the above embodiments, this application describes how the controller determines the target control parameters according to vehicle data when the target condition is a preset rapid acceleration condition. For example... Figure 2As shown, the vehicle pitch attitude control method specifically includes the following steps:

[0152] S201: Based on the first preset correspondence, determine the compression valve opening and rebound valve opening of the front axle dual-valve shock absorber, as well as the compression valve opening and rebound valve opening of the rear axle dual-valve shock absorber, corresponding to the driving mode, current vehicle speed, and current opening change rate of the accelerator pedal.

[0153] In this step, under the target condition of preset rapid acceleration, after the controller obtains the vehicle data, it determines the compression valve opening and rebound valve opening of the front axle dual-valve shock absorber, as well as the compression valve opening and rebound valve opening of the rear axle dual-valve shock absorber, according to the first preset correspondence, based on the driving mode, current vehicle speed, and current opening rate of change of the accelerator pedal.

[0154] The first preset correspondence is the correspondence between the driving mode, vehicle speed, and the rate of change of the accelerator pedal opening, and the opening of the compression valve and rebound valve of the front axle dual-valve shock absorber, as well as the opening of the compression valve and rebound valve of the rear axle dual-valve shock absorber.

[0155] In the first preset correspondence, the compression valve opening of the front axle dual-valve shock absorber is greater than the first preset opening, the rebound valve opening of the front axle dual-valve shock absorber in the first preset correspondence is less than the second preset opening, and the first preset opening is greater than the second preset opening.

[0156] In the first preset correspondence, the compression valve opening of the rear axle dual-valve shock absorber is less than the third preset opening; the rebound valve opening of the rear axle dual-valve shock absorber in the first preset correspondence is greater than the fourth preset opening; and the fourth preset opening is greater than the third preset opening.

[0157] When the target condition is the preset rapid acceleration condition, the front of the car will rise. In order to suppress the rise of the front of the car, it is necessary to increase the rebound damping of the front axle shock absorber, that is, reduce the opening of the rebound valve. Therefore, the opening of the rebound valve of the front axle dual valve shock absorber in the first preset correspondence is less than the second preset opening. In other words, the opening of the rebound valve of the determined front axle dual valve shock absorber is less than the second preset opening.

[0158] In order for the tire to keep in contact with the ground, the compression damping of the front axle shock absorber needs to be reduced, which means increasing the opening of the compression valve. Therefore, the compression valve opening of the front axle dual-valve shock absorber in the first preset correspondence is greater than the first preset opening. In other words, the determined compression valve opening of the front axle dual-valve shock absorber is greater than the first preset opening.

[0159] When the target condition is the preset rapid acceleration condition, the rear of the car will drop. In order to suppress the drop of the rear of the car, it is necessary to increase the compression damping of the rear axle shock absorber, that is, to reduce the opening of the compression valve. Therefore, the compression valve opening of the rear axle dual valve shock absorber in the first preset correspondence is less than the third preset opening, that is, the determined compression valve opening of the rear axle dual valve shock absorber is less than the third preset opening.

[0160] In order to make the tires grip the ground, the rebound damping of the rear axle shock absorber needs to be reduced, which means increasing the opening of the rebound valve. Therefore, the opening of the rebound valve of the rear axle dual-valve shock absorber in the first preset correspondence is greater than the fourth preset opening. In other words, the opening of the rebound valve of the determined rear axle dual-valve shock absorber is greater than the fourth preset opening.

[0161] In the first preset correspondence, vehicle speed is inversely proportional to the opening degree of each compression valve, and vehicle speed is inversely proportional to the opening degree of each rebound valve. The rate of change of the accelerator pedal opening is inversely proportional to the opening degree of each compression valve, and the rate of change of the accelerator pedal opening is inversely proportional to the opening degree of each rebound valve. This is because the greater the rate of change of vehicle speed and accelerator pedal opening, the greater the required rebound damping and compression damping of the front axle shock absorber, and the greater the required rebound damping and compression damping of the rear axle shock absorber.

[0162] The driving mode is either Comfort, Standard, or Sport. In the first preset correspondence, the compression valve opening gradually decreases for Comfort, Standard, and Sport modes; similarly, the rebound valve opening gradually decreases for Comfort, Standard, and Sport modes. This is because the required rebound damping and compression damping of the front axle shock absorber, and the rebound damping and compression damping of the rear axle shock absorber, gradually increase for Comfort, Standard, and Sport modes, respectively.

[0163] It should be noted that the first preset opening and the fourth preset opening can be 80%, 85%, 90%, etc., and the second preset opening and the third preset opening can be 20%, 15%, 10%, etc. This application embodiment does not limit the first preset opening, the second preset opening, the third preset opening, and the fourth preset opening; they can be determined according to the actual situation.

[0164] S202: Determine whether the current longitudinal acceleration is greater than the first preset acceleration threshold; if the current longitudinal acceleration is greater than the first preset acceleration threshold, then execute step S203; if the current longitudinal acceleration is less than or equal to the first preset acceleration threshold, then execute step S204.

[0165] In this step, in order to determine whether the pitch of the vehicle can be reduced by using only the dual-valve shock absorber, that is, to determine whether the hydraulic pump needs to participate in the control, the controller judges whether the current longitudinal acceleration is greater than the first preset acceleration threshold.

[0166] It should be noted that the first preset acceleration threshold can be 3 meters per second squared, 3.2 meters per second squared, 3.4 meters per second squared, etc. This application embodiment does not limit the first preset acceleration threshold, and it can be determined according to the actual situation.

[0167] S203: Based on the second preset correspondence, determine the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump corresponding to the current longitudinal acceleration, the current rate of change of the accelerator pedal opening, the current front axle drive torque, and the current rear axle drive torque, and determine the rotation direction of the front axle hydraulic pump as the first direction and the rotation direction of the rear axle hydraulic pump as the second direction.

[0168] In this step, if the controller determines that the current longitudinal acceleration is greater than the first preset acceleration threshold, it indicates that the hydraulic pump needs to participate in the control. Then, according to the second preset correspondence, the controller determines the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump corresponding to the current longitudinal acceleration, the current rate of change of the accelerator pedal opening, the current front axle drive torque, and the current rear axle drive torque. The controller then determines the rotation direction of the front axle hydraulic pump as the first direction and the rotation direction of the rear axle hydraulic pump as the second direction.

[0169] The first direction is the direction in which the hydraulic oil is driven from the lower chamber to the upper chamber of the shock absorber, and the second direction is the direction in which the hydraulic oil is driven from the upper chamber to both chambers of the shock absorber.

[0170] The front axle hydraulic pump rotates in the first direction, controlling the rapid retraction of the front axle dual-valve shock absorber to reduce the rise of the front of the vehicle. The rear axle hydraulic pump rotates in the second direction, controlling the rapid extension of the rear axle dual-valve shock absorber to reduce the lowering of the rear of the vehicle.

[0171] The second preset correspondence is the correspondence between longitudinal acceleration, the rate of change of accelerator pedal opening, front axle drive torque, and rear axle drive torque and the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump.

[0172] In the second preset correspondence, the greater the longitudinal acceleration, the rate of change of accelerator pedal opening, the front axle drive torque, and the rear axle drive torque, the greater the torque of the front axle hydraulic pump and the rear axle hydraulic pump. This is because the greater the longitudinal acceleration, the greater the rate of change of accelerator pedal opening, the greater the front axle drive torque, and the greater the rear axle drive torque, the higher the degree of vehicle front rise and the greater the degree of vehicle rear fall. This requires an increase in the contraction speed of the front axle dual-valve shock absorber and an increase in the extension speed of the rear axle dual-valve shock absorber, thus resulting in greater torque of the front axle hydraulic pump and the rear axle hydraulic pump.

[0173] S204: Determine the rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump as either the first direction or the second direction, and determine the torque of the front axle hydraulic pump and the rear axle hydraulic pump as 0.

[0174] In this step, if the controller determines that the current longitudinal acceleration is less than or equal to the first preset acceleration threshold, it means that the pitch of the vehicle can be reduced by using only the dual-valve shock absorber without the need for hydraulic pumps to participate in the control. In this case, the rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump is set to the first direction or the second direction, and the torque of the front axle hydraulic pump and the rear axle hydraulic pump is set to 0.

[0175] When the torque of the front axle hydraulic pump and the rear axle hydraulic pump is 0, the front axle hydraulic pump and the rear axle hydraulic pump will not rotate.

[0176] The vehicle pitch attitude control method provided in this embodiment can improve the accuracy of target control parameters by determining the target control parameters based on the driving mode, current longitudinal acceleration, current front axle drive torque, current rear axle drive torque, current vehicle speed, and the current rate of change of accelerator pedal opening when the target condition is a preset rapid acceleration condition.

[0177] Figure 3 This is a flowchart illustrating a third embodiment of the vehicle pitch attitude control method provided in this application. Based on the above embodiments, this application describes how the controller determines the target control parameters according to vehicle data when the target condition is a preset stable acceleration condition. For example... Figure 3 As shown, the vehicle pitch attitude control method specifically includes the following steps:

[0178] S301: Based on the third preset correspondence, determine the compression valve opening and rebound valve opening of the front axle dual-valve shock absorber, as well as the compression valve opening and rebound valve opening of the rear axle dual-valve shock absorber, corresponding to the current front axle drive torque, the current rear axle drive torque, and the current longitudinal acceleration.

[0179] In this step, under the target condition of preset steady acceleration condition, after the controller obtains the vehicle data, it determines the compression valve opening and rebound valve opening of the front axle dual-valve shock absorber, as well as the compression valve opening and rebound valve opening of the rear axle dual-valve shock absorber, according to the third preset correspondence.

[0180] The third preset correspondence is the correspondence between the front axle drive torque, the rear axle drive torque, and the longitudinal acceleration, and the opening of the compression valve and the rebound valve of the front axle dual-valve shock absorber, as well as the opening of the compression valve and the rebound valve of the rear axle dual-valve shock absorber.

[0181] In the third preset correspondence, the compression valve opening of the front axle dual-valve shock absorber is greater than the fifth preset opening; in the third preset correspondence, the rebound valve opening of the front axle dual-valve shock absorber is less than the sixth preset opening; and the fifth preset opening is greater than the sixth preset opening.

[0182] The compression valve opening of the rear axle dual-valve shock absorber in the third preset correspondence is less than the seventh preset opening. The rebound valve opening of the rear axle dual-valve shock absorber in the third preset correspondence is greater than the eighth preset opening. The eighth preset opening is greater than the seventh preset opening.

[0183] When the target condition is the preset stable acceleration condition, the front of the car will rise. In order to suppress the rise of the front of the car, it is necessary to increase the rebound damping of the front axle shock absorber, that is, reduce the opening of the rebound valve. Therefore, the opening of the rebound valve of the front axle dual valve shock absorber in the third preset correspondence is less than the sixth preset opening, that is, the opening of the rebound valve of the determined front axle dual valve shock absorber is less than the sixth preset opening.

[0184] In order for the tire to keep in contact with the ground, the compression damping of the front axle shock absorber needs to be reduced, which means increasing the opening of the compression valve. Therefore, the compression valve opening of the front axle dual-valve shock absorber in the third preset correspondence is greater than the fifth preset opening, which means that the determined compression valve opening of the front axle dual-valve shock absorber is greater than the fifth preset opening.

[0185] When the target condition is the preset stable acceleration condition, the rear of the car will drop. In order to suppress the drop of the rear of the car, it is necessary to increase the compression damping of the rear axle shock absorber, that is, to reduce the opening of the compression valve. Therefore, the compression valve opening of the rear axle dual valve shock absorber in the third preset correspondence is less than the seventh preset opening, that is, the determined compression valve opening of the rear axle dual valve shock absorber is less than the seventh preset opening.

[0186] In order to make the tires grip the ground, the rebound damping of the rear axle shock absorber needs to be reduced, which means increasing the opening of the rebound valve. Therefore, the rebound valve opening of the rear axle dual-valve shock absorber in the third preset correspondence is greater than the eighth preset opening, which means that the rebound valve opening of the determined rear axle dual-valve shock absorber is greater than the eighth preset opening.

[0187] In the third preset correspondence, the front axle drive torque, rear axle drive torque, and longitudinal acceleration are inversely proportional to the opening degree of each compression valve and each rebound valve. This is because the greater the front axle drive torque, rear axle drive torque, and longitudinal acceleration, the greater the required rebound damping and compression damping of the front axle shock absorber, and the greater the required rebound damping and compression damping of the rear axle shock absorber.

[0188] The first preset opening is less than the fifth preset opening, the second preset opening is less than the sixth preset opening, the third preset opening is less than the seventh preset opening, and the fourth preset opening is less than the eighth preset opening. This is because the required rebound damping and compression damping are smaller when the target condition is a preset rapid acceleration condition compared to a preset steady acceleration condition.

[0189] It should be noted that the fifth and eighth preset openings can be 85%, 90%, 95%, etc., and the sixth and seventh preset openings can be 25%, 20%, 15%, etc. This application embodiment does not limit the fifth, sixth, seventh, and eighth preset openings; they can be determined according to actual circumstances.

[0190] S302: Determine whether the current longitudinal acceleration is greater than the second preset acceleration threshold; if the current longitudinal acceleration is greater than the second preset acceleration threshold, then execute step S303; if the current longitudinal acceleration is less than or equal to the second preset acceleration threshold, then execute step S304.

[0191] In this step, in order to determine whether the pitch of the vehicle can be reduced by using only the dual-valve shock absorber, that is, to determine whether the hydraulic pump needs to participate in the control, the controller determines whether the current longitudinal acceleration is greater than the second preset acceleration threshold.

[0192] It should be noted that the second preset acceleration threshold can be 2.4 m / s², 2.6 m / s², 3 m / s², etc. This application embodiment does not limit the second preset acceleration threshold, and it can be determined according to the actual situation.

[0193] S303: Based on the fourth preset correspondence, determine the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump corresponding to the current longitudinal acceleration, the current rate of change of the accelerator pedal opening, the current front axle drive torque, and the current rear axle drive torque, and determine the rotation direction of the front axle hydraulic pump as the first direction and the rotation direction of the rear axle hydraulic pump as the second direction.

[0194] In this step, if the controller determines that the current longitudinal acceleration is greater than the second preset acceleration threshold, it indicates that the hydraulic pump needs to participate in the control. Then, according to the fourth preset correspondence, the controller determines the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump corresponding to the current longitudinal acceleration, the current rate of change of the accelerator pedal opening, the current front axle drive torque, and the current rear axle drive torque. The controller also determines the rotation direction of the front axle hydraulic pump as the first direction and the rotation direction of the rear axle hydraulic pump as the second direction.

[0195] The front axle hydraulic pump rotates in the first direction, controlling the rapid retraction of the front axle dual-valve shock absorber to reduce the rise of the front of the vehicle. The rear axle hydraulic pump rotates in the second direction, controlling the rapid extension of the rear axle dual-valve shock absorber to reduce the lowering of the rear of the vehicle.

[0196] The fourth preset correspondence is the correspondence between longitudinal acceleration, the rate of change of accelerator pedal opening, front axle drive torque, and rear axle drive torque and the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump.

[0197] In the fourth preset correspondence, the greater the longitudinal acceleration, the rate of change of accelerator pedal opening, the front axle drive torque, and the rear axle drive torque, the greater the torque of the front axle hydraulic pump and the rear axle hydraulic pump. This is because the greater the longitudinal acceleration, the greater the rate of change of accelerator pedal opening, the greater the front axle drive torque, and the greater the rear axle drive torque, the greater the degree of front-end rise and rear-end drop. This requires a greater contraction speed of the front axle dual-valve shock absorber and a greater extension speed of the rear axle dual-valve shock absorber, thus resulting in greater torque of the front axle hydraulic pump and the rear axle hydraulic pump.

[0198] S304: Determine the rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump as either the first direction or the second direction, and determine the torque of the front axle hydraulic pump and the rear axle hydraulic pump as 0.

[0199] In this step, if the controller determines that the current longitudinal acceleration is less than or equal to the second preset acceleration threshold, it means that the pitch of the vehicle can be reduced by using only the dual-valve shock absorber without the need for hydraulic pumps to participate in the control. In this case, the rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump is set to the first direction or the second direction, and the torque of the front axle hydraulic pump and the rear axle hydraulic pump is set to 0.

[0200] When the torque of the front axle hydraulic pump and the rear axle hydraulic pump is 0, the front axle hydraulic pump and the rear axle hydraulic pump will not rotate.

[0201] The vehicle pitch attitude control method provided in this embodiment, under the condition of preset stable acceleration, determines the target control parameters based on the current longitudinal acceleration, the current rate of change of the accelerator pedal opening, the current front axle drive torque, the current rear axle drive torque, the current vehicle speed, and the current rate of change of the accelerator pedal opening, thereby improving the accuracy of the target control parameters.

[0202] Figure 4 This is a flowchart illustrating Embodiment 4 of the vehicle pitch attitude control method provided in this application. Based on the above embodiments, this application embodiment explains how the controller determines the target control parameters according to vehicle data when the target condition is a preset rapid deceleration condition. Figure 4 As shown, the vehicle pitch attitude control method specifically includes the following steps:

[0203] S401: Based on the fifth preset correspondence, determine the opening of the compression valve and the rebound valve of the front axle dual-valve shock absorber, as well as the opening of the compression valve and the rebound valve of the rear axle dual-valve shock absorber, corresponding to the driving mode, current vehicle speed, current longitudinal acceleration, and current brake cylinder pressure.

[0204] In this step, under the target condition of preset rapid deceleration, after the controller obtains the vehicle data, it determines the opening of the compression valve and the rebound valve of the front axle dual-valve shock absorber, as well as the opening of the compression valve and the rebound valve of the rear axle dual-valve shock absorber, according to the fifth preset correspondence, based on the driving mode, current vehicle speed, current longitudinal acceleration, and current brake cylinder pressure.

[0205] The fifth preset correspondence is the correspondence between driving mode, vehicle speed, longitudinal acceleration, and brake cylinder pressure and the opening of the compression valve and rebound valve of the front axle dual-valve shock absorber, as well as the opening of the compression valve and rebound valve of the rear axle dual-valve shock absorber.

[0206] In the fifth preset correspondence, the compression valve opening of the front axle dual-valve shock absorber is less than the ninth preset opening. In the first preset correspondence, the rebound valve opening of the front axle dual-valve shock absorber is greater than the tenth preset opening. The tenth preset opening is greater than the ninth preset opening.

[0207] In the fifth preset correspondence, the compression valve opening of the rear axle dual-valve shock absorber is greater than the eleventh preset opening, the rebound valve opening of the rear axle dual-valve shock absorber in the fifth preset correspondence is less than the twelfth preset opening, and the eleventh preset opening is greater than the twelfth preset opening.

[0208] When the target condition is the preset rapid deceleration condition, the front of the car will drop. In order to suppress the drop of the front of the car, it is necessary to increase the compression damping of the front axle shock absorber, that is, to reduce the opening of the compression valve. Therefore, the compression valve opening of the front axle dual valve shock absorber in the fifth preset correspondence is less than the ninth preset opening, that is, the determined compression valve opening of the front axle dual valve shock absorber is less than the ninth preset opening.

[0209] In order to make the tires grip the ground, the rebound damping of the front axle shock absorber needs to be reduced, which means increasing the opening of the rebound valve. Therefore, the opening of the rebound valve of the front axle dual-valve shock absorber in the fifth preset correspondence is greater than the tenth preset opening, which means that the opening of the rebound valve of the determined front axle dual-valve shock absorber is greater than the tenth preset opening.

[0210] When the target condition is the preset rapid deceleration condition, the rear of the vehicle will rise. In order to suppress the rise of the rear of the vehicle, it is necessary to increase the rebound damping of the rear axle shock absorber, that is, to reduce the opening of the rebound valve. Therefore, the opening of the rebound valve of the rear axle dual valve shock absorber in the fifth preset correspondence is less than the twelfth preset opening, that is, the opening of the rebound valve of the determined rear axle dual valve shock absorber is less than the twelfth preset opening.

[0211] In order to make the tires grip the ground, the compression damping of the rear axle shock absorber needs to be reduced, which means increasing the opening of the compression valve. Therefore, the compression valve opening of the rear axle dual-valve shock absorber in the fifth preset correspondence is greater than the eleventh preset opening, which means that the determined compression valve opening of the rear axle dual-valve shock absorber is greater than the eleventh preset opening.

[0212] In the fifth preset correspondence, vehicle speed and brake cylinder pressure are inversely proportional to the opening degree of each compression valve and each rebound valve, while longitudinal acceleration is directly proportional to the opening degree of each compression valve and each rebound valve. This is because the greater the vehicle speed and brake cylinder pressure, and the smaller the longitudinal acceleration, the greater the required rebound damping and compression damping of the front axle shock absorber, and the greater the required rebound damping and compression damping of the rear axle shock absorber.

[0213] The driving mode is either Comfort, Standard, or Sport. In the fifth preset correspondence, the compression valve opening gradually decreases for Comfort, Standard, and Sport modes; similarly, the rebound valve opening gradually decreases for Comfort, Standard, and Sport modes. This is because the required rebound damping and compression damping of the front axle shock absorber, and the rebound damping and compression damping of the rear axle shock absorber, gradually increase for Comfort, Standard, and Sport modes, respectively.

[0214] It should be noted that the tenth and eleventh preset openings can be 80%, 85%, 90%, etc., and the ninth and twelfth preset openings can be 20%, 15%, 10%, etc. This application embodiment does not limit the tenth, eleventh, twelfth, and thirteenth preset openings; they can be determined according to actual circumstances.

[0215] S402: Determine whether the current longitudinal acceleration is less than the third preset acceleration threshold. If the current longitudinal acceleration is less than the third preset acceleration threshold, proceed to step S403; if the current longitudinal acceleration is greater than or equal to the third preset acceleration threshold, proceed to step S404.

[0216] In this step, in order to determine whether the pitch of the vehicle can be reduced by using only the dual-valve shock absorber, that is, to determine whether the hydraulic pump needs to participate in the control, the controller judges whether the current longitudinal acceleration is less than the third preset acceleration threshold.

[0217] It should be noted that the third preset acceleration threshold can be -3 m / s², -3.2 m / s², -3.4 m / s², etc. This application embodiment does not limit the third preset acceleration threshold, and it can be determined according to the actual situation.

[0218] S403: Based on the sixth preset correspondence, determine the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump corresponding to the current brake cylinder pressure and the current longitudinal acceleration, and determine the rotation direction of the front axle hydraulic pump as the second direction and the rotation direction of the rear axle hydraulic pump as the first direction.

[0219] In this step, if the controller determines that the current longitudinal acceleration is less than the third preset acceleration threshold, it means that the hydraulic pump needs to participate in the control. Then, according to the sixth preset correspondence, the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump corresponding to the current brake cylinder pressure and the current longitudinal acceleration are determined, and the rotation direction of the front axle hydraulic pump is determined as the second direction, and the rotation direction of the rear axle hydraulic pump is determined as the first direction.

[0220] The front axle hydraulic pump rotates in the second direction, controlling the rapid extension of the front axle dual-valve shock absorber to reduce the degree of front-end lowering. The rear axle hydraulic pump rotates in the first direction, controlling the rapid retraction of the rear axle dual-valve shock absorber to reduce the degree of rear-end raising.

[0221] The sixth preset correspondence is the correspondence between the brake cylinder pressure and longitudinal acceleration and the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump.

[0222] In the sixth preset correspondence, the lower the brake cylinder pressure and the greater the longitudinal acceleration, the smaller the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump. This is because the lower the brake cylinder pressure and the greater the longitudinal acceleration, the smaller the degree of front-end lowering and rear-end raising, requiring a decrease in the extension speed of the front axle dual-valve shock absorber and a decrease in the contraction speed of the rear axle dual-valve shock absorber. Therefore, the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump are smaller.

[0223] S404: Determine the rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump as either the first direction or the second direction, and determine the torque of the front axle hydraulic pump and the rear axle hydraulic pump as 0.

[0224] In this step, if the controller determines that the current longitudinal acceleration is greater than or equal to the third preset acceleration threshold, it means that the pitch of the vehicle can be reduced by using only the dual-valve shock absorber without the need for hydraulic pumps to participate in the control. In this case, the rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump is set to the first direction or the second direction, and the torque of the front axle hydraulic pump and the rear axle hydraulic pump is set to 0.

[0225] When the torque of the front axle hydraulic pump and the rear axle hydraulic pump is 0, the front axle hydraulic pump and the rear axle hydraulic pump will not rotate.

[0226] The vehicle pitch attitude control method provided in this embodiment can improve the accuracy of the target control parameters by determining the target control parameters based on the driving mode, current longitudinal acceleration, current vehicle speed, and current brake cylinder pressure when the target condition is a preset rapid deceleration condition.

[0227] Figure 5This is a flowchart illustrating Embodiment 5 of the vehicle pitch attitude control method provided in this application. Based on the above embodiments, this application embodiment describes the situation where the controller determines the target control parameters based on vehicle data when the target condition is a preset steady deceleration condition. Figure 5 As shown, the vehicle pitch attitude control method specifically includes the following steps:

[0228] S501: Based on the seventh preset correspondence, determine the compression valve opening and rebound valve opening of the front axle dual-valve shock absorber, as well as the compression valve opening and rebound valve opening of the rear axle dual-valve shock absorber, corresponding to the driving mode, current vehicle speed, current longitudinal acceleration, and current brake cylinder pressure.

[0229] In this step, under the target condition of preset steady deceleration condition, after the controller obtains the vehicle data, it determines the opening of the compression valve and the rebound valve of the front axle dual valve shock absorber, as well as the opening of the compression valve and the rebound valve of the rear axle dual valve shock absorber, according to the seventh preset correspondence, based on the driving mode, current vehicle speed, current longitudinal acceleration, and current brake cylinder pressure.

[0230] The seventh preset correspondence is the correspondence between the compression valve opening and rebound valve opening of the front axle dual-valve shock absorber and the rear axle dual-valve shock absorber, corresponding to the driving mode, vehicle speed, longitudinal acceleration, and brake cylinder pressure.

[0231] In the seventh preset correspondence, the compression valve opening of the front axle dual-valve shock absorber is less than the thirteenth preset opening; in the seventh preset correspondence, the rebound valve opening of the front axle dual-valve shock absorber is greater than the fourteenth preset opening; and the fourteenth preset opening is greater than the thirteenth preset opening.

[0232] In the seventh preset correspondence, the compression valve opening of the rear axle dual-valve shock absorber is greater than the fifteenth preset opening; the rebound valve opening of the rear axle dual-valve shock absorber in the seventh preset correspondence is less than the sixteenth preset opening; and the fifteenth preset opening is greater than the sixteenth preset opening.

[0233] When the target condition is the preset steady deceleration condition, the front of the car will drop. In order to suppress the drop of the front of the car, it is necessary to increase the compression damping of the front axle shock absorber, that is, to reduce the opening of the compression valve. Therefore, the compression valve opening of the front axle dual valve shock absorber in the seventh preset correspondence is less than the thirteenth preset opening, that is, the determined compression valve opening of the front axle dual valve shock absorber is less than the thirteenth preset opening.

[0234] In order to make the tires grip the ground, the rebound damping of the front axle shock absorber needs to be reduced, which means increasing the opening of the rebound valve. Therefore, the opening of the rebound valve of the front axle dual-valve shock absorber in the seventh preset correspondence is greater than the fourteenth preset opening, which means that the opening of the rebound valve of the determined front axle dual-valve shock absorber is greater than the fourteenth preset opening.

[0235] When the target condition is the preset steady deceleration condition, the rear of the vehicle will rise. In order to suppress the rise of the rear of the vehicle, it is necessary to increase the rebound damping of the rear axle shock absorber, that is, to reduce the opening of the rebound valve. Therefore, the opening of the rebound valve of the rear axle dual valve shock absorber in the seventh preset correspondence is less than the sixteenth preset opening, that is, the opening of the rebound valve of the determined rear axle dual valve shock absorber is less than the sixteenth preset opening.

[0236] In order to make the tires grip the ground, the compression damping of the rear axle shock absorber needs to be reduced, which means increasing the opening of the compression valve. Therefore, the compression valve opening of the rear axle dual-valve shock absorber in the seventh preset correspondence is greater than the fifteenth preset opening, which means that the determined compression valve opening of the rear axle dual-valve shock absorber is greater than the fifteenth preset opening.

[0237] In the seventh preset correspondence, vehicle speed and brake cylinder pressure are inversely proportional to the opening degree of each compression valve and each rebound valve, while longitudinal acceleration is directly proportional to the opening degree of each compression valve and each rebound valve. This is because the greater the vehicle speed and brake cylinder pressure, and the smaller the longitudinal acceleration, the greater the required rebound damping and compression damping of the front axle shock absorber, and the greater the required rebound damping and compression damping of the rear axle shock absorber.

[0238] The driving mode is either Comfort, Standard, or Sport. In the seventh preset correspondence, the compression valve opening gradually decreases for Comfort, Standard, and Sport modes; similarly, the rebound valve opening gradually decreases for Comfort, Standard, and Sport modes. This is because the required rebound damping and compression damping of the front axle shock absorber, and the rebound damping and compression damping of the rear axle shock absorber, gradually increase for Comfort, Standard, and Sport modes, respectively.

[0239] The ninth preset opening is less than the thirteenth preset opening, the tenth preset opening is less than the fourteenth preset opening, the eleventh preset opening is less than the fifteenth preset opening, and the twelfth preset opening is less than the sixteenth preset opening. This is because the required rebound damping and compression damping are smaller when the target condition is a preset rapid deceleration condition compared to a preset steady deceleration condition.

[0240] It should be noted that the fourteenth and fifteenth preset openings can be 85%, 90%, 95%, etc., and the thirteenth and sixteenth preset openings can be 25%, 20%, 15%, etc. This application embodiment does not limit the thirteenth, fourteenth, fifteenth, and sixteenth preset openings; they can be determined according to actual circumstances.

[0241] S502: Determine whether the current longitudinal acceleration is less than the fourth preset acceleration threshold; if the current longitudinal acceleration is less than the fourth preset acceleration threshold, then execute step S503; if the current longitudinal acceleration is greater than or equal to the fourth preset acceleration threshold, then execute step S504.

[0242] In this step, in order to determine whether the pitch of the vehicle can be reduced by using only the dual-valve shock absorber, that is, to determine whether the hydraulic pump needs to participate in the control, the controller judges whether the current longitudinal acceleration is less than the fourth preset acceleration threshold.

[0243] It should be noted that the fourth preset acceleration threshold can be -2.4 m / s², -2.6 m / s², -3 m / s², etc. This application embodiment does not limit the fourth preset acceleration threshold, and it can be determined according to the actual situation.

[0244] S503: Based on the eighth preset correspondence, determine the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump corresponding to the current brake cylinder pressure and the current longitudinal acceleration, and determine the rotation direction of the front axle hydraulic pump as the second direction and the rotation direction of the rear axle hydraulic pump as the first direction.

[0245] In this step, if the controller determines that the current longitudinal acceleration is less than the fourth preset acceleration threshold, it means that the hydraulic pump needs to participate in the control. Then, according to the eighth preset correspondence, the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump corresponding to the current brake cylinder pressure and the current longitudinal acceleration are determined, and the rotation direction of the front axle hydraulic pump is determined as the second direction, and the rotation direction of the rear axle hydraulic pump is determined as the first direction.

[0246] The front axle hydraulic pump rotates in the second direction, controlling the rapid extension of the front axle dual-valve shock absorber to reduce the degree of front-end lowering. The rear axle hydraulic pump rotates in the first direction, controlling the rapid retraction of the rear axle dual-valve shock absorber to reduce the degree of rear-end raising.

[0247] The eighth preset correspondence is the correspondence between the brake cylinder pressure and longitudinal acceleration and the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump.

[0248] In the eighth preset correspondence, the lower the brake cylinder pressure and the greater the longitudinal acceleration, the smaller the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump. This is because the lower the brake cylinder pressure and the greater the longitudinal acceleration, the smaller the degree of front-end lowering and rear-end raising, requiring a decrease in the extension speed of the front axle dual-valve shock absorber and a decrease in the contraction speed of the rear axle dual-valve shock absorber, thus resulting in smaller torques for the front axle hydraulic pump and the rear axle hydraulic pump.

[0249] S504: Determine the rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump as either the first direction or the second direction, and determine the torque of the front axle hydraulic pump and the rear axle hydraulic pump as 0.

[0250] In this step, if the controller determines that the current longitudinal acceleration is greater than or equal to the fourth preset acceleration threshold, it means that the pitch of the vehicle can be reduced by using only the dual-valve shock absorber without the need for hydraulic pumps to participate in the control. In this case, the rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump is set to the first direction or the second direction, and the torque of the front axle hydraulic pump and the rear axle hydraulic pump is set to 0.

[0251] When the torque of the front axle hydraulic pump and the rear axle hydraulic pump is 0, the front axle hydraulic pump and the rear axle hydraulic pump will not rotate.

[0252] The vehicle pitch attitude control method provided in this embodiment determines the target control parameters based on the driving mode, current longitudinal acceleration, current vehicle speed, and current brake cylinder pressure when the target condition is a preset steady deceleration condition, thereby improving the accuracy of the target control parameters.

[0253] Figure 6 This is a flowchart illustrating a sixth embodiment of the vehicle pitch attitude control method provided in this application. Based on the above embodiments, this application describes how the controller determines the target control parameters according to vehicle data when the target condition is a preset braking stage condition. For example... Figure 6 As shown, the vehicle pitch attitude control method specifically includes the following steps:

[0254] S601: Based on the ninth preset correspondence, determine the opening degree of the compression valve and the opening degree of the rebound valve of the front axle dual-valve shock absorber corresponding to the current brake cylinder pressure, as well as the opening degree of the compression valve and the opening degree of the rebound valve of the rear axle dual-valve shock absorber.

[0255] In this step, when the target condition is the preset braking stage condition, after the controller obtains the vehicle data, it determines the opening degree of the compression valve and the opening degree of the rebound valve of the front axle dual valve shock absorber, as well as the opening degree of the compression valve and the opening degree of the rebound valve of the rear axle dual valve shock absorber, according to the ninth preset correspondence.

[0256] The ninth preset correspondence is the correspondence between the brake cylinder pressure and the opening of the compression valve and the opening of the rebound valve of the front axle dual-valve shock absorber, as well as the opening of the compression valve and the opening of the rebound valve of the rear axle dual-valve shock absorber.

[0257] In the ninth preset correspondence, the compression valve opening of the front axle dual-valve shock absorber is less than the seventeenth preset opening; the rebound valve opening of the front axle dual-valve shock absorber in the ninth preset correspondence is greater than the eighteenth preset opening; and the eighteenth preset opening is greater than the seventeenth preset opening.

[0258] In the ninth preset correspondence, the compression valve opening of the rear axle dual-valve shock absorber is greater than the nineteenth preset opening, the rebound valve opening of the rear axle dual-valve shock absorber in the ninth preset correspondence is less than the twentieth preset opening, and the nineteenth preset opening is greater than the twentieth preset opening.

[0259] When the target condition is the preset braking stage condition, the front of the car will drop. In order to suppress the drop of the front of the car, it is necessary to increase the compression damping of the front axle shock absorber, that is, to reduce the opening of the compression valve. Therefore, the compression valve opening of the front axle dual valve shock absorber in the ninth preset correspondence is less than the seventeenth preset opening, that is, the determined compression valve opening of the front axle dual valve shock absorber is less than the seventeenth preset opening.

[0260] In order to make the tires grip the ground, the rebound damping of the front axle shock absorber needs to be reduced, which means increasing the opening of the rebound valve. Therefore, the opening of the rebound valve of the front axle dual-valve shock absorber in the ninth preset correspondence is greater than the eighteenth preset opening, which means that the opening of the rebound valve of the determined front axle dual-valve shock absorber is greater than the eighteenth preset opening.

[0261] When the target condition is the preset braking stage condition, the rear of the vehicle will rise. In order to suppress the rise of the rear of the vehicle, it is necessary to increase the rebound damping of the rear axle shock absorber, that is, reduce the opening of the rebound valve. Therefore, the opening of the rebound valve of the rear axle dual valve shock absorber in the ninth preset correspondence is less than the twentieth preset opening, that is, the opening of the rebound valve of the determined rear axle dual valve shock absorber is less than the twentieth preset opening.

[0262] In order to make the tires grip the ground, the compression damping of the rear axle shock absorber needs to be reduced, which means increasing the opening of the compression valve. Therefore, the compression valve opening of the rear axle dual-valve shock absorber in the ninth preset correspondence is greater than the nineteenth preset opening, which means that the determined compression valve opening of the rear axle dual-valve shock absorber is greater than the nineteenth preset opening.

[0263] In the ninth preset correspondence, the brake cylinder pressure is inversely proportional to the opening degree of each compression valve and each rebound valve. This is because the greater the brake cylinder pressure, the greater the required rebound damping and compression damping of the front axle shock absorber, and the greater the required rebound damping and compression damping of the rear axle shock absorber.

[0264] It should be noted that the eighteenth and nineteenth preset openings can be 80%, 85%, 90%, etc., and the seventeenth and twentieth preset openings can be 20%, 15%, 10%, etc. This application embodiment does not limit the seventeenth, eighteenth, nineteenth, and twentieth preset openings; they can be determined according to actual circumstances.

[0265] S602: Determine whether the current longitudinal acceleration is less than the fifth preset acceleration threshold; if the current longitudinal acceleration is less than the fifth preset acceleration threshold, then execute step S603; if the current longitudinal acceleration is greater than or equal to the fifth preset acceleration threshold, then execute step S604.

[0266] In this step, in order to determine whether the pitch of the vehicle can be reduced by using only the dual-valve shock absorber, that is, to determine whether the hydraulic pump needs to participate in the control, the controller judges whether the current longitudinal acceleration is less than the fifth preset acceleration threshold.

[0267] It should be noted that the fifth preset acceleration threshold can be -3 m / s², -3.2 m / s², -3.4 m / s², etc. This application embodiment does not limit the fifth preset acceleration threshold, and it can be determined according to the actual situation.

[0268] S603: Based on the tenth preset correspondence, determine the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump corresponding to the current brake cylinder pressure and the current brake cylinder pressure change rate, and determine the rotation direction of the front axle hydraulic pump as the second direction and the rotation direction of the rear axle hydraulic pump as the first direction.

[0269] In this step, if the controller determines that the current longitudinal acceleration is less than the fifth preset acceleration threshold, it means that the hydraulic pump needs to participate in the control. Then, according to the tenth preset correspondence, the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump corresponding to the current brake cylinder pressure and the current brake cylinder pressure change rate are determined, and the rotation direction of the front axle hydraulic pump is determined as the second direction, and the rotation direction of the rear axle hydraulic pump is determined as the first direction.

[0270] The front axle hydraulic pump rotates in the second direction, controlling the rapid extension of the front axle dual-valve shock absorber to reduce the degree of front-end lowering. The rear axle hydraulic pump rotates in the first direction, controlling the rapid retraction of the rear axle dual-valve shock absorber to reduce the degree of rear-end raising.

[0271] The tenth preset correspondence is the correspondence between the brake cylinder pressure and the brake cylinder pressure change rate, and the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump.

[0272] In the tenth preset correspondence, the lower the brake cylinder pressure, the lower the torque of the front axle hydraulic pump and the rear axle hydraulic pump; the lower the brake cylinder pressure change rate, the lower the torque of the front axle hydraulic pump and the rear axle hydraulic pump. This is because the lower the brake cylinder pressure, or the smaller the brake cylinder pressure change rate, the less the front of the car lowers and the less the rear of the car rises. This requires a decrease in the extension speed of the front axle dual-valve shock absorber and a decrease in the contraction speed of the rear axle dual-valve shock absorber, thus resulting in lower torque of the front axle hydraulic pump and the rear axle hydraulic pump.

[0273] S604: Determine the rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump as either the first direction or the second direction, and determine the torque of the front axle hydraulic pump and the rear axle hydraulic pump as 0.

[0274] In this step, if the controller determines that the current longitudinal acceleration is greater than or equal to the fifth preset acceleration threshold, it means that the pitch of the vehicle can be reduced by using only the dual-valve shock absorber without the need for hydraulic pumps to participate in the control. In this case, the rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump is set to the first direction or the second direction, and the torque of the front axle hydraulic pump and the rear axle hydraulic pump is set to 0.

[0275] When the torque of the front axle hydraulic pump and the rear axle hydraulic pump is 0, the front axle hydraulic pump and the rear axle hydraulic pump will not rotate.

[0276] The vehicle pitch attitude control method provided in this embodiment determines the target control parameters based on the current brake cylinder pressure, current longitudinal acceleration, and current brake cylinder pressure change rate when the target condition is a preset braking stage condition, thereby improving the accuracy of the target control parameters.

[0277] The following example, exemplified by the vehicle pitch attitude control method provided in this application, illustrates how the controller determines the target control parameters when the target conditions include multiple conditions.

[0278] The first condition is a preset rapid acceleration condition or a preset steady acceleration condition; the second condition is a preset braking phase condition; and the third condition is a preset rapid deceleration condition or a preset steady deceleration condition.

[0279] When the target conditions include the first condition and the second condition, according to the above-described embodiment two or three, the opening degree of the first compression valve and the first rebound valve of the front axle dual-valve shock absorber, and the opening degree of the first compression valve and the first rebound valve of the rear axle dual-valve shock absorber can be determined; according to the above-described embodiment six, the opening degree of the second compression valve and the second rebound valve of the front axle dual-valve shock absorber, and the opening degree of the second compression valve and the second rebound valve of the rear axle dual-valve shock absorber can be determined.

[0280] The smaller value between the opening of the first compression valve of the front axle dual-valve shock absorber and the opening of the second compression valve of the front axle dual-valve shock absorber is then used as the target compression valve opening of the front axle dual-valve shock absorber.

[0281] The smaller value between the first rebound valve opening and the second rebound valve opening of the front axle dual valve shock absorber is taken as the target rebound valve opening of the front axle dual valve shock absorber.

[0282] The smaller value between the first compression valve opening and the second compression valve opening of the rear axle dual-valve shock absorber is taken as the target compression valve opening of the rear axle dual-valve shock absorber.

[0283] The smaller value between the opening of the first rebound valve and the opening of the second rebound valve of the rear axle dual-valve shock absorber is taken as the target rebound valve opening of the rear axle dual-valve shock absorber.

[0284] The rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be either the first direction or the second direction, and the torque of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be 0.

[0285] The target control parameters are the target compression valve opening and target rebound valve opening of the front axle dual-valve shock absorber, the target compression valve opening and target rebound valve opening of the rear axle dual-valve shock absorber, and the rotation direction and torque of the front axle hydraulic pump and the rear axle hydraulic pump.

[0286] When the target conditions include the first condition and the third condition, but do not include the second condition, according to the above-described embodiment two or three, the opening degree of the first compression valve and the first rebound valve of the front axle dual-valve shock absorber, and the opening degree of the first compression valve and the first rebound valve of the rear axle dual-valve shock absorber can be determined; according to the above-described embodiment four or five, the opening degree of the third compression valve and the third rebound valve of the front axle dual-valve shock absorber, and the opening degree of the third compression valve and the third rebound valve of the rear axle dual-valve shock absorber can be determined.

[0287] The smaller value between the opening of the first compression valve of the front axle dual-valve shock absorber and the opening of the third compression valve of the front axle dual-valve shock absorber is then used as the target compression valve opening of the front axle dual-valve shock absorber.

[0288] The smaller value between the first rebound valve opening and the third rebound valve opening of the front axle dual valve shock absorber is taken as the target rebound valve opening of the front axle dual valve shock absorber.

[0289] The smaller value between the opening of the first compression valve and the opening of the third compression valve of the rear axle dual-valve shock absorber is taken as the target compression valve opening of the rear axle dual-valve shock absorber.

[0290] The smaller value between the opening of the first rebound valve and the opening of the third rebound valve of the rear axle dual-valve shock absorber is taken as the target rebound valve opening of the rear axle dual-valve shock absorber.

[0291] The rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be either the first direction or the second direction, and the torque of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be 0.

[0292] The target control parameters are the target compression valve opening and target rebound valve opening of the front axle dual-valve shock absorber, the target compression valve opening and target rebound valve opening of the rear axle dual-valve shock absorber, and the rotation direction and torque of the front axle hydraulic pump and the rear axle hydraulic pump.

[0293] When the target conditions include the second and third conditions but do not include the first condition, the target control parameters are determined according to Example 6.

[0294] The vehicle pitch attitude control method provided in this embodiment determines the target control parameters by setting parameters based on preset rapid acceleration conditions, preset steady acceleration conditions, preset rapid deceleration conditions, preset steady deceleration conditions, and preset braking stage conditions when the target conditions include multiple conditions. This can improve the accuracy of the target control parameters.

[0295] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0296] Figure 7 This is a schematic diagram of the structure of an embodiment of the vehicle pitch attitude control device provided in this application. Figure 7 As shown, the vehicle pitch attitude control device 70 includes:

[0297] The acquisition module 71 is used to acquire the first vehicle speed and acceleration judgment parameters within the first preset time period before the current time, and the second vehicle speed and deceleration judgment parameters within the second preset time period before the current time.

[0298] Processing module 72 is used for:

[0299] Based on each first vehicle speed, each second vehicle speed, each acceleration judgment parameter, and each deceleration judgment parameter, determine whether there is a target condition in the preset vehicle state judgment conditions; the preset vehicle state judgment conditions include preset rapid acceleration conditions, preset steady acceleration conditions, preset rapid deceleration conditions, preset steady deceleration conditions, and preset braking and stopping phase conditions.

[0300] If a target condition is met in the preset vehicle status judgment conditions, then vehicle data is obtained through the acquisition module 71 according to the target condition.

[0301] Based on vehicle data, determine the target control parameters;

[0302] The control module 73 is used to control the operation of the front axle dual-valve shock absorber, the rear axle dual-valve shock absorber, the front axle hydraulic pump, and the rear axle hydraulic pump according to the target control parameters.

[0303] Furthermore, the processing module 72 is specifically used for:

[0304] Based on each initial vehicle speed, determine the reference speed for acceleration judgment;

[0305] Based on each second vehicle speed, determine the reference speed for deceleration judgment;

[0306] Based on the preset correspondence between vehicle speed and acceleration parameter threshold, the target acceleration parameter threshold corresponding to the acceleration judgment benchmark vehicle speed is determined.

[0307] Based on the preset correspondence between vehicle speed and deceleration parameter threshold, the target deceleration parameter threshold corresponding to the deceleration judgment benchmark vehicle speed is determined.

[0308] Based on each second vehicle speed, target acceleration parameter threshold, target deceleration parameter threshold, each acceleration judgment parameter, and each deceleration judgment parameter, determine whether there is a valid target condition among the preset vehicle state judgment conditions.

[0309] Furthermore, each acceleration judgment parameter includes the rate of change of the accelerator pedal opening;

[0310] The preset rapid acceleration condition is: the absolute value of the rate of change of the opening of each accelerator pedal is greater than the target acceleration parameter threshold.

[0311] The preset stable acceleration condition is: the absolute value of the rate of change of the opening of each accelerator pedal is less than or equal to the target acceleration parameter threshold, and greater than 0.

[0312] Furthermore, each deceleration judgment parameter includes a first deceleration parameter and a second deceleration parameter. The first deceleration parameter is the pressure change rate of the brake cylinder, and the second deceleration parameter is the negative number of the pressure of the brake cylinder or the longitudinal acceleration of the vehicle.

[0313] The preset rapid deceleration condition is: the absolute value of each first deceleration parameter is greater than the target deceleration parameter threshold;

[0314] The preset steady deceleration condition is: the absolute value of each first deceleration parameter is less than or equal to the target deceleration parameter threshold, and greater than 0;

[0315] The preset braking phase conditions are: each second vehicle speed is greater than 0 and less than the preset braking stop speed, and each second deceleration parameter is less than the preset deceleration parameter threshold.

[0316] Furthermore, the target control parameters include: the opening degree of the compression valve and the opening degree of the rebound valve of the front axle dual-valve shock absorber, the opening degree of the compression valve and the opening degree of the rebound valve of the rear axle dual-valve shock absorber, the rotation direction and torque of the front axle hydraulic pump, and the rotation direction and torque of the rear axle hydraulic pump.

[0317] If the target condition is a preset rapid acceleration condition, the vehicle data includes the driving mode, current longitudinal acceleration, current front axle drive torque, current rear axle drive torque, current vehicle speed, and the current rate of change of accelerator pedal opening; processing module 72 is specifically used for:

[0318] Based on the first preset correspondence, determine the compression valve opening and rebound valve opening of the front axle dual-valve shock absorber, as well as the compression valve opening and rebound valve opening of the rear axle dual-valve shock absorber, corresponding to the driving mode, current vehicle speed, and current opening rate of the accelerator pedal.

[0319] If the current longitudinal acceleration is greater than the first preset acceleration threshold, then according to the second preset correspondence, the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump corresponding to the current longitudinal acceleration, the current opening rate of the accelerator pedal, the current front axle drive torque, and the current rear axle drive torque are determined, and the rotation direction of the front axle hydraulic pump is determined as the first direction, and the rotation direction of the rear axle hydraulic pump is determined as the second direction. The first direction is the direction of driving hydraulic oil from the lower chamber to the upper chamber of the shock absorber, and the second direction is the direction of driving hydraulic oil from the upper chamber to both chambers of the shock absorber.

[0320] If the current longitudinal acceleration is less than or equal to the first preset acceleration threshold, then the rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be the first direction or the second direction, and the torque of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be 0.

[0321] In the first preset correspondence, the compression valve opening of the front axle dual valve shock absorber is greater than the first preset opening, the rebound valve opening of the front axle dual valve shock absorber in the first preset correspondence is less than the second preset opening, and the first preset opening is greater than the second preset opening.

[0322] In the first preset correspondence, the compression valve opening of the rear axle dual-valve shock absorber is less than the third preset opening; the rebound valve opening of the rear axle dual-valve shock absorber in the first preset correspondence is greater than the fourth preset opening; and the fourth preset opening is greater than the third preset opening.

[0323] Furthermore, if the target condition is a preset steady acceleration condition, the vehicle data includes the current longitudinal acceleration, the current rate of change of the accelerator pedal opening, the current front axle drive torque, the current rear axle drive torque, the current vehicle speed, and the current rate of change of the accelerator pedal opening; the processing module 72 is specifically used for:

[0324] Based on the third preset correspondence, determine the compression valve opening and rebound valve opening of the front axle dual-valve shock absorber, as well as the compression valve opening and rebound valve opening of the rear axle dual-valve shock absorber, corresponding to the current front axle drive torque, the current rear axle drive torque, and the current longitudinal acceleration.

[0325] If the current longitudinal acceleration is greater than the second preset acceleration threshold, then according to the fourth preset correspondence, determine the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump corresponding to the current longitudinal acceleration, the current opening rate of the accelerator pedal, the current front axle drive torque and the current rear axle drive torque, and determine the rotation direction of the front axle hydraulic pump as the first direction and the rotation direction of the rear axle hydraulic pump as the second direction.

[0326] If the current longitudinal acceleration is less than or equal to the second preset acceleration threshold, then the rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be the first direction or the second direction, and the torque of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be 0.

[0327] Among them, the compression valve opening of the front axle dual valve shock absorber in the third preset correspondence is greater than the fifth preset opening, the rebound valve opening of the front axle dual valve shock absorber in the third preset correspondence is less than the sixth preset opening, and the fifth preset opening is greater than the sixth preset opening.

[0328] The compression valve opening of the rear axle dual-valve shock absorber in the third preset correspondence is less than the seventh preset opening, the rebound valve opening of the rear axle dual-valve shock absorber in the third preset correspondence is greater than the eighth preset opening, and the eighth preset opening is greater than the seventh preset opening.

[0329] The first preset opening is less than the fifth preset opening, the second preset opening is less than the sixth preset opening, the third preset opening is less than the seventh preset opening, and the fourth preset opening is less than the eighth preset opening.

[0330] Furthermore, if the target condition is a preset rapid deceleration condition, the vehicle data includes driving mode, current longitudinal acceleration, current vehicle speed, and current brake cylinder pressure; processing module 72 is specifically used for:

[0331] Based on the fifth preset correspondence, determine the compression valve opening and rebound valve opening of the front axle dual-valve shock absorber, as well as the compression valve opening and rebound valve opening of the rear axle dual-valve shock absorber, corresponding to the driving mode, current vehicle speed, current longitudinal acceleration, and current brake cylinder pressure.

[0332] If the current longitudinal acceleration is less than the third preset acceleration threshold, then according to the sixth preset correspondence, determine the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump corresponding to the current brake cylinder pressure and the current longitudinal acceleration, and determine the rotation direction of the front axle hydraulic pump as the second direction and the rotation direction of the rear axle hydraulic pump as the first direction.

[0333] If the current longitudinal acceleration is greater than or equal to the third preset acceleration threshold, then the rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be the first direction or the second direction, and the torque of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be 0.

[0334] Among them, the compression valve opening of the front axle dual valve shock absorber in the fifth preset correspondence is less than the ninth preset opening, and the rebound valve opening of the front axle dual valve shock absorber in the first preset correspondence is greater than the tenth preset opening, and the tenth preset opening is greater than the ninth preset opening.

[0335] In the fifth preset correspondence, the compression valve opening of the rear axle dual-valve shock absorber is greater than the eleventh preset opening, the rebound valve opening of the rear axle dual-valve shock absorber in the fifth preset correspondence is less than the twelfth preset opening, and the eleventh preset opening is greater than the twelfth preset opening.

[0336] Furthermore, if the target condition is a preset steady deceleration condition, the vehicle data includes driving mode, current longitudinal acceleration, current vehicle speed, and current brake cylinder pressure; processing module 72 is specifically used for:

[0337] Based on the seventh preset correspondence, determine the compression valve opening and rebound valve opening of the front axle dual-valve shock absorber, as well as the compression valve opening and rebound valve opening of the rear axle dual-valve shock absorber, corresponding to the driving mode, current vehicle speed, current longitudinal acceleration, and current brake cylinder pressure.

[0338] If the current longitudinal acceleration is less than the fourth preset acceleration threshold, then according to the eighth preset correspondence, the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump corresponding to the current brake cylinder pressure and the current longitudinal acceleration are determined, and the rotation direction of the front axle hydraulic pump is determined as the second direction, and the rotation direction of the rear axle hydraulic pump is determined as the first direction.

[0339] If the current longitudinal acceleration is greater than or equal to the fourth preset acceleration threshold, then the rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be the first direction or the second direction, and the torque of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be 0.

[0340] Among them, the compression valve opening of the front axle dual valve shock absorber in the seventh preset correspondence is less than the thirteenth preset opening, the rebound valve opening of the front axle dual valve shock absorber in the seventh preset correspondence is greater than the fourteenth preset opening, and the fourteenth preset opening is greater than the thirteenth preset opening.

[0341] In the seventh preset correspondence, the compression valve opening of the rear axle dual-valve shock absorber is greater than the fifteenth preset opening; in the seventh preset correspondence, the rebound valve opening of the rear axle dual-valve shock absorber is less than the sixteenth preset opening; and the fifteenth preset opening is greater than the sixteenth preset opening.

[0342] The ninth preset opening is less than the thirteenth preset opening, the tenth preset opening is less than the fourteenth preset opening, the eleventh preset opening is less than the fifteenth preset opening, and the twelfth preset opening is less than the sixteenth preset opening.

[0343] Furthermore, if the target condition is a preset braking stage condition, the vehicle data includes the current brake cylinder pressure, current longitudinal acceleration, and current brake cylinder pressure change rate; processing module 72 is specifically used for:

[0344] Based on the ninth preset correspondence, determine the opening degree of the compression valve and the opening degree of the rebound valve of the front axle dual-valve shock absorber corresponding to the current brake cylinder pressure, as well as the opening degree of the compression valve and the opening degree of the rebound valve of the rear axle dual-valve shock absorber.

[0345] If the current longitudinal acceleration is less than the fifth preset acceleration threshold, then according to the tenth preset correspondence, determine the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump corresponding to the current brake cylinder pressure and the current brake cylinder pressure change rate, and determine the rotation direction of the front axle hydraulic pump as the second direction and the rotation direction of the rear axle hydraulic pump as the first direction.

[0346] If the current longitudinal acceleration is greater than or equal to the fifth preset acceleration threshold, then the rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be the first direction or the second direction, and the torque of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be 0.

[0347] Among them, the compression valve opening of the front axle dual valve shock absorber in the ninth preset correspondence is less than the seventeenth preset opening, the rebound valve opening of the front axle dual valve shock absorber in the ninth preset correspondence is greater than the eighteenth preset opening, and the eighteenth preset opening is greater than the seventeenth preset opening.

[0348] In the ninth preset correspondence, the compression valve opening of the rear axle dual-valve shock absorber is greater than the nineteenth preset opening, the rebound valve opening of the rear axle dual-valve shock absorber in the ninth preset correspondence is less than the twentieth preset opening, and the nineteenth preset opening is greater than the twentieth preset opening.

[0349] The vehicle pitch attitude control device provided in this embodiment is used to execute the technical solution in any of the aforementioned method embodiments. Its implementation principle and technical effect are similar, and will not be described again here.

[0350] Figure 8 This is a schematic diagram of the structure of an electronic device provided in this application. Figure 8 As shown, the electronic device 80 includes:

[0351] Processor 81, memory 82, and communication interface 83;

[0352] Memory 82 is used to store executable instructions of processor 81;

[0353] The processor 81 is configured to execute the technical solutions in any of the foregoing method embodiments by executing executable instructions.

[0354] Optionally, the memory 82 can be either standalone or integrated with the processor 81.

[0355] Optionally, when the memory 82 is a device independent of the processor 81, the electronic device 80 may further include:

[0356] Bus 84, memory 82 and communication interface 83 are connected to processor 81 through bus 84 and complete communication with each other. Communication interface 83 is used to communicate with other devices.

[0357] Optionally, the communication interface 83 can be implemented using a transceiver. The communication interface is used to enable communication between the database access device and other devices (e.g., clients, read-write databases, and read-only databases). The memory may include random access memory (RAM) and may also include non-volatile memory, such as at least one disk drive.

[0358] Bus 84 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, only one thick line is used in the diagram, but this does not indicate that there is only one bus or one type of bus.

[0359] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0360] The electronic device is used to execute the technical solutions in any of the foregoing method embodiments. Its implementation principle and technical effect are similar, and will not be described again here.

[0361] This application also provides a vehicle, which includes a controller.

[0362] The controller is used to execute the technical solutions in any of the foregoing method embodiments. Its implementation principle and technical effect are similar, and will not be repeated here.

[0363] This application also provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the technical solutions provided in any of the foregoing method embodiments.

[0364] This application also provides a readable storage medium storing a computer program thereon, which, when executed by a processor, implements the technical solutions provided in any of the foregoing method embodiments.

[0365] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a 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. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0366] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0367] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0368] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0369] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0370] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0371] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0372] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for controlling the pitch attitude of a vehicle, characterized in that, include: Obtain the first vehicle speed and acceleration judgment parameters within the first preset time period before the current moment, and the second vehicle speed and deceleration judgment parameters within the second preset time period before the current moment; Based on each first vehicle speed, each second vehicle speed, each acceleration judgment parameter, and each deceleration judgment parameter, determine whether the target condition is met in the preset vehicle state judgment conditions. The preset vehicle state judgment conditions include preset rapid acceleration conditions, preset steady acceleration conditions, preset rapid deceleration conditions, preset steady deceleration conditions, and preset braking and stopping phase conditions. If any of the preset vehicle status judgment conditions are met, then vehicle data is obtained according to the target condition; Based on the vehicle data, determine the target control parameters; Based on the target control parameters, control the operation of the front axle dual-valve shock absorber, the rear axle dual-valve shock absorber, the front axle hydraulic pump, and the rear axle hydraulic pump.

2. The method according to claim 1, characterized in that, The step of determining whether a target condition exists in the preset vehicle state judgment conditions based on each first vehicle speed, each second vehicle speed, each acceleration judgment parameter, and each deceleration judgment parameter includes: Based on each initial vehicle speed, determine the reference speed for acceleration judgment; Based on each second vehicle speed, determine the reference speed for deceleration judgment; Based on the preset correspondence between vehicle speed and acceleration parameter threshold, the target acceleration parameter threshold corresponding to the acceleration judgment benchmark vehicle speed is determined. Based on the preset correspondence between vehicle speed and deceleration parameter threshold, the target deceleration parameter threshold corresponding to the deceleration judgment benchmark vehicle speed is determined. Based on each second vehicle speed, the target acceleration parameter threshold, the target deceleration parameter threshold, each acceleration judgment parameter, and each deceleration judgment parameter, determine whether there is a target condition that is met among the preset vehicle state judgment conditions.

3. The method according to claim 2, characterized in that, Each acceleration judgment parameter includes the rate of change of the accelerator pedal opening; The preset rapid acceleration condition is: the absolute value of the rate of change of the opening of each accelerator pedal is greater than the target acceleration parameter threshold. The preset stable acceleration condition is: the absolute value of the rate of change of the opening of each accelerator pedal is less than or equal to the target acceleration parameter threshold, and is greater than 0.

4. The method according to claim 2, characterized in that, Each deceleration judgment parameter includes a first deceleration parameter and a second deceleration parameter. The first deceleration parameter is the rate of change of brake cylinder pressure, and the second deceleration parameter is the negative of brake cylinder pressure or vehicle longitudinal acceleration. The preset rapid deceleration condition is: the absolute value of each first deceleration parameter is greater than the target deceleration parameter threshold; The preset steady deceleration condition is: the absolute value of each first deceleration parameter is less than or equal to the target deceleration parameter threshold, and greater than 0; The preset braking stage conditions are: each second vehicle speed is greater than 0 and less than the preset braking stop speed, and each second deceleration parameter is less than the preset deceleration parameter threshold.

5. The method according to any one of claims 1 to 4, characterized in that, The target control parameters include: the opening degree of the compression valve and the opening degree of the rebound valve of the front axle dual-valve shock absorber, the opening degree of the compression valve and the opening degree of the rebound valve of the rear axle dual-valve shock absorber, the rotation direction and torque of the front axle hydraulic pump, and the rotation direction and torque of the rear axle hydraulic pump. If the target condition is the preset rapid acceleration condition, the vehicle data includes driving mode, current longitudinal acceleration, current front axle drive torque, current rear axle drive torque, current vehicle speed, and the current rate of change of accelerator pedal opening; based on the vehicle data, target control parameters are determined, including: Based on the first preset correspondence, determine the compression valve opening and rebound valve opening of the front axle dual-valve shock absorber, as well as the compression valve opening and rebound valve opening of the rear axle dual-valve shock absorber, corresponding to the driving mode, the current vehicle speed, and the current opening change rate of the accelerator pedal. If the current longitudinal acceleration is greater than the first preset acceleration threshold, then according to the second preset correspondence, the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump corresponding to the current longitudinal acceleration, the current opening rate of the accelerator pedal, the current front axle drive torque, and the current rear axle drive torque are determined, and the rotation direction of the front axle hydraulic pump is determined as the first direction, and the rotation direction of the rear axle hydraulic pump is determined as the second direction. The first direction is the direction of driving hydraulic oil from the lower chamber to the upper chamber of the shock absorber, and the second direction is the direction of driving hydraulic oil from the upper chamber to both chambers of the shock absorber. If the current longitudinal acceleration is less than or equal to the first preset acceleration threshold, then the rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be the first direction or the second direction, and the torque of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be 0. Wherein, the compression valve opening of the front axle dual-valve shock absorber in the first preset correspondence is greater than the first preset opening, the rebound valve opening of the front axle dual-valve shock absorber in the first preset correspondence is less than the second preset opening, and the first preset opening is greater than the second preset opening. In the first preset correspondence, the compression valve opening of the rear axle dual-valve shock absorber is less than the third preset opening, and the rebound valve opening of the rear axle dual-valve shock absorber in the first preset correspondence is greater than the fourth preset opening, which is greater than the third preset opening.

6. The method according to claim 5, characterized in that, If the target condition is the preset stable acceleration condition, the vehicle data includes the current longitudinal acceleration, the current rate of change of the accelerator pedal opening, the current front axle drive torque, the current rear axle drive torque, the current vehicle speed, and the current rate of change of the accelerator pedal opening. Based on the vehicle data, the target control parameters are determined, including: Based on the third preset correspondence, determine the compression valve opening and rebound valve opening of the front axle dual-valve shock absorber corresponding to the current front axle drive torque, the current rear axle drive torque, and the current longitudinal acceleration, as well as the compression valve opening and rebound valve opening of the rear axle dual-valve shock absorber. If the current longitudinal acceleration is greater than the second preset acceleration threshold, then according to the fourth preset correspondence, the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump corresponding to the current longitudinal acceleration, the current opening rate of the accelerator pedal, the current front axle drive torque and the current rear axle drive torque are determined, and the rotation direction of the front axle hydraulic pump is determined as the first direction, and the rotation direction of the rear axle hydraulic pump is determined as the second direction. If the current longitudinal acceleration is less than or equal to the second preset acceleration threshold, then the rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be the first direction or the second direction, and the torque of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be 0. Wherein, the compression valve opening of the front axle dual-valve shock absorber in the third preset correspondence is greater than the fifth preset opening, the rebound valve opening of the front axle dual-valve shock absorber in the third preset correspondence is less than the sixth preset opening, and the fifth preset opening is greater than the sixth preset opening. The compression valve opening of the rear axle dual-valve shock absorber in the third preset correspondence is less than the seventh preset opening, the rebound valve opening of the rear axle dual-valve shock absorber in the third preset correspondence is greater than the eighth preset opening, and the eighth preset opening is greater than the seventh preset opening. The first preset opening is less than the fifth preset opening, the second preset opening is less than the sixth preset opening, the third preset opening is less than the seventh preset opening, and the fourth preset opening is less than the eighth preset opening.

7. The method according to claim 5, characterized in that, If the target condition is the preset rapid deceleration condition, the vehicle data includes driving mode, current longitudinal acceleration, current vehicle speed, and current brake cylinder pressure; Based on the vehicle data, the target control parameters are determined, including: Based on the fifth preset correspondence, determine the compression valve opening and rebound valve opening of the front axle dual-valve shock absorber, as well as the compression valve opening and rebound valve opening of the rear axle dual-valve shock absorber, corresponding to the driving mode, the current vehicle speed, the current longitudinal acceleration, and the current brake cylinder pressure. If the current longitudinal acceleration is less than the third preset acceleration threshold, then according to the sixth preset correspondence, the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump corresponding to the current brake cylinder pressure and the current longitudinal acceleration are determined, and the rotation direction of the front axle hydraulic pump is determined as the second direction, and the rotation direction of the rear axle hydraulic pump is determined as the first direction. If the current longitudinal acceleration is greater than or equal to the third preset acceleration threshold, then the rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be the first direction or the second direction, and the torque of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be 0. Wherein, the compression valve opening of the front axle dual-valve shock absorber in the fifth preset correspondence is less than the ninth preset opening, and the rebound valve opening of the front axle dual-valve shock absorber in the first preset correspondence is greater than the tenth preset opening, and the tenth preset opening is greater than the ninth preset opening. The compression valve opening of the rear axle dual-valve shock absorber in the fifth preset correspondence is greater than the eleventh preset opening, the rebound valve opening of the rear axle dual-valve shock absorber in the fifth preset correspondence is less than the twelfth preset opening, and the eleventh preset opening is greater than the twelfth preset opening.

8. The method according to claim 7, characterized in that, If the target condition is the preset steady deceleration condition, the vehicle data includes driving mode, current longitudinal acceleration, current vehicle speed, and current brake cylinder pressure; Based on the vehicle data, the target control parameters are determined, including: According to the seventh preset correspondence, determine the compression valve opening and rebound valve opening of the front axle dual-valve shock absorber, and the compression valve opening and rebound valve opening of the rear axle dual-valve shock absorber, corresponding to the driving mode, the current vehicle speed, the current longitudinal acceleration, and the current brake cylinder pressure. If the current longitudinal acceleration is less than the fourth preset acceleration threshold, then according to the eighth preset correspondence, the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump corresponding to the current brake cylinder pressure and the current longitudinal acceleration are determined, and the rotation direction of the front axle hydraulic pump is determined as the second direction, and the rotation direction of the rear axle hydraulic pump is determined as the first direction. If the current longitudinal acceleration is greater than or equal to the fourth preset acceleration threshold, then the rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be the first direction or the second direction, and the torque of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be 0. Wherein, the compression valve opening of the front axle dual-valve shock absorber in the seventh preset correspondence is less than the thirteenth preset opening, the rebound valve opening of the front axle dual-valve shock absorber in the seventh preset correspondence is greater than the fourteenth preset opening, and the fourteenth preset opening is greater than the thirteenth preset opening. The compression valve opening of the rear axle dual-valve shock absorber in the seventh preset correspondence is greater than the fifteenth preset opening; the rebound valve opening of the rear axle dual-valve shock absorber in the seventh preset correspondence is less than the sixteenth preset opening; and the fifteenth preset opening is greater than the sixteenth preset opening. The ninth preset opening is less than the thirteenth preset opening, the tenth preset opening is less than the fourteenth preset opening, the eleventh preset opening is less than the fifteenth preset opening, and the twelfth preset opening is less than the sixteenth preset opening.

9. The method according to claim 5, characterized in that, If the target condition is the preset braking stage condition, the vehicle data includes the current brake cylinder pressure, the current longitudinal acceleration, and the current brake cylinder pressure change rate; The step of determining the target control parameters based on the vehicle data includes: According to the ninth preset correspondence, determine the opening degree of the compression valve and the opening degree of the rebound valve of the front axle dual valve shock absorber corresponding to the current brake cylinder pressure, as well as the opening degree of the compression valve and the opening degree of the rebound valve of the rear axle dual valve shock absorber. If the current longitudinal acceleration is less than the fifth preset acceleration threshold, then according to the tenth preset correspondence, the torque of the front axle hydraulic pump and the torque of the rear axle hydraulic pump corresponding to the current brake cylinder pressure and the current brake cylinder pressure change rate are determined, and the rotation direction of the front axle hydraulic pump is determined as the second direction, and the rotation direction of the rear axle hydraulic pump is determined as the first direction. If the current longitudinal acceleration is greater than or equal to the fifth preset acceleration threshold, then the rotation direction of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be the first direction or the second direction, and the torque of the front axle hydraulic pump and the rear axle hydraulic pump is determined to be 0. Wherein, the compression valve opening of the front axle dual-valve shock absorber in the ninth preset correspondence is less than the seventeenth preset opening, the rebound valve opening of the front axle dual-valve shock absorber in the ninth preset correspondence is greater than the eighteenth preset opening, and the eighteenth preset opening is greater than the seventeenth preset opening. The compression valve opening of the rear axle dual-valve shock absorber in the ninth preset correspondence is greater than the nineteenth preset opening, the rebound valve opening of the rear axle dual-valve shock absorber in the ninth preset correspondence is less than the twentieth preset opening, and the nineteenth preset opening is greater than the twentieth preset opening.

10. A vehicle pitch attitude control device, characterized in that, include: The acquisition module is used to acquire the first vehicle speed and acceleration judgment parameters within a first preset time period before the current moment, and the second vehicle speed and deceleration judgment parameters within a second preset time period before the current moment; Processing module, used for: Based on each first vehicle speed, each second vehicle speed, each acceleration judgment parameter, and each deceleration judgment parameter, determine whether the target condition is met in the preset vehicle state judgment conditions. The preset vehicle state judgment conditions include preset rapid acceleration conditions, preset steady acceleration conditions, preset rapid deceleration conditions, preset steady deceleration conditions, and preset braking and stopping phase conditions. If any of the preset vehicle status judgment conditions are met, then vehicle data is obtained according to the target condition; Based on the vehicle data, determine the target control parameters; The control module is used to control the operation of the front axle dual-valve shock absorber, the rear axle dual-valve shock absorber, the front axle hydraulic pump, and the rear axle hydraulic pump according to the target control parameters.

11. An electronic device, characterized in that, include: Processor, memory, communication interface; The memory is used to store the executable instructions of the processor; The processor is configured to execute the vehicle pitch attitude control method according to any one of claims 1 to 9 by executing the executable instructions.

12. A vehicle, characterized in that, Including the controller; The controller is used to execute the vehicle pitch attitude control method according to any one of claims 1 to 9.

13. A readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the vehicle pitch attitude control method according to any one of claims 1 to 9.

14. A computer program product, characterized in that, Includes a computer program, which, when executed by a processor, is used to implement the vehicle pitch attitude control method according to any one of claims 1 to 9.

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