A method and device for determining the advance of air spring height adjustment

Abstract

The application provides a method and device for determining the advance of height adjustment of an air spring. The method comprises: 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 an actual spring height of the air spring and collecting vehicle driving parameters, determining a 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, and determining a target adjustment advance according to the height adjustment deviation value and the initial adjustment advance. The target adjustment advance of the application is a definite value and matches the current air spring state of the vehicle, so that the accuracy of the spring height adjustment can be improved and the performance of the suspension system and the driving comfort can be ensured.

Description

Technical Field

[0001] This invention relates to the field of air spring control, and in particular to a method and apparatus for determining the advance amount of air spring height adjustment. Background Technology

[0002] Air springs are an important component of a vehicle's suspension system, allowing for adjustment of the vehicle's height. Existing air spring height control methods adjust the air spring height after obtaining the target height. However, due to delays in system response and sensor signals, adjustments are prematurely stopped once the actual measured air spring height reaches a target range close to the target height, ensuring the actual air spring height is as close as possible to the target height.

[0003] Because the target range is a rather general one, even if the air spring height is adjusted based on this range, it's difficult to ensure that the actual height of the air spring perfectly matches the target height after adjustment, thus compromising the accuracy of the air spring height adjustment. Furthermore, this target range is pre-calibrated for the air spring. Due to the vehicle's lifespan and the surrounding environment, the air spring may age or deform, causing the pre-calibrated target range to become inapplicable. This further reduces the accuracy of the air spring height adjustment, consequently affecting the performance of the vehicle's suspension system and ride comfort. Summary of the Invention

[0004] In view of the above problems, embodiments of the present invention propose a method and apparatus for determining the advance amount of air spring height adjustment.

[0005] In a first aspect of the present invention, a method for determining the advance amount of air spring height adjustment is provided, the method comprising: 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.

[0006] Optionally, the air spring has several different height settings corresponding to different heights, and the step of obtaining the initial adjustment lead and target spring height corresponding to the height adjustment command issued to the air spring 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.

[0007] Optionally, the vehicle driving parameters include lateral acceleration, longitudinal acceleration, steering wheel angle, road surface smoothness, and height adjustment suppression signal. After adjustment, obtaining the actual spring height of the air spring and collecting vehicle driving parameters includes: 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.

[0008] Optionally, determining the vehicle driving state based on the vehicle 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.

[0009] Optionally, 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.

[0010] Optionally, the distance between any two adjacent height settings is equal, and 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.

[0011] Optionally, 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.

[0012] In a second aspect of the invention, a device for determining the advance amount of air spring height adjustment is also provided, the device comprising: 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.

[0013] In a third aspect of the invention, a vehicle is also provided, including 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 described above.

[0014] In a fourth aspect of the invention, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements the method described above.

[0015] The embodiments of the present invention have the following advantages: In this embodiment of the invention, 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. The height of the air spring is adjusted according to the initial adjustment lead and target spring height. After adjustment, the actual spring height of the air spring is obtained and vehicle driving parameters are collected. The vehicle driving state is determined based on the vehicle driving parameters. When the vehicle driving state is stable, 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. The method for determining the spring height adjustment lead provided by this embodiment of the invention firstly accurately responds to height adjustment commands and quickly obtains the initial adjustment lead and target spring height corresponding to the command, laying the foundation for subsequent precise adjustment. Compared with the prior art that relies on a general target range, this invention introduces an initial adjustment lead, enabling more precise control at the start of adjustment. Secondly, by adjusting the spring height according to the initial adjustment lead and target spring height, this invention ensures that the spring height gradually approaches the target value, avoiding deviation of the height adjustment from the expectation. After adjustment, this invention can obtain the actual spring height and collect vehicle driving parameters. This not only verifies the adjustment effect but also provides dynamic data support for subsequent optimization. Simultaneously, by collecting vehicle driving parameters, this invention can comprehensively evaluate the actual vehicle driving state after adjustment. When the vehicle driving state is stable, this invention quantifies the height adjustment deviation by comparing the target spring height and the actual spring height, reflecting the real-time spring height adjustment effect and providing an accurate basis for the adaptive determination of subsequent adjustment lead. Finally, this invention determines the target adjustment lead based on the height adjustment deviation and the initial adjustment lead. Compared to the general target range in existing technologies, the target adjustment lead obtained by this invention is a specific value, which improves the accuracy of spring height adjustment. Furthermore, since the height adjustment deviation is determined during the real-time spring height adjustment process, it reflects the real-time spring height adjustment effect. The target adjustment lead determined by this invention, based on the height adjustment deviation and the initial adjustment lead, matches the current air spring state of the vehicle. Therefore, the target adjustment lead obtained by this invention further improves the accuracy of spring height adjustment, ensuring the performance of the vehicle suspension system and ride comfort. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0017] Figure 1This is a flowchart illustrating the steps of a method for determining the advance amount of air spring height adjustment according to an embodiment of the present invention; Figure 2 This is a flowchart illustrating the calibration process for the advance amount of air spring height adjustment according to an embodiment of the present invention; Figure 3 This is a schematic diagram of a device for determining the advance amount of air spring height adjustment according to an embodiment of the present invention. Detailed Implementation

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

[0019] Air springs are an important component of a vehicle's suspension system, allowing for adjustment of the vehicle's height. Existing air spring height control methods adjust the air spring height after obtaining the target height. However, due to delays in system response and sensor signals, adjustments are prematurely stopped once the actual measured air spring height reaches a target range close to the target height, ensuring the actual air spring height is as close as possible to the target height.

[0020] Because the target range is a rather general one—for example, using the target height as a benchmark, ±6mm to ±10mm above the target height can be considered the target range—even if the air spring height adjustment is based on this target range, meaning that the adjustment is stopped prematurely once the actual measured air spring height reaches the target height within ±6mm to ±10mm, this method cannot guarantee that the actual height of the air spring will perfectly match the target height after adjustment, thus compromising the accuracy of the air spring height adjustment. Furthermore, this target range is pre-calibrated for the air spring. Affected by the vehicle's lifespan and the surrounding environment, the air spring may age or deform, rendering the pre-calibrated target range inapplicable to the current air spring. Alternatively, in different vehicles, due to unavoidable differences in parts, adjusting the air spring based on the same target range may not be suitable for the current air spring. This situation further reduces the accuracy of the air spring height adjustment, thereby affecting the performance of the vehicle's suspension system and ride comfort.

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

[0022] Reference Figure 1 The diagram shows a flowchart of the steps for determining the advance amount of air spring height adjustment according to an embodiment of the present invention.

[0023] Air springs can refer to adjustable suspension system components in a vehicle, used to support the vehicle's weight and provide comfort. The stiffness and height of the springs can be changed by adjusting the internal air pressure to adapt to different driving conditions and passenger needs.

[0024] The chassis is the basic structure of a vehicle, supporting important components such as the body, engine, and suspension system. The design and performance of the chassis directly affect the vehicle's handling, stability, and comfort. In this embodiment of the invention, air springs can be installed within the vehicle chassis.

[0025] The method specifically includes the following steps: Step 101: In response to a height adjustment command issued to the air spring, obtain the initial adjustment lead and target spring height corresponding to the height adjustment command.

[0026] In this embodiment of the invention, in response to a height adjustment command issued to the air spring, the initial adjustment lead and the target spring height corresponding to the height adjustment command can be obtained.

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

[0028] The height adjustment command can be issued by the vehicle's control system or a mechanical signal issued manually by the driver or passengers. In this embodiment of the invention, it can be used to instruct the height adjustment of the air springs. For example, when the vehicle needs to raise or lower its chassis height to adapt to different driving conditions or passenger needs, the vehicle's control system can issue a corresponding height adjustment command.

[0029] The adjustment lead is a numerical distance that represents the distance between the control system and the target spring height when the adjustment process stops before reaching the target spring height. In this embodiment of the invention, the initial adjustment lead can be an adjustment lead pre-calibrated based on spring height adjustment results during historical travel.

[0030] The target spring height can be the desired height value set in the height adjustment command. In this embodiment of the invention, it can refer to the final height that the air spring needs to be adjusted to. The target spring height is the basis for the control system to make adjustments, ensuring that the vehicle chassis can meet the predetermined comfort and handling requirements.

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

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

[0033] In its implementation, the ECAS (Electronic Controlled Air Suspension) receives a height adjustment command and issues control commands to drive several actuators. These actuators then control their respective air springs to adjust towards the target spring height. Due to system response delays and spring height sensor signal processing delays, height adjustment cannot wait until the height collected by the spring height sensor matches the target spring height before stopping. An adjustment lead time needs to be pre-calibrated, which is the initial adjustment lead time in this invention. Height adjustment can be stopped when the distance between the height collected by the spring height sensor and the target spring height is equal to the distance corresponding to the initial adjustment lead time to ensure final adjustment accuracy. At this point, the air spring height adjustment can be considered complete.

[0034] Step 103: After adjustment, obtain the actual spring height of the air spring and collect vehicle driving parameters.

[0035] In this embodiment of the invention, after the air spring height is adjusted, the actual spring height of the air spring can be obtained and vehicle driving parameters can be collected.

[0036] The actual spring height refers to the air spring height collected in real time by the spring height sensor after adjustment.

[0037] Vehicle driving parameters can refer to various dynamic and static parameters of a vehicle during driving. In this embodiment of the invention, vehicle driving parameters may include parameters such as lateral acceleration, longitudinal acceleration, steering wheel angle, road surface smoothness, and height adjustment suppression signal.

[0038] Step 104: Determine the vehicle driving status based on the vehicle driving parameters.

[0039] In this embodiment of the invention, the vehicle driving state can be determined based on vehicle driving parameters. The vehicle driving state can include a stable state and an unstable state.

[0040] In practice, the current driving state of a vehicle can be determined by comprehensively considering parameters such as lateral acceleration, longitudinal acceleration, steering wheel angle, road surface smoothness, and height adjustment suppression signal.

[0041] Step 105: When the vehicle is in a stable driving state, determine the height adjustment deviation value based on the target spring height and the actual spring height.

[0042] In this embodiment of the invention, when the vehicle is in a stable driving state, the height adjustment deviation value can be determined based on the target spring height and the actual spring height.

[0043] Specifically, if the vehicle is in an unstable state after height adjustment, the actual spring height obtained at this time may not be accurate, affecting subsequent calculation results. To ensure the stability and reliability of the target adjustment lead, the height adjustment deviation value needs to be determined based on the target spring height and the actual spring height when the vehicle is in a stable state.

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

[0045] Step 106: Determine the target adjustment lead based on the height adjustment deviation value and the initial adjustment lead.

[0046] In this embodiment of the invention, the target adjustment lead can be determined based on the height adjustment deviation value and the initial adjustment lead.

[0047] The target adjustment lead can refer to the adjustment lead obtained by recalibration based on the current spring height adjustment result. In this embodiment of the invention, when subsequently obtaining a height adjustment command, the target adjustment lead determined in this instance can be used as the initial height adjustment lead for subsequent spring height adjustments.

[0048] This invention, through a method for determining the spring height adjustment lead time, firstly, accurately responds to height adjustment commands, quickly acquiring the initial adjustment lead time and target spring height corresponding to the command, laying the foundation for subsequent precise adjustments. Compared to existing technologies that rely on a general target range, this invention introduces an initial adjustment lead time, enabling more precise control from the start of adjustment. Secondly, this invention adjusts the spring height based on the initial adjustment lead time and target spring height, ensuring the spring height gradually approaches the target value and avoiding deviations from expectations. After adjustment, this invention can acquire the actual spring height and collect vehicle driving parameters. This not only verifies the adjustment effect but also provides dynamic data support for subsequent optimization. Furthermore, by collecting vehicle driving parameters, this invention can comprehensively evaluate the actual vehicle driving state after adjustment. When the vehicle driving state is stable, this invention quantifies the height adjustment deviation by comparing the target spring height and the actual spring height, reflecting the real-time spring height adjustment effect and providing an accurate basis for the adaptive determination of subsequent adjustment lead time. Finally, this invention determines the target adjustment advance based on 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 this invention is a specific value, which can improve the accuracy of spring height adjustment. Furthermore, since the height adjustment deviation value is determined during 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 this invention 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 this invention can further improve the accuracy of spring height adjustment, ensuring the performance of the vehicle suspension system and ride comfort.

[0049] In one optional embodiment of the present invention, the air spring can have several different height settings corresponding to different height positions. Each height setting corresponds to a specific air spring height. By switching the height settings, the air spring height can be adjusted, thereby enabling vehicle height adjustment under different driving conditions.

[0050] Step 101 also includes the following steps: S11, in response to a height adjustment command issued to the air spring, obtain the target height level corresponding to the height adjustment command; S12, determine 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.

[0051] In this embodiment of the invention, in response to a height adjustment command issued to the air spring, the target height level corresponding to the height adjustment command can be obtained. Then, the initial adjustment advance corresponding to the target height level and the target spring height corresponding to the target height level are determined based on the target height level.

[0052] The target height setting can refer to the desired spring height setting set according to the instructions issued by the vehicle's control system, or the desired spring height setting set according to the mechanical signals issued by the driver or passengers through manual control.

[0053] It is understood that the target spring height corresponding to the target height setting is the desired height value corresponding to the desired spring height setting. In this embodiment of the invention, the target spring height may refer to the final height that the air spring needs to be adjusted to.

[0054] In this embodiment of the invention, the initial adjustment lead amount corresponding to the target height level may include at least one initial adjustment lead amount in different adjustment directions.

[0055] Taking five height settings arranged from highest to lowest spring height as an example, assuming setting 1 is the highest spring height setting and setting 5 is the lowest spring height setting, the initial adjustment advance for setting 1 can include an initial adjustment advance in the direction of adjustment from bottom to top. Similarly, the initial adjustment advance for setting 5 can include an initial adjustment advance in the direction of adjustment from top to bottom. It can be understood that since settings 2, 3, and 4 are all intermediate height settings, the initial adjustment advance for each of these settings can include an initial adjustment advance in the direction of adjustment from bottom to top and an initial adjustment advance in the direction of adjustment from top to bottom.

[0056] In practice, the target spring height can be directly determined based on the target height setting. Furthermore, the adjustment direction (from bottom to top or top to bottom) can be determined based on the target height setting, thus determining the initial adjustment lead.

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

[0058] In this embodiment of the invention, the height of the spring can be adjusted to the target height setting based on the initial adjustment lead and the target spring height.

[0059] In practice, when the distance between the height collected by the spring height sensor and the target spring height is consistent with the initial adjustment lead, 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 setting, in order to ensure the final adjustment accuracy. At this point, the adjustment can be considered complete.

[0060] This invention can quickly acquire the target height setting based on the height adjustment command and, combined with the current spring height state, determine the target spring height and adjustment direction. By setting a corresponding initial adjustment lead for each height setting, the initial adjustment lead can be determined in different adjustment directions, thereby improving adjustment efficiency and response speed. Through the setting of the lead, this invention can stop adjustment in time when approaching the target height, avoiding over-adjustment or under-adjustment, thus ensuring the vehicle's optimal driving posture and comfort under different driving conditions.

[0061] In an optional embodiment of the present invention, the vehicle driving parameters include lateral acceleration, longitudinal acceleration, steering wheel angle, road surface smoothness, and height adjustment suppression signal.

[0062] Step 103 also includes the following steps: S31, After adjustment, obtain the actual spring height of the air spring; S32, Collect the lateral acceleration and longitudinal acceleration of the vehicle; S33, Collect the steering wheel angle of the vehicle and the road surface smoothness of the road surface in front of the vehicle; S34, acquire the height adjustment suppression signal during the adjustment process.

[0063] In this embodiment of the invention, after adjustment, the actual spring height can be obtained. The actual spring height is the air spring height acquired in real time by a spring height sensor installed in the vehicle. The spring height sensor can be a sensor used to monitor changes in the spring height in the suspension system.

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

[0065] Lateral acceleration refers to the acceleration of a vehicle perpendicular to its direction of travel when turning. It reflects the lateral motion characteristics of a vehicle during cornering. Longitudinal acceleration refers to the acceleration of a vehicle along its direction of travel, including both acceleration and deceleration. Both lateral and longitudinal acceleration can be acquired by an inertial measurement unit (IMU) within the vehicle.

[0066] In this embodiment of the invention, the steering wheel angle and the road surface smoothness in front of the vehicle can also be collected. The steering wheel angle refers to the rotation angle of the steering wheel, measured in degrees (°). It reflects the driver's steering intention. The steering wheel angle can be collected by sensors mounted on the steering wheel or steering column.

[0067] In this embodiment of the invention, the height adjustment suppression signal during the adjustment process can also be obtained.

[0068] The height adjustment suppression signal refers to the signal used to control the vehicle's suspension height adjustment. It is typically used to suppress unnecessary changes in suspension height in order to maintain vehicle stability and comfort.

[0069] In this embodiment of the invention, if a height adjustment suppression signal is generated during the adjustment process, it indicates that height suppression was triggered during the current air spring height adjustment process. This suggests that a system malfunction, excessively bumpy road surface, or intense vehicle operating conditions may have occurred during the current air spring height adjustment process.

[0070] In this embodiment of the invention, if no height adjustment suppression signal is generated during the adjustment process, it means that height suppression was not triggered during the current air spring height adjustment process. This indicates that no system malfunction, excessively bumpy road surface, or severe vehicle operating conditions occurred during the current air spring height adjustment process.

[0071] After height adjustment, this invention can acquire real-time data on the actual spring height, lateral acceleration, longitudinal acceleration, steering wheel angle, road surface smoothness, and height adjustment suppression signal. This comprehensive data acquisition method provides a foundation for more accurate subsequent judgment of the vehicle's driving status.

[0072] In an optional embodiment of the present invention, step 104 includes 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 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. 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 surface smoothness indicates that the road surface is uneven, or the height adjustment suppression signal indicates that height adjustment suppression is triggered, then the vehicle driving state is in an unstable state.

[0073] In this embodiment of the invention, 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 indicator shows a smooth road surface, and the height adjustment suppression signal indicates that height adjustment suppression has not been triggered, then the vehicle's driving state is stable. The lateral acceleration threshold can be set between 0.2g and 0.3g, the longitudinal acceleration threshold can be set to 0.2g, and the steering wheel angle threshold can be set to 50°. It is 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 practical implementation, if the lateral acceleration is less than a preset lateral acceleration threshold, the vehicle's lateral motion can be considered relatively stable. If the longitudinal acceleration is less than a preset longitudinal acceleration threshold, the vehicle's motion in the direction of travel can be considered relatively stable. If the steering wheel angle is less than a preset steering wheel angle threshold, the driver is considered not to have a steering intention, meaning the vehicle's direction of travel is stable. If the road surface smoothness indicator shows a smooth road surface, the vehicle's vertical motion can be considered relatively stable. If the height adjustment suppression signal indicates that height adjustment suppression has not been triggered, it can be considered that no system malfunction, excessively bumpy road surface, or aggressive vehicle operation occurred during this height adjustment process, meaning the vehicle's operating condition is stable. When all these conditions are met, the vehicle's driving state can be considered stable.

[0075] In this embodiment of the invention, 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 is triggered, then the vehicle's driving state is in an unstable state.

[0076] In practical implementation, if the lateral acceleration is greater than or equal to a preset lateral acceleration threshold, the vehicle's lateral motion can be considered unstable. If the longitudinal acceleration is greater than or equal to a preset longitudinal acceleration threshold, the vehicle's motion in the direction of travel can be considered unstable. If the steering wheel angle is greater than or equal to a preset steering wheel angle threshold, the driver can be considered to have a steering intention, meaning the vehicle's direction of travel is unstable. If the road surface unevenness indicator indicates an uneven road surface, the vehicle's vertical motion can be considered unstable. If the height adjustment suppression signal indicates that height adjustment suppression has been triggered, it can be considered that the height adjustment process was not a complete height adjustment; during this height adjustment process, the vehicle may have experienced system failure, excessive road bumps, or aggressive vehicle operation, meaning the vehicle's operating condition is unstable. When any of these conditions is met, the vehicle's driving state can be considered unstable.

[0077] This invention introduces multiple conditions to determine the stability of the vehicle's driving state, including lateral acceleration, longitudinal acceleration, steering wheel angle, road surface smoothness, and height adjustment suppression signal. This ensures that the target adjustment lead is determined only when the vehicle's operating state is stable, thus improving the accuracy of determining the target adjustment lead.

[0078] In an optional embodiment of the present invention, step 105 includes the following steps: S51, 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, then the height adjustment deviation value corresponding to the target height gear is determined based on the target spring height and the actual spring height.

[0079] In this embodiment of the invention, when the vehicle is in a stable driving state, if the time elapsed after the air spring adjustment is completed is greater than or equal to the preset reference steady-state time, the height adjustment deviation value corresponding to the target height gear can be determined based on the target spring height and the actual spring height.

[0080] The actual spring height can be calculated using mean filtering, which can be achieved by averaging several height values ​​collected within a preset filtering window, thus enabling noise reduction and smoothing of the height data.

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

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

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

[0084] This invention sets a reference steady-state duration, and calculates the height adjustment deviation value only when the elapsed time after adjustment is greater than or equal to the preset reference steady-state duration. This effectively eliminates the influence of filtering delay on the adjustment result and improves the real-time performance and accuracy of the adjustment.

[0085] In one optional embodiment of the present invention, the distance between any two adjacent height settings is equal.

[0086] In practical implementation, taking five height settings arranged from high to low as an example, assuming that the first setting is the highest height setting and the fifth setting is the lowest height setting, then the distance between any two adjacent height settings in the first, second, third, fourth, and fifth settings is equal. That is, the distance between the first and second settings, the distance between the second and third settings, the distance between the third and fourth settings, and the distance between the fourth and fifth settings are all equal.

[0087] Step 106 also includes the following steps: S61, the distance between any two adjacent height levels is taken as a single height level; S62, if the height adjustment deviation value is less than a preset deviation value threshold, determine the target adjustment advance value corresponding to the target height gear 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 gear.

[0088] In this embodiment of the invention, the distance between any two adjacent height settings can be used as the single-level height. Then, when the height adjustment deviation is less than a preset deviation threshold, the target adjustment advance for the target height setting is determined based on the height adjustment deviation, the initial adjustment advance, and the single-level height. The single-level height can be set to approximately 20mm, or it can be set according to different vehicle types. The preset deviation threshold can be set to a value less than the single-level height, or it can be set according to actual conditions.

[0089] Understandably, if the altitude adjustment deviation is greater than or equal to the preset deviation threshold, it can be considered that the altitude adjustment deviation is too large and there may be an error. In this case, the determination of the target adjustment lead can be stopped.

[0090] In practical implementation, the target adjustment lead can be determined by referring to the following formula:

[0091] Where Adv represents the target adjustment lead, and OldAdv represents the initial adjustment lead. This represents the height adjustment deviation value, where D represents the single height setting and W represents the weighting parameter. This represents the compensation correction coefficient. In the specific implementation, the weight parameter W can be set to 1. It can be set to 1.5, with the weight parameter W and compensation correction coefficient as the base value. You can also set it yourself according to the actual situation.

[0092] Among them, if the height adjustment deviation value If the value is large, then set a compensation correction factor. back, The value will increase further. This will decrease accordingly. At this point, the main factor influencing the altitude adjustment deviation value on the target adjustment lead is... The value will also decrease. In other words, setting a compensation correction coefficient can minimize the impact of the altitude adjustment deviation on the final determined target adjustment lead when the altitude adjustment deviation is large, thereby further improving the accuracy of the final determined target adjustment lead.

[0093] Specifically, the target adjustment lead corresponding to the target altitude level can include at least one target adjustment lead in different adjustment directions. Furthermore, the adjustment direction of the target adjustment lead is consistent with the adjustment direction of the initial adjustment lead.

[0094] In practical implementation, taking five height settings arranged from high to low as an example, assuming that setting 1 is the highest spring height setting and setting 5 is the lowest spring height setting, the target adjustment advance for setting 1 can include a target adjustment advance with the adjustment direction from bottom to top. Similarly, the target adjustment advance for setting 5 can include a target adjustment advance with the adjustment direction from top to bottom. It can be understood that since settings 2, 3, and 4 are intermediate height settings, the target adjustment advance for each of these settings can include a target adjustment advance with the adjustment direction from bottom to top and a target adjustment advance with the adjustment direction from top to bottom.

[0095] This invention optimizes adjustment accuracy by calculating the target adjustment lead when the height adjustment deviation is less than a preset threshold, by combining the height adjustment deviation corresponding to the target height setting, the initial adjustment lead, and the single-level height. Furthermore, the target adjustment lead supports calculation in different adjustment directions, ensuring flexibility and adaptability at different height settings.

[0096] In an optional embodiment of the present invention, after step 106, the method further includes the following steps: S71, if the target adjustment advance is within the preset advance range, then 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.

[0097] In this embodiment of the invention, 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 fault snapshot data.

[0098] The preset lead time range can be set according to actual conditions. Specifically, the preset lead time range can be set to ±0.5 × single-level height, based on the target height level. It is understood that if the target adjustment lead time value is not within the preset lead time range, it can be considered that the target adjustment lead time value is too large and may be incorrect. In this case, the determination of the target adjustment lead time can be stopped.

[0099] The spring adjustment advance can be stored in the vehicle's controller. Once stored, the storage status 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 setting can refer to the spring adjustment advance already calibrated for the target height setting. When adjusting the spring height in response to a subsequent height adjustment command, the spring adjustment advance can be obtained as the initial adjustment advance.

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

[0101] Fault snapshot data refers to key operating parameters and status information recorded when a system or device malfunctions, which can be used for subsequent fault analysis and diagnosis. In this embodiment of the invention, storing the spring adjustment advance as fault snapshot data allows for the assessment of the air spring's aging condition through batch spring adjustment advance measurements. For example, if the spring adjustment advance for several springs in the same target gear shows an increasing trend over time, it can be considered that the air springs are aging or the suspension system is in poor condition. This method can provide important reference for fault diagnosis, help identify the cause of abnormal adjustment, and thus optimize system performance.

[0102] This invention ensures the rationality and stability of the adjustment lead by using a preset lead range, avoiding the impact of abnormal data on the system. By linking the spring adjustment lead to the target height setting, subsequent adjustments can use the spring adjustment lead as the initial lead, making subsequent spring height adjustments more precise and traceable. Analyzing fault snapshot data allows for timely detection of air spring aging or abnormal suspension system conditions, providing early warnings and enabling corrective action. This not only enhances the system's self-diagnostic capabilities but also provides strong support for performance optimization and fault repair.

[0103] Reference Figure 2 The diagram illustrates a calibration flowchart for the advance amount of air spring height adjustment according to an embodiment of the present invention.

[0104] Step 201, process begins. This indicates that the lead time for this target adjustment has begun to be determined.

[0105] Step 202, height adjustment complete. This can refer to the completion of the spring height adjustment process. In this embodiment of the invention, it can be in response to a height adjustment command issued to the spring, obtaining the initial adjustment lead and target spring height corresponding to the height adjustment command, and adjusting the spring height according to the initial adjustment lead and target spring height to complete the current spring height adjustment process.

[0106] Step 203: Determine if the vehicle's driving state is stable. This can refer to determining whether the vehicle's driving state is stable after the spring height adjustment is completed. In this embodiment of the invention, this can refer to obtaining the actual spring height of the air spring after adjustment, collecting the vehicle's lateral and longitudinal acceleration, collecting the vehicle's steering wheel angle and the road surface smoothness in front of the vehicle, and obtaining the height adjustment suppression signal during 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 surface smoothness indicator shows a smooth road surface, and the height adjustment suppression signal indicates that height adjustment suppression has not been triggered, then the vehicle's driving state is stable.

[0108] Step 204, Start Timing. This means starting the timer after the air spring height adjustment is complete. Timing can be stopped when the elapsed time after adjustment is greater than or equal to the preset reference steady-state duration.

[0109] Step 205: Determine whether the elapsed time after adjustment exceeds the reference steady-state duration. This can be done when the vehicle is in a stable driving state, determining if the elapsed time after adjustment is greater than or equal to the preset reference steady-state duration. If the elapsed time is greater than or equal to the preset reference steady-state duration, proceed to the next step. It is understood that if the elapsed time after adjustment is less than the preset reference steady-state duration, timing can continue until the elapsed time is greater than or equal to the preset reference steady-state duration. When the vehicle is in a stable driving state, if the elapsed time after adjustment is greater than or equal to the preset reference steady-state duration, then the height adjustment deviation value corresponding to the target height setting is determined based on the target spring height and the actual spring height.

[0110] Step 206: Determine the height adjustment deviation value. The height adjustment deviation value can be the difference between the target spring height and the actual spring height.

[0111] Step 207: Determine if the altitude adjustment deviation is less than a preset deviation threshold. If the altitude adjustment deviation is less than the preset deviation threshold, proceed to the next step. It is understood that if the altitude adjustment deviation is greater than or equal to the preset deviation threshold, the altitude adjustment deviation is considered too large and may indicate an error; in this case, the determination of the target adjustment lead should be stopped.

[0112] Step 208: Determine the target adjustment lead. In this embodiment of the invention, the distance between any two adjacent height settings can be used as the single-level height. Then, if the height adjustment deviation is less than a preset deviation threshold, the target adjustment lead corresponding to the target height setting is determined based on the height adjustment deviation corresponding to the target height setting, the initial adjustment lead corresponding to the target height setting, and the single-level height.

[0113] Step 209: Determine whether the target adjustment lead value is within the preset lead value range. In this embodiment of the invention, if the target adjustment lead value is within the preset lead value range, proceed to the next step. It is understood that if the target adjustment lead value is not within the preset lead value range, it can be considered that the target adjustment lead value is too large and may be erroneous. In this case, the determination of the target adjustment lead can be stopped.

[0114] Step 210: Store the target adjustment lead. In this embodiment of the invention, the target adjustment lead can be stored as the spring adjustment lead corresponding to the target height gear, and the spring adjustment lead can be stored as fault snapshot data.

[0115] Step 211, process complete. This indicates that the target adjustment lead time has been determined.

[0116] Reference Figure 3 The diagram shows a schematic representation of a device for determining the advance amount of air spring height adjustment according to an embodiment of the present invention. The device includes: The initial data acquisition module 301 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. Spring height adjustment module 302 is used to adjust the height of the air spring according to the initial adjustment advance and the target spring height; The adjustment result acquisition module 303 is used to acquire the actual spring height of the air spring and collect vehicle driving parameters after the adjustment is completed; The driving status determination module 304 is used to determine the vehicle driving status based on the vehicle driving parameters. The height deviation determination module 305 is used to determine a 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 306 is used to determine the target adjustment lead based on the height adjustment deviation value and the initial adjustment lead.

[0117] In an optional embodiment of the present invention, the air spring has several different height settings corresponding to different heights, and the initial data acquisition module 301 includes: The target height determination submodule is used to obtain the target height level corresponding to the height adjustment command issued to the air spring in response to the height adjustment command. The initial data acquisition submodule is used to determine the initial adjustment advance corresponding to the target height level and the target spring height corresponding to the target height level based on the target height level.

[0118] In an optional embodiment of the present invention, the vehicle driving parameters include lateral acceleration, longitudinal acceleration, steering wheel angle, road surface smoothness, and height adjustment suppression signal. The adjustment result acquisition module 303 includes: The actual height acquisition submodule is used to acquire the actual spring height of the air spring after adjustment is completed; An acceleration acquisition submodule is used to acquire the lateral acceleration and the longitudinal acceleration of the vehicle; The auxiliary information acquisition submodule is used to acquire the steering wheel angle of the vehicle and the road surface smoothness of the road surface in front of the vehicle. The suppression signal acquisition submodule is used to acquire the height adjustment suppression signal during the adjustment process.

[0119] In an optional embodiment of the present invention, the driving state determination module 304 includes: The stable state determination submodule is used to determine that 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 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. The unstable state determination submodule is used to determine that the vehicle driving state is in an unstable 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 is triggered.

[0120] In an optional embodiment of the present invention, the height deviation determination module 305 includes: The height deviation determination submodule is used to determine the height adjustment deviation value corresponding to the target height gear based on the target spring height and the actual spring height if the time elapsed after adjustment is greater than or equal to a preset reference steady-state time when the vehicle is in a stable driving state.

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

[0122] In an optional embodiment of the present invention, the device further includes: The target lead storage module is used to store the target adjustment lead as the spring adjustment lead corresponding to the target height gear if the target adjustment lead is within a preset lead range, and to store the spring adjustment lead as fault snapshot data.

[0123] As the apparatus embodiment is basically similar to the method embodiment, it is described in a relatively simple manner. For relevant details, please refer to the description of the method embodiment.

[0124] One embodiment of the present invention also provides a vehicle that may include 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 described above.

[0125] An embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, it implements the method described above.

[0126] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this invention are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0127] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0128] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0129] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, 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 device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0130] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0131] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0132] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other modifications and updates to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all modifications and updates falling within the scope of the present invention.

[0133] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes the aforementioned element.

[0134] The above provides a detailed description of the method and apparatus for determining the advance amount of air spring height adjustment. Specific examples have been used to illustrate the principle and implementation of the invention. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of ​​the invention. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​the invention. Therefore, the content of this specification should not be construed as a limitation of the invention.

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; wherein, the air spring has several different height settings corresponding to different heights; 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. 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; the target height gear is the height gear corresponding to the height adjustment command.

2. The method according to claim 1, characterized in that, The step 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 1, 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. 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 respond to a height adjustment command issued to the air spring and acquire the initial adjustment lead and target spring height corresponding to the height adjustment command; wherein, the air spring has several different height settings corresponding to different heights; 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; The target advance storage module is used to store the target adjustment advance as the spring adjustment advance corresponding to the target height level if the target adjustment advance is within a preset advance range, and to store the spring adjustment advance as fault snapshot data; the target height level is the height level corresponding to the height adjustment command.

8. 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 1-6.

9. 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 1-6.

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