Method and device for determining height adjustment advance of air spring

Abstract

The invention provides a method and a device for determining the height adjustment advance of an air spring. The method comprises the steps that in response to a height adjusting instruction sent for the air spring, the initial adjusting lead and the target spring height corresponding to the height adjusting instruction are obtained, the height of the air spring is adjusted according to the initial adjusting lead and the target spring height, and after adjustment is completed, the air spring is adjusted. The actual spring height of the air spring is obtained, vehicle driving parameters are collected, the vehicle driving state is determined according to the vehicle driving parameters, and under the condition that the vehicle driving state is in a stable state, the height adjustment deviation value is determined according to the target spring height and the actual spring height; and determining a target adjustment advance according to the height adjustment deviation value and the initial adjustment advance. According to the method, the target adjustment lead is a definite numerical value and is matched with the current air spring state of the vehicle, the spring height adjustment precision can be improved, and the suspension system performance and the driving and riding comfort are guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of air spring control, and in particular to a method and device for determining the advance of air spring height adjustment. BACKGROUND

[0002] The air spring of a vehicle is an important component of the vehicle suspension system, and the height of the vehicle body can be adjusted by adjusting the height of the air spring. In the existing air spring height control method, after obtaining the target height of the air spring, the height of the air spring is adjusted. During the adjustment process, there is a certain delay in the system response and sensor signal. When the actual measured height of the air spring reaches the target range near the target height, the adjustment of the height of the air spring is stopped in advance, so that the actual height of the air spring is as close as possible to the target height of the air spring.

[0003] Since the target range is a relatively general range, even if the target range is used as the basis during the adjustment of the air spring height, it is difficult to ensure that the actual height of the air spring after the adjustment is completely consistent with the target height, thereby it is difficult to ensure the accuracy of the air spring height adjustment. In addition, this target range is pre-calibrated for the air spring. Affected by the service life of the vehicle and the surrounding environment of the vehicle, the air spring may age or deform, resulting in that the pre-calibrated target range is no longer applicable to the current air spring. This condition further reduces the accuracy of the air spring height adjustment, and further affects the performance and ride comfort of the vehicle suspension system. SUMMARY

[0004] In view of the above problems, the embodiments of the present application provide a method and device for determining the advance of air spring height adjustment.

[0005] In a first aspect of the present application, a method for determining the advance of air spring height adjustment is provided, the method comprising: in response to a height adjustment instruction issued for the air spring, obtaining an initial adjustment advance corresponding to the height adjustment instruction and a target spring height; adjusting the height of the air spring according to the initial adjustment advance and the target spring height; after the adjustment is completed, obtaining the actual spring height of the air spring and collecting vehicle driving parameters; determining the vehicle driving state according to the vehicle driving parameters; in the case that the vehicle driving state is in a stable state, determining a height adjustment deviation value according to the target spring height and the actual spring height; determining a target adjustment advance according to the height adjustment deviation value and the initial adjustment advance.

[0006] Optionally, the different heights of the air spring correspond to a plurality of different height gears, and the obtaining, in response to the height adjustment instruction issued for the air spring, of the initial adjustment advance and the target spring height corresponding to the height adjustment instruction comprises: obtaining, in response to the height adjustment instruction issued for the air spring, a target height gear corresponding to the height adjustment instruction; determining, according to the target height gear, the initial adjustment advance corresponding to the target height gear and the target spring height corresponding to the target height gear.

[0007] Optionally, the vehicle driving parameters include lateral acceleration, longitudinal acceleration, steering wheel angle, road flatness and height adjustment inhibition signal, and the obtaining, after the adjustment is completed, of the actual spring height of the air spring and the collection of vehicle driving parameters comprises: obtaining, after the adjustment is completed, the actual spring height of the air spring; collecting the lateral acceleration and the longitudinal acceleration of the vehicle; collecting the steering wheel angle of the vehicle and the road flatness of the road ahead of the vehicle; obtaining the height adjustment inhibition signal in the adjustment process.

[0008] Optionally, the determining of the vehicle driving state according to the vehicle driving parameters comprises: if the lateral acceleration is less than a preset lateral acceleration threshold, and the longitudinal acceleration is less than a preset longitudinal acceleration threshold, and the steering wheel angle is less than a preset steering wheel angle threshold, and the road flatness indicates that the road is flat, and the height adjustment inhibition signal indicates that the height adjustment inhibition is not triggered, the vehicle driving state is in a stable state; if the lateral acceleration is greater than or equal to the preset lateral acceleration threshold, or the longitudinal acceleration is greater than or equal to the preset longitudinal acceleration threshold, or the steering wheel angle is greater than or equal to the preset steering wheel angle threshold, or the road flatness indicates that the road is not flat, or the height adjustment inhibition signal indicates that the height adjustment inhibition is triggered, the vehicle driving state is in an unstable state.

[0009] Optionally, the determining, in the case that the vehicle driving state is in a stable state, of a height adjustment deviation value according to the target spring height and the actual spring height comprises: in the case that the vehicle driving state is in a stable state, if the time length elapsed after the adjustment is completed is greater than or equal to a preset reference steady state time length, the height adjustment deviation value corresponding to the target height gear is determined according to the target spring height and the actual spring height.

[0010] Optionally, distances between any two adjacent height levels are equal, and the determining the target adjustment advance according to the height adjustment deviation value and the initial adjustment advance comprises: taking the distance between any two adjacent height levels as a single height level; in a case where the height adjustment deviation value is less than a preset deviation threshold, determining the target adjustment advance corresponding to the target height level according to the height adjustment deviation value corresponding to the target height level, the initial adjustment advance corresponding to the target height level, and the single height level.

[0011] Optionally, after the determining the target adjustment advance according to the height adjustment deviation value and the initial adjustment advance, the method further comprises: if the target adjustment advance is within a preset advance range, storing the target adjustment advance as a spring adjustment advance corresponding to the target height level, and storing the spring adjustment advance as fault snapshot data.

[0012] In a second aspect of the embodiment of the present application, a device for determining an air spring height adjustment advance is further provided, and the device comprises: an initial data acquisition module, configured to acquire an initial adjustment advance and a target spring height corresponding to a height adjustment instruction in response to the height adjustment instruction issued for an air spring; a spring height adjustment module, configured to adjust a height of the air spring according to the initial adjustment advance and the target spring height; an adjustment result acquisition module, configured to acquire an actual spring height of the air spring and collect vehicle driving parameters after the adjustment is completed; a driving state determination module, configured to determine a vehicle driving state according to the vehicle driving parameters; a height deviation determination module, configured to determine a height adjustment deviation value according to the target spring height and the actual spring height in a case where the vehicle driving state is in a stable state; an advance determination module, configured to determine a target adjustment advance according to the height adjustment deviation value and the initial adjustment advance.

[0013] In a third aspect of the embodiment of the present application, a vehicle is further provided, comprising a processor, a memory, and a computer program stored on the memory and capable of running on the processor, wherein the computer program is executed by the processor to implement the method described above.

[0014] In a fourth aspect of the embodiment of the present application, a computer readable storage medium is further provided, wherein a computer program is stored on the computer readable storage medium, and the computer program is executed by a processor to implement the method described above.

[0015] The embodiments of the present application have the following advantages: In the embodiments of the present application, in response to the height adjustment instruction issued for the air spring, the initial adjustment lead time corresponding to the height adjustment instruction and the target spring height are obtained, the height of the air spring is adjusted according to the initial adjustment lead time and the target spring height, after the adjustment is completed, the actual spring height of the air spring is obtained and the vehicle running parameter is collected, the vehicle running state is determined according to the vehicle running parameter, in the case that the vehicle running state is in a stable state, the height adjustment deviation value is determined according to the target spring height and the actual spring height, and the target adjustment lead time is determined according to the height adjustment deviation value and the initial adjustment lead time. The determination method of the spring height adjustment lead time provided by the embodiments of the present application can firstly accurately respond to the height adjustment instruction, quickly obtain the initial adjustment lead time and the target spring height corresponding to the instruction, and lay a foundation for subsequent accurate adjustment. Compared with the general target range in the prior art, the initial adjustment lead time is introduced in the present application, which can realize more accurate control at the beginning of adjustment. Secondly, the height of the spring is adjusted according to the initial adjustment lead time and the target spring height, which can ensure that the spring height gradually approaches the target value and avoid the deviation of the height adjustment from the expectation. After the adjustment is completed, the actual spring height of the spring is obtained and the vehicle running parameter is collected, which not only verifies the adjustment effect, but also provides dynamic data support for subsequent optimization. At the same time, the vehicle running parameter is collected, which can comprehensively evaluate the actual vehicle running state after adjustment. In the case that the vehicle running state is in a stable state, the height adjustment deviation value is quantified by comparing the target spring height and the actual spring height, which reflects the real-time spring height adjustment effect of the vehicle, and provides an accurate basis for the adaptive determination of the subsequent adjustment lead time. Finally, the target adjustment lead time is determined according to the height adjustment deviation value and the initial adjustment lead time, compared with the general target range in the prior art, the target adjustment lead time obtained by the present application is a specific value, which can improve the accuracy of the spring height adjustment, and since the height adjustment deviation value is determined in the real-time spring height adjustment process of the vehicle, it can reflect the real-time spring height adjustment effect of the vehicle. The target adjustment lead time of the present application is determined by the height adjustment deviation value and the initial adjustment lead time, which can match the current air spring state of the vehicle, and then the target adjustment lead time obtained by the present application can further improve the accuracy of the spring height adjustment, and ensure the performance and ride comfort of the vehicle suspension system. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows.

[0017] Figure 1is a step flow chart of a method for determining an air spring height adjustment advance provided by an embodiment of the present application. Figure 2 is a calibration flow chart of an air spring height adjustment advance provided by an embodiment of the present application. Figure 3 is a structural schematic diagram of a determination device of an air spring height adjustment advance provided by an embodiment of the present application. DETAILED DESCRIPTION

[0018] To make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in detail below with reference to the drawings. However, those skilled in the art can understand that, in the embodiments of the present application, many technical details are presented in order to make the readers better understand the present application. However, the technical solutions claimed by the present application can be implemented even without these technical details and based on various changes and updates of the following embodiments. The division of the following embodiments is for the convenience of description, and should not constitute any limitation on the specific implementation of the present application. The embodiments can be combined and referenced with each other without contradiction.

[0019] The air spring of a vehicle is an important component of the suspension system of the vehicle, and the height of the vehicle body can be adjusted by adjusting the height of the air spring. In the existing air spring height control method, after the target height of the air spring is obtained, the height of the air spring is adjusted. During the adjustment process, due to the system response and the delay of the sensor signal, when the actual measured height of the air spring reaches the target range near the target height, the adjustment of the height of the air spring is stopped in advance, so that the actual height of the air spring is as close as possible to the target height of the air spring.

[0020] Since the target range is a relatively general range, for example, based on the target height, ±6mm~±10mm around the target height can be used as the target range. Even if the target range is used as the basis during the process of adjusting the height of the air spring, that is, when the actual measured height of the air spring reaches the target range of ±6mm~±10mm around the target height, the height adjustment of the air spring is stopped in advance. In this way, it is difficult to ensure that the actual height of the air spring after the adjustment is completely consistent with the target height, thereby making it difficult to ensure the accuracy of the air spring height adjustment. In addition, the target range is pre-marked for the air spring, and the service life of the vehicle and the surrounding environment of the vehicle affect the aging or deformation of the air spring, so that the pre-marked target range is no longer applicable to the current air spring. Or, in different vehicles, due to the inevitable differences between parts, the air spring cannot be adjusted according to the same target range. This further reduces the accuracy of the air spring height adjustment, and further affects the performance and driving comfort of the vehicle suspension system.

[0021] Therefore, the present application provides a method and device for determining the air spring height adjustment advance, which can obtain a specific target adjustment advance value, improve the accuracy of the spring height adjustment, and the target adjustment advance of the present application is determined by the height adjustment deviation value and the initial adjustment advance, which can match the current state of the air spring of the vehicle, avoid the influence of different environments, different parts and part aging, further improve the accuracy of the spring height adjustment, and ensure the performance and driving comfort of the vehicle suspension system.

[0022] Reference Figure 1 , a step flow chart of a method for determining the air spring height adjustment advance provided by an embodiment of the present application is shown.

[0023] Among them, the air spring can refer to the adjustable suspension system component in the vehicle, which is used to support the weight of the vehicle and provide comfort. The stiffness and height of the spring can be changed by adjusting the internal air pressure to adapt to different driving conditions and passenger needs.

[0024] The chassis of the vehicle is the basic structure of the vehicle, which can carry important components such as the vehicle body, engine and suspension system. The design and performance of the chassis directly affect the handling, stability and comfort of the vehicle. In the embodiment of the present application, the air spring can be arranged in the chassis of the vehicle.

[0025] The method specifically includes the following steps: Step 101, in response to the height adjustment instruction issued for the air spring, obtaining the initial adjustment advance corresponding to the height adjustment instruction and the target spring height.

[0026] In the embodiment of the present application, the initial adjustment lead and the target spring height corresponding to the height adjustment instruction can be obtained in response to the height adjustment instruction issued for the air spring.

[0027] Specifically, the initial adjustment lead and the target spring height corresponding to the height adjustment instruction can be obtained in real time in response to each height adjustment instruction issued for the air spring.

[0028] The height adjustment instruction can be an instruction issued by the control system of the vehicle or a mechanical signal issued by the driver through manual control, and in the embodiment of the present application, can be used to indicate the height adjustment of the air spring. For example, when the vehicle needs to raise or lower the chassis height to adapt to different driving conditions or passenger requirements, the control system of the vehicle can issue a corresponding height adjustment instruction.

[0029] The adjustment lead is a distance value, which can represent the distance between the target spring height and the point at which the control system stops the adjustment process before reaching the target spring height. In the embodiment of the present application, the initial adjustment lead can be an adjustment lead previously calibrated according to the spring height adjustment results in the historical journey.

[0030] The target spring height can be a desired height value set in the height adjustment instruction, and in the embodiment of the present application, can refer to the final height to which the air spring needs to be adjusted. The target spring height is the basis for the control system to adjust, ensuring that the vehicle chassis can meet the predetermined comfort and handling requirements.

[0031] Step 102, adjusting the height of the air spring according to the initial adjustment lead and the target spring height.

[0032] In the embodiment of the present application, the height of the air spring can be adjusted according to the initial adjustment lead and the target spring height.

[0033] In a specific implementation, after the ECAS (Electronic Controlled Air Suspension, air spring control unit) receives the height adjustment instruction, it can issue a control instruction to drive a plurality of actuators to act, and then the plurality of actuators can control their corresponding air springs to adjust to the target spring height. Due to the delay in system response and the delay in processing of the spring height sensor signal, the height adjustment cannot be stopped until the height collected by the spring height sensor and the target spring height are consistent, and it is necessary to pre-calibrate an adjustment lead, which is the initial adjustment lead in the present application. When the distance between the height collected by the spring height sensor and the target spring height is the distance corresponding to the initial adjustment lead, the height adjustment can be stopped to ensure the final adjustment accuracy, at which time the air spring height adjustment can be considered complete.

[0034] Step 103, after the adjustment is completed, the actual spring height of the air spring is obtained and the vehicle driving parameter is collected.

[0035] In the embodiment of the present application, after the air spring height adjustment is completed, the actual spring height of the air spring can be obtained and the vehicle driving parameter can be collected.

[0036] The actual spring height can refer to the air spring height collected by the spring height sensor in real time after the adjustment is completed.

[0037] The vehicle driving parameter can refer to various dynamic and static parameters of the vehicle during driving. In the embodiment of the present application, the vehicle driving parameter can include lateral acceleration, longitudinal acceleration, steering wheel angle, road flatness, and height adjustment inhibition signal.

[0038] Step 104, determining the vehicle driving state according to the vehicle driving parameter.

[0039] In the embodiment of the present application, the vehicle driving state can be determined according to the vehicle driving parameter. The vehicle driving state can include stable state and unstable state.

[0040] In the specific implementation, the current driving state of the vehicle can be determined according to the lateral acceleration, longitudinal acceleration, steering wheel angle, road flatness, and height adjustment inhibition signal.

[0041] Step 105, in the case that the vehicle driving state is in the stable state, determining the height adjustment deviation value according to the target spring height and the actual spring height.

[0042] In the embodiment of the present application, in the case that the vehicle driving state is in the stable state, the height adjustment deviation value can be determined according to the target spring height and the actual spring height.

[0043] Specifically, after the height adjustment is completed, if the vehicle driving state is in the unstable state, the actual spring height obtained at this time is not necessarily accurate, which will affect the subsequent calculation result. In order to ensure the stability and reliability of the target adjustment advance, the vehicle needs to be in the stable state, and then the height adjustment deviation value is determined according to the target spring height and the actual spring height.

[0044] The height adjustment deviation value can be the difference between the target spring height and the actual spring height.

[0045] Step 106, determining the target adjustment advance according to the height adjustment deviation value and the initial adjustment advance.

[0046] In the embodiment of the present application, the target adjustment advance can be determined according to the height adjustment deviation value and the initial adjustment advance.

[0047] The target adjustment advance can refer to the adjustment advance recalibrated according to the spring height adjustment result this time. In the embodiment of the present application, when the height adjustment instruction is obtained subsequently, the target adjustment advance determined this time can be taken as the initial height adjustment advance of the subsequent spring height adjustment.

[0048] The present application can accurately respond to the height adjustment instruction, quickly obtain the initial adjustment advance and the target spring height corresponding to the instruction, and lay a foundation for subsequent accurate adjustment. Compared with the general target range in the prior art, the present application introduces the initial adjustment advance, which can achieve more accurate control at the beginning of adjustment. Secondly, the present application adjusts the height of the spring according to the initial adjustment advance and the target spring height, which can ensure that the spring height gradually approaches the target value and avoid the height adjustment deviating from the expectation. After the adjustment is completed, the present application can obtain the actual spring height of the spring and collect the vehicle running parameters, which not only verifies the adjustment effect, but also provides dynamic data support for subsequent optimization. At the same time, the present application can comprehensively evaluate the actual vehicle running state after adjustment by collecting the vehicle running parameters. In the case that the vehicle running state is in a stable state, the present application quantifies the height adjustment deviation value by comparing the target spring height and the actual spring height, reflects the real-time spring height adjustment effect of the vehicle, and provides an accurate basis for the adaptive determination of the subsequent adjustment advance. Finally, the present application determines the target adjustment advance according to the height adjustment deviation value and the initial adjustment advance. Compared with the general target range in the prior art, the target adjustment advance obtained by the present application is a specific value, which can improve the accuracy of spring height adjustment. Since the height adjustment deviation value is determined in the real-time spring height adjustment process of the vehicle, it can reflect the real-time spring height adjustment effect of the vehicle. The target adjustment advance of the present application is determined by the height adjustment deviation value and the initial adjustment advance, which can match the current air spring state of the vehicle. Therefore, the target adjustment advance obtained by the present application can further improve the accuracy of spring height adjustment and ensure the performance and ride comfort of the vehicle suspension system.

[0049] In an optional embodiment of the present application, the air spring at different heights can correspond to several different height gears. Each height gear corresponds to a specific air spring height, and the height of the air spring can be adjusted by switching the height gear, thereby realizing the height adjustment of the vehicle under different driving conditions.

[0050] Step 101 further comprises the following steps: S11, in response to a height adjustment instruction issued for the air spring, obtaining a target height gear corresponding to the height adjustment instruction; S12, determining, according to the target height gear, an initial adjustment advance corresponding to the target height gear and a target spring height corresponding to the target height gear.

[0051] In the embodiment of the present application, in response to a height adjustment instruction issued for the air spring, a target height gear corresponding to the height adjustment instruction can be obtained, and then, according to the target height gear, an initial adjustment advance corresponding to the target height gear and a target spring height corresponding to the target height gear are determined.

[0052] The target height gear can refer to a desired spring height gear set according to an instruction issued by a control system of the vehicle, or a desired spring height gear set according to a mechanical signal issued by a driver or a passenger through manual control.

[0053] It can be understood that the target spring height corresponding to the target height gear is a desired height value corresponding to the desired spring height gear, and in the embodiment of the present application, the target spring height can refer to a final height to which the air spring needs to be adjusted.

[0054] In the embodiment of the present application, the initial adjustment advance corresponding to the target height gear can include at least one initial adjustment advance in different adjustment directions.

[0055] Taking five height gears arranged from high to low in spring height as an example, assuming that the first gear is the height gear with the highest spring height and the fifth gear is the height gear with the lowest spring height, the initial adjustment advance corresponding to the first gear can include one initial adjustment advance in the adjustment direction of adjusting from low to high. Similarly, the initial adjustment advance corresponding to the fifth gear can include one initial adjustment advance in the adjustment direction of adjusting from high to low. It can be understood that since the second gear, the third gear and the fourth gear are all intermediate height gears, the initial adjustment advance corresponding to each of the second gear, the third gear and the fourth gear can include one initial adjustment advance in the adjustment direction of adjusting from low to high and one initial adjustment advance in the adjustment direction of adjusting from high to low.

[0056] In a specific implementation, the target spring height corresponding to the target height gear can be directly determined according to the target height gear. And whether the adjustment direction corresponding to the height adjustment this time is adjusting from low to high or adjusting from high to low can be determined according to the target height gear, and then the corresponding initial adjustment advance is determined.

[0057] In an optional embodiment of the present application, step 102 further includes the following steps: S21, adjusting the height of the spring to the target height gear according to the initial adjustment advance and the target spring height.

[0058] In the embodiment of the present application, the height of the spring can be adjusted to the target height level according to the initial adjustment advance and the target spring height.

[0059] In the specific implementation, when the distance between the height collected by the spring height sensor and the target spring height is consistent with the initial adjustment advance, the height adjustment can be stopped, so that the spring height is as close as possible to the target spring height corresponding to the target height level, to ensure the final adjustment accuracy, and at this time, the adjustment can be considered to be completed.

[0060] The present application can quickly obtain the target height level according to the height adjustment instruction, and determine the target spring height and the adjustment direction in combination with the current spring height state. By setting the corresponding initial adjustment advance for each height level, the initial adjustment advance can be determined in different adjustment directions, so as to improve the adjustment efficiency and response speed. Through the setting of the advance, the present application can stop the adjustment in time when approaching the target height, to avoid excessive adjustment or insufficient adjustment, so as to ensure the best driving posture and comfort of the vehicle under different driving conditions.

[0061] In an optional embodiment of the present application, the vehicle driving parameters include lateral acceleration, longitudinal acceleration, steering wheel angle, road flatness and height adjustment inhibition signal.

[0062] Step 103 further includes the following steps: S31, after the adjustment is completed, the actual spring height of the air spring is obtained; S32, the lateral acceleration and the longitudinal acceleration of the vehicle are collected; S33, the steering wheel angle of the vehicle and the road flatness of the road in front of the vehicle are collected; S34, the height adjustment inhibition signal in the adjustment process is obtained.

[0063] In the embodiment of the present application, after the adjustment is completed, the actual spring height of the spring can be obtained. The actual spring height is the air spring height collected in real time by the spring height sensor arranged in the vehicle. The spring height sensor can be a sensor for monitoring the change of the spring height in the suspension system.

[0064] In the embodiment of the present application, the lateral acceleration and the longitudinal acceleration of the vehicle can also be collected.

[0065] The lateral acceleration can refer to the acceleration of the vehicle in the direction perpendicular to the driving direction when the vehicle is turning. The lateral acceleration can reflect the lateral motion characteristics of the vehicle when the vehicle is turning. The longitudinal acceleration can refer to the acceleration of the vehicle in the driving direction, including acceleration and deceleration. The lateral acceleration and the longitudinal acceleration can be collected by an inertial measurement unit (IMU) in the vehicle.

[0066] In the embodiment of the present application, the steering wheel angle of the vehicle and the road flatness of the road in front of the vehicle can also be collected. The steering wheel angle can refer to the rotation angle of the steering wheel, in degrees (°). The steering wheel angle can reflect the steering intention of the driver. The steering wheel angle can be collected by a sensor installed on the steering wheel or the steering column.

[0067] In the embodiment of the present application, the height adjustment inhibition signal in the adjustment process can also be obtained.

[0068] The height adjustment inhibition signal can refer to a signal for controlling the height adjustment of the vehicle suspension, which is usually used to inhibit unnecessary suspension height changes to maintain the stability and comfort of the vehicle.

[0069] In the embodiment of the present application, if the height adjustment inhibition signal is generated in the adjustment process, it indicates that the height inhibition is triggered in the process of the current air spring height adjustment, which indicates that the system failure, the road is too bumpy, the vehicle working condition is intense, etc. may occur in the process of the current air spring height adjustment.

[0070] In the embodiment of the present application, if the height adjustment inhibition signal is not generated in the adjustment process, it indicates that the height inhibition is not triggered in the process of the current air spring height adjustment, which indicates that the system failure, the road is too bumpy, the vehicle working condition is intense, etc. does not occur in the process of the current air spring height adjustment.

[0071] After the height adjustment is completed, the actual spring height, the lateral acceleration, the longitudinal acceleration, the steering wheel angle, the road flatness, and the height adjustment inhibition signal can be obtained in real time. This comprehensive data collection method provides a basis for more accurately judging the vehicle driving state subsequently.

[0072] In an optional embodiment of the present application, step 104 comprises the following steps: S41, if the lateral acceleration is less than a preset lateral acceleration threshold, and the longitudinal acceleration is less than a preset longitudinal acceleration threshold, and the steering wheel angle is less than a preset steering wheel angle threshold, and the road flatness indicates that the road is flat, and the height adjustment inhibition signal indicates that the height adjustment inhibition is not triggered, the vehicle driving state is in a stable state. S42, if the lateral acceleration is greater than or equal to a preset lateral acceleration threshold, or, the longitudinal acceleration is greater than or equal to a preset longitudinal acceleration threshold, or, the steering wheel angle is greater than or equal to a preset steering wheel angle threshold, or, the road flatness indicates that the road is uneven, or, the height adjustment inhibition signal indicates that the height adjustment inhibition is triggered, the vehicle driving state is in an unstable state.

[0073] In the embodiment of the present application, if the lateral acceleration is less than a preset lateral acceleration threshold, and, the longitudinal acceleration is less than a preset longitudinal acceleration threshold, and, the steering wheel angle is less than a preset steering wheel angle threshold, and, the road flatness indicates that the road is flat, and, the height adjustment inhibition signal indicates that the height adjustment inhibition is not triggered, the vehicle driving state is in a stable state. The lateral acceleration threshold can be set between 0.2g and 0.3g, the longitudinal acceleration threshold can be set at 0.2g, and the steering wheel angle threshold can be set at 50°. It can be understood that these thresholds can also be set according to the actual vehicle type, tire characteristics, load conditions, and real-time road conditions.

[0074] In a specific implementation, if the lateral acceleration is less than a preset lateral acceleration threshold, it can be considered that the vehicle is relatively stable in the lateral movement of the vehicle. If the longitudinal acceleration is less than a preset longitudinal acceleration threshold, it can be considered that the vehicle is relatively stable in the movement in the driving direction of the vehicle. If the steering wheel angle is less than a preset steering wheel angle threshold, it can be considered that the driver does not have a steering intention, that is, the driving direction of the vehicle is stable. If the road flatness indicates that the road is flat, it can be considered that the vehicle is relatively stable in the vertical movement. If the height adjustment inhibition signal indicates that the height adjustment inhibition is not triggered, it can be considered that the vehicle does not occur system failure, the road is too bumpy, the vehicle working condition is intense, etc. during the height adjustment process, that is, the running condition of the vehicle is stable. When all these conditions are met, it can be considered that the vehicle driving state is in a stable state.

[0075] In the embodiment of the present application, if the lateral acceleration is greater than or equal to a preset lateral acceleration threshold, or, the longitudinal acceleration is greater than or equal to a preset longitudinal acceleration threshold, or, the steering wheel angle is greater than or equal to a preset steering wheel angle threshold, or, the road flatness indicates that the road is uneven, or, the height adjustment inhibition signal indicates that the height adjustment inhibition is triggered, the vehicle driving state is in an unstable state.

[0076] In a specific implementation, if the lateral acceleration is greater than or equal to a preset lateral acceleration threshold, it can be considered that the vehicle is unstable in the lateral movement of the vehicle. If the longitudinal acceleration is greater than or equal to a preset longitudinal acceleration threshold, it can be considered that the vehicle is unstable in the movement in the driving direction of the vehicle. If the steering wheel angle is greater than or equal to a preset steering wheel angle threshold, it can be considered that the driver has a steering intention, that is, the driving direction of the vehicle is unstable. If the road flatness indicates that the road is uneven, it can be considered that the vehicle is unstable in the vertical direction. If the height adjustment inhibition signal indicates that the height adjustment inhibition is triggered, it can be considered that the current height adjustment process is not a complete height adjustment, and the vehicle may have a system failure, a too bumpy road, a severe vehicle working condition, and the like during the height adjustment process, that is, the running condition of the vehicle is unstable. When any one of these conditions is met, it can be considered that the vehicle driving state is in an unstable state.

[0077] The present application can ensure the determination of the target adjustment advance when the vehicle running state is stable by introducing multiple conditions to determine the stability of the vehicle driving state, including lateral acceleration, longitudinal acceleration, steering wheel angle, road flatness, and height adjustment inhibition signal, and the like, thereby improving the accuracy of determining the target adjustment advance.

[0078] In an optional embodiment of the present application, step 105 comprises the following steps: S51, in the case where the vehicle driving state is in a stable state, if the time length after the completion of the adjustment is greater than or equal to a preset reference steady state time length, the height adjustment deviation value corresponding to the target height gear is determined according to the target spring height and the actual spring height.

[0079] In the embodiment of the present application, in the case where the vehicle driving state is in a stable state, if the time length after the completion of the air spring adjustment is greater than or equal to a preset reference steady state time length, the height adjustment deviation value corresponding to the target height gear can be determined according to the target spring height and the actual spring height.

[0080] The actual spring height can be calculated by the mean filtering method, which can be realized by calculating the average value of a plurality of height values collected in a preset filtering window, and can realize the denoising and smoothing of the height data.

[0081] The reference steady state time length can be a preset time parameter. In a specific implementation, the reference steady state time length can be set to 1.5 seconds, or can be set according to the actual situation.

[0082] Specifically, in the signal processing process, the signal delay phenomenon caused by the filter may affect the real-time performance of the air spring adjustment. If the time length elapsed after the air spring adjustment is completed is greater than or equal to the preset reference steady state time length, the deviation calculation can be performed again after the signal delay phenomenon caused by the filter is eliminated, thereby improving the accuracy and stability of the adjustment.

[0083] The height adjustment deviation value can be a difference between the target spring height and the actual spring height.

[0084] The present application sets the reference steady state time length, and calculates the height adjustment deviation value again when the time length elapsed after the adjustment is completed is greater than or equal to the preset reference steady state time length, effectively eliminating the influence of filter delay on the adjustment result, and improving the real-time performance and accuracy of the adjustment.

[0085] In an optional embodiment of the present application, the distance between any two adjacent height levels is equal.

[0086] In a specific implementation, taking the 5 height levels arranged from high to low as an example, assuming that the 1st level is the height level with the highest spring height and the 5th level is the height level with the lowest spring height, the distance between any two adjacent height levels in the 1st, 2nd, 3rd, 4th and 5th levels is equal, that is, the distance between the 1st and 2nd levels is equal to the distance between the 2nd and 3rd levels, the distance between the 3rd and 4th levels, and the distance between the 4th and 5th levels.

[0087] Step 106 further comprises the following steps: S61, taking the distance between any two adjacent height levels as a single height level; S62, in the case where the height adjustment deviation value is less than a preset deviation value threshold, determining the target adjustment advance of the target height level according to the height adjustment deviation value corresponding to the target height level, the initial adjustment advance corresponding to the target height level, and the single height level.

[0088] In the embodiment of the present application, the distance between any two adjacent height levels can be taken as a single height level. Then, in the case where the height adjustment deviation value is less than a preset deviation value threshold, the target adjustment advance of the target height level is determined according to the height adjustment deviation value corresponding to the target height level, the initial adjustment advance corresponding to the target height level, and the single height level. The single height level can be set to about 20mm, or can be set according to different vehicle types. The preset deviation value threshold can be set to a value less than the single height level, or can be set according to actual conditions.

[0089] It can be understood that in the case that the height adjustment deviation value is greater than or equal to the preset deviation value threshold, it can be considered that the height adjustment deviation value is too large, and there may be an error, at which time the determination of the target adjustment advance value can be stopped.

[0090] In a specific implementation, the determination of the target adjustment advance value can be performed with reference to the following formula:

[0091] wherein Adv represents the target adjustment advance value, OldAdv represents the initial adjustment advance value, represents the height adjustment deviation value, D represents a single height, and W represents a weight parameter, represents a compensation correction coefficient, in a specific implementation, the weight parameter W can be set to 1, and the compensation correction coefficient can be set to 1.5, the weight parameter W and the compensation correction coefficient can also be set according to actual conditions.

[0092] wherein if the height adjustment deviation value is large, the compensation correction coefficient is set to be larger, the value of the target adjustment advance value will further increase, and the value of the target adjustment advance value will decrease. At this time, the value of the main influencing item of the height adjustment deviation value on the target adjustment advance value will also decrease. That is, the compensation correction coefficient is set in this way, so that when the height adjustment deviation value is large, the influence of the height adjustment deviation value on the finally determined target adjustment advance value is reduced as much as possible, and the accuracy of the finally determined target adjustment advance value is further improved.

[0093] wherein the target adjustment advance value corresponding to the target height gear position can include at least one target adjustment advance value in different adjustment directions. And the adjustment direction of the target adjustment advance value is consistent with the adjustment direction of the initial adjustment advance value.

[0094] In a specific implementation, taking 5 height gears arranged from high to low in spring height as an example, assuming that the 1st gear is the height gear position with the highest spring height, and the 5th gear is the height gear position with the lowest spring height, the target adjustment advance value corresponding to the 1st gear can include one target adjustment advance value in the adjustment direction of adjusting from low to high. Similarly, the target adjustment advance value corresponding to the 5th gear can include one target adjustment advance value in the adjustment direction of adjusting from high to low. It can be understood that since the 2nd gear, the 3rd gear and the 4th gear are in the middle height gears, the target adjustment advance value corresponding to each of the 2nd gear, the 3rd gear and the 4th gear can include one target adjustment advance value in the adjustment direction of adjusting from low to high and one target adjustment advance value in the adjustment direction of adjusting from high to low.

[0095] The target adjustment advance is calculated by combining the height adjustment deviation value corresponding to the target height gear, the initial adjustment advance and the single-gear height when the height adjustment deviation value is less than the preset threshold, so that the accuracy of the adjustment is further optimized. In addition, the target adjustment advance supports calculation of different adjustment directions, ensuring the flexibility and adaptability of the adjustment at different height gears.

[0096] In an optional embodiment of the present application, after step 106, the method further comprises the following steps: S71, if the target adjustment advance is within the preset advance range, the target adjustment advance is stored as the spring adjustment advance corresponding to the target height gear, and the spring adjustment advance is stored as the fault snapshot data.

[0097] In the embodiment of the present application, if the target adjustment advance is within the preset advance value range, the target adjustment advance is stored as the spring adjustment advance corresponding to the target height gear, and the spring adjustment advance is stored as the fault snapshot data.

[0098] The preset advance value range can be set according to actual conditions, specifically, the preset advance value range can be set to ±0.5x single-gear height based on the target height gear and the target height. It can be understood that if the value of the target adjustment advance is not within the preset advance value range, it can be considered that the value of the target adjustment advance is too large and there may be an error, at which time the determination of the target adjustment advance can be stopped.

[0099] The spring adjustment advance can be stored in the controller of the vehicle, and after storage is completed, the storage state of the spring adjustment advance will not be affected even if the vehicle is powered off. The spring adjustment advance corresponding to the target height gear can refer to the calibrated spring adjustment advance for the target height gear. When the spring height adjustment is performed in response to the height adjustment instruction subsequently, the spring adjustment advance can be obtained as the initial adjustment advance.

[0100] In the embodiment of the present application, the spring adjustment advance can be stored as the fault snapshot data.

[0101] The fault snapshot data can refer to the key operating parameters and state information recorded when the system or device fails, which can be used for subsequent fault analysis and diagnosis. In the embodiment of the present application, the spring adjustment advance is stored as fault snapshot data, and the aging state of the air spring can be judged through a batch of spring adjustment advances. For example, if the spring adjustment advances for the same target gear show a trend of increasing over time, it can be recognized that the air spring is aging or the suspension system state is poor. This way can provide important reference for troubleshooting, help identify the cause of abnormal adjustment, and then optimize system performance.

[0102] The present application ensures the rationality and stability of the adjustment advance by presetting the advance value range, avoiding the influence of abnormal data on the system. The spring adjustment advance is associated with the target height gear, so that the subsequent adjustment process can use the spring adjustment advance as the initial adjustment advance, making the subsequent spring height adjustment process more accurate and traceable. By analyzing the fault snapshot data, the aging of the air spring or the abnormal state of the suspension system can be found in time, and early warning and measures can be taken, which not only enhances the self-diagnosis ability of the system, but also provides strong support for performance optimization and fault repair.

[0103] Reference Figure 2 Fig. 1 shows a flowchart of an air spring height adjustment advance calibration process provided by an embodiment of the present application.

[0104] Step 201, the flow starts. It indicates the start of the determination of the target adjustment advance this time.

[0105] Step 202, the height adjustment is completed. It can refer to the completion of the spring height adjustment process. In the embodiment of the present application, it can be that in response to the height adjustment instruction issued for the spring, the initial adjustment advance corresponding to the height adjustment instruction and the target spring height are obtained, the height of the spring is adjusted according to the initial adjustment advance and the target spring height, and the spring height adjustment process is completed.

[0106] Step 203, judge whether the vehicle driving state is stable. It can refer to judging whether the vehicle driving state is stable after the completion of the spring height adjustment. In the embodiment of the present application, it can refer to obtaining the actual spring height of the air spring after the adjustment is completed, collecting the lateral acceleration and longitudinal acceleration of the vehicle, collecting the steering wheel angle of the vehicle and the road flatness of the road in front of the vehicle, and obtaining the height adjustment inhibition signal in the adjustment process.

[0107] If the lateral acceleration is less than a preset lateral acceleration threshold, the longitudinal acceleration is less than a preset longitudinal acceleration threshold, the steering wheel angle is less than a preset steering wheel angle threshold, the road flatness indicates that the road is flat, and the height adjustment inhibition signal indicates that the height adjustment inhibition is not triggered, the vehicle driving state is in a stable state.

[0108] In step 204, timing is started. The timing can be started after the air spring height adjustment is completed. The timing can be stopped until the time length after the adjustment is completed is greater than or equal to a preset reference steady state time length.

[0109] In step 205, it is determined whether the time length after the adjustment is completed exceeds the reference steady state time length. In the case that the vehicle driving state is in a stable state, it is determined whether the time length after the adjustment is completed is greater than or equal to a preset reference steady state time length. If the time length after the adjustment is completed is greater than or equal to the preset reference steady state time length, the next step is performed. It can be understood that if the time length after the adjustment is completed is less than the preset reference steady state time length, the timing can be continued until the time length after the adjustment is completed is greater than or equal to the preset reference steady state time length. In the case that the vehicle driving state is in a stable state, if the time length after the adjustment is completed is greater than or equal to the preset reference steady state time length, the height adjustment deviation value corresponding to the target height gear is determined according to the target spring height and the actual spring height.

[0110] In step 206, the height adjustment deviation value is determined. The height adjustment deviation value can be the difference between the target spring height and the actual spring height.

[0111] In step 207, it is determined whether the height adjustment deviation value is less than a preset deviation value threshold. In the case that the height adjustment deviation value is less than the preset deviation value threshold, the next step is performed. It can be understood that in the case that the height adjustment deviation value is greater than or equal to the preset deviation value threshold, it can be considered that the height adjustment deviation value is too large, and there can be an error, and in this case, the determination of the target adjustment advance can be stopped.

[0112] In step 208, the target adjustment advance is determined. In the embodiment of the present application, the distance between any two adjacent height gears can be taken as a single-gear height. Then, in the case that the height adjustment deviation value is less than the preset deviation value threshold, the target adjustment advance corresponding to the target height gear is determined according to the height adjustment deviation value corresponding to the target height gear, the initial adjustment advance corresponding to the target height gear, and the single-gear height.

[0113] Step 209, judging whether the value of the target adjustment advance is in the preset advance value range. In the embodiment of the present application, if the value of the target adjustment advance is in the preset advance value range, the next step is performed. It can be understood that in the case that the value of the target adjustment advance is not in the preset advance value range, it can be considered that the value of the target adjustment advance is too large, and there may be an error, at this time, the determination of the target adjustment advance this time can be stopped.

[0114] Step 210, storing the target adjustment advance. In the embodiment of the present application, the target adjustment advance can be stored as the spring adjustment advance corresponding to the target height gear, and the spring adjustment advance is stored as the fault snapshot data.

[0115] Step 211, the flow ends. It indicates that the determination of the target adjustment advance this time is completed.

[0116] Reference Figure 3 , a structure schematic diagram of a kind of air spring height adjustment advance determination device provided by an embodiment of the present application is shown, the device includes: initial data acquisition module 301, for responding to height adjustment instruction issued to air spring, the initial adjustment advance corresponding to the height adjustment instruction and target spring height are acquired; spring height adjustment module 302, for adjusting the height of the air spring according to the initial adjustment advance and the target spring height; adjustment result acquisition module 303, for after adjusting, the actual spring height of the air spring is acquired and vehicle driving parameter is collected; driving state determination module 304, for determining vehicle driving state according to the vehicle driving parameter; height deviation determination module 305, for in the case that the vehicle driving state is in stable state, the height adjustment deviation value is determined according to the target spring height and the actual spring height; advance determination module 306, for determining target adjustment advance according to the height adjustment deviation value and the initial adjustment advance.

[0117] In an optional embodiment of the present application, the air spring at different heights corresponds to several different height gears, and the initial data acquisition module 301 includes: target gear determination sub-module, for responding to height adjustment instruction issued to the air spring, the target height gear corresponding to the height adjustment instruction is acquired; initial data acquisition sub-module, for determining the initial adjustment advance corresponding to the target height gear and the target spring height corresponding to the target height gear according to the target height gear.

[0118] In an optional embodiment of the present application, the vehicle driving parameter comprises lateral acceleration, longitudinal acceleration, steering wheel angle, road flatness and height adjustment inhibition signal, the adjustment result acquisition module 303 comprises: an actual height acquisition submodule, configured to acquire the actual spring height of the air spring after the adjustment is completed; an acceleration acquisition submodule, configured to acquire the lateral acceleration and the longitudinal acceleration of the vehicle; an auxiliary information acquisition submodule, configured to acquire the steering wheel angle of the vehicle and the road flatness of the road ahead of the vehicle; an inhibition signal acquisition submodule, configured to acquire the height adjustment inhibition signal during the adjustment.

[0119] In an optional embodiment of the present application, the driving state determination module 304 comprises: a stable state determination submodule, configured to determine that the vehicle driving state is in a stable state if the lateral acceleration is less than a preset lateral acceleration threshold, the longitudinal acceleration is less than a preset longitudinal acceleration threshold, the steering wheel angle is less than a preset steering wheel angle threshold, the road flatness indicates that the road is flat, and the height adjustment inhibition signal indicates that the height adjustment inhibition is not triggered; an unstable state determination submodule, configured to determine that the vehicle driving state is in an unstable state if the lateral acceleration is greater than or equal to the preset lateral acceleration threshold, or the longitudinal acceleration is greater than or equal to the preset longitudinal acceleration threshold, or the steering wheel angle is greater than or equal to the preset steering wheel angle threshold, or the road flatness indicates that the road is not flat, or the height adjustment inhibition signal indicates that the height adjustment inhibition is triggered.

[0120] In an optional embodiment of the present application, the height deviation determination module 305 comprises: a height deviation determination submodule, configured to determine the height adjustment deviation value corresponding to the target height gear according to the target spring height and the actual spring height if the time length elapsed after the adjustment is completed is greater than or equal to a preset reference steady state time length when the vehicle driving state is in a stable state.

[0121] In an optional embodiment of the present application, the distance between any two adjacent height gears is equal, and the advance amount determination module 306 comprises: a single-gear height determination submodule, configured to take the distance between any two adjacent height gears as a single-gear height; The advance amount determination submodule is configured to determine the target adjustment advance amount corresponding to the target height gear according to the height adjustment deviation value corresponding to the target height gear, the initial adjustment advance amount corresponding to the target height gear, and the single-gear height, when the height adjustment deviation value is less than a preset deviation value threshold.

[0122] In an optional embodiment of the present application, the device further comprises: The target advance amount storage module is configured to store the target adjustment advance amount as a spring adjustment advance amount corresponding to the target height gear, and store the spring adjustment advance amount as fault snapshot data, when the target adjustment advance amount is within a preset advance amount range.

[0123] For the device embodiment, it is basically similar to the method embodiment, so it is described more simply, and the related parts refer to the part of the method embodiment.

[0124] An embodiment of the present application further provides a vehicle, which can comprise a processor, a memory, and a computer program stored on the memory and capable of running on the processor, and the computer program is executed by the processor to implement the method described above.

[0125] An embodiment of the present application further provides a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method described above.

[0126] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of the related data need to comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for the user to choose authorization or refusal.

[0127] Each embodiment in the specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.

[0128] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, device, or computer program product. Therefore, the embodiments of the present application can adopt a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the embodiments of the present application can adopt the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) containing computer usable program code.

[0129] The embodiments of the present application are described with reference to the flowchart and / or block diagram of the method, terminal device (system), and computer program product according to the embodiments of the present application. It is understood that each block of the flowchart and / or block diagram, and combinations of blocks in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal devices to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal devices, create means for implementing the functions specified in the flowchart and / or block diagram block or blocks. Figure 1 Figure 1

[0130] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal devices to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart and / or block diagram block or blocks. Figure 1 Figure 1

[0131] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal devices, such that a series of operational steps are carried out on the computer or other programmable terminal devices to generate a computer implemented process so that the instructions executed on the computer or other programmable terminal devices provide steps for implementing the functions specified in the flowchart and / or block diagram block or blocks. Figure 1 Figure 1

[0132] Although the preferred embodiments of the present application have been described, those skilled in the art will be able to make additional modifications and variations to these embodiments without departing from the scope of the present application. Accordingly, it is intended to include all such modifications and variations as fall within the scope of the embodiments of the present application. Accordingly, the appended claims are intended to cover all such modifications and variations.

[0133] ​​​​​​Finally, it is to be understood that the phraseology or terminology such as "first" and "second" etc. used herein is merely intended to differentiate one entity or operation from another entity or operation, without necessarily requiring or implying any actual such relationship or order between such entities or operations. Moreover, the terms "comprising", "including", or any other closure, are intended to cover the non-exclusive inclusion such that a process, method, article, or apparatus that comprises a list of elements does not include those elements alone but can include other elements not expressly listed or even include elements inherent in such process, method, article, or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the above element.

[0134] The above provides a detailed description of the method and device for determining the advance of the height adjustment of the air spring. The principles and implementation of the present application are described in this paper using specific examples. The above examples are only used to help understand the method and core idea of the present application. For those skilled in the art, the specific implementation and application range will be changed according to the idea of the present application. In summary, the content of this specification should not be understood as a limitation of the present application.

Claims

1. A method for determining the advance amount for air spring height adjustment, characterized in that, The method includes: In response to a height adjustment command issued to the air spring, the initial adjustment lead and target spring height corresponding to the height adjustment command are obtained; Adjust the height of the air spring according to the initial adjustment lead and the target spring height; After adjustment, the actual spring height of the air spring is obtained and vehicle driving parameters are collected; The vehicle's driving status is determined based on the vehicle's driving parameters; When the vehicle is in a stable driving state, the height adjustment deviation value is determined based on the target spring height and the actual spring height. The target adjustment lead is determined based on the height adjustment deviation value and the initial adjustment lead.

2. The method according to claim 1, characterized in that, The air spring has several different height settings corresponding to different heights. The process of responding to a height adjustment command issued to the air spring, and obtaining the initial adjustment lead and target spring height corresponding to the height adjustment command, includes: In response to a height adjustment command issued to the air spring, the target height setting corresponding to the height adjustment command is obtained; The initial adjustment advance and the target spring height corresponding to the target height level are determined based on the target height level.

3. The method according to claim 1, characterized in that, The vehicle driving parameters include lateral acceleration, longitudinal acceleration, steering wheel angle, road surface smoothness, and height adjustment suppression signal. After adjustment, the actual spring height of the air spring is obtained, and the vehicle driving parameters are collected, including: After adjustment, the actual spring height of the air spring is obtained; The lateral acceleration and longitudinal acceleration of the vehicle are collected; The steering wheel angle of the vehicle and the road surface smoothness in front of the vehicle are collected. Acquire the height regulation suppression signal during the regulation process.

4. The method according to claim 3, characterized in that, Determining the vehicle's driving status based on the vehicle's driving parameters includes: If the lateral acceleration is less than a preset lateral acceleration threshold, and the longitudinal acceleration is less than a preset longitudinal acceleration threshold, and the steering wheel angle is less than a preset steering wheel angle threshold, and the road surface smoothness indicates that the road surface is smooth, and the height adjustment suppression signal indicates that the height adjustment suppression has not been triggered, then the vehicle driving state is in a stable state. If the lateral acceleration is greater than or equal to a preset lateral acceleration threshold, or the longitudinal acceleration is greater than or equal to a preset longitudinal acceleration threshold, or the steering wheel angle is greater than or equal to a preset steering wheel angle threshold, or the road surface smoothness indicates that the road surface is uneven, or the height adjustment suppression signal indicates that height adjustment suppression has been triggered, then the vehicle's driving state is in an unstable state.

5. The method according to claim 1, characterized in that, When the vehicle is in a stable driving state, determining the height adjustment deviation value based on the target spring height and the actual spring height includes: When the vehicle is in a stable driving state, if the time elapsed after adjustment is greater than or equal to the preset reference steady-state time, the height adjustment deviation value corresponding to the target height gear is determined based on the target spring height and the actual spring height.

6. The method according to claim 2, characterized in that, The distance between any two adjacent height settings is equal. Determining the target adjustment lead based on the height adjustment deviation value and the initial adjustment lead includes: The distance between any two adjacent height settings is taken as a single height setting; If the height adjustment deviation value is less than a preset deviation value threshold, the target adjustment advance value corresponding to the target height gear is determined based on the height adjustment deviation value corresponding to the target height gear, the initial adjustment advance value corresponding to the target height gear, and the single height.

7. The method according to claim 6, characterized in that, After determining the target adjustment lead based on the altitude adjustment deviation value and the initial adjustment lead, the method further includes: If the target adjustment advance is within the preset advance range, the target adjustment advance is stored as the spring adjustment advance corresponding to the target height gear, and the spring adjustment advance is stored as fault snapshot data.

8. A device for determining the advance amount of air spring height adjustment, characterized in that, The device includes: The initial data acquisition module is used to acquire the initial adjustment lead and target spring height corresponding to the height adjustment command in response to the height adjustment command issued to the air spring. A spring height adjustment module is used to adjust the height of the air spring according to the initial adjustment lead and the target spring height. The adjustment result acquisition module is used to acquire the actual spring height of the air spring and collect vehicle driving parameters after the adjustment is completed. A driving status determination module is used to determine the vehicle driving status based on the vehicle driving parameters. The height deviation determination module is used to determine the height adjustment deviation value based on the target spring height and the actual spring height when the vehicle is in a stable driving state. The lead determination module is used to determine the target adjustment lead based on the height adjustment deviation value and the initial adjustment lead.

9. A vehicle, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the method as described in any one of claims 1-7.

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