Method for controlling damping of shock absorber

Abstract

The invention provides a damper damping control method, and belongs to the technical field of vehicle suspension damping, and the damper damping control method comprises the steps: obtaining a current calculation value outputted by each sub-module of a damper control model; the submodules at least comprise one of a ceiling module, a ground shed module, a steering module, a pitching module and a suspension stroke module; selecting a current arbitration scheme according to the number of extreme current values of the current calculation value and the standard deviation; the current arbitration scheme at least comprises one of outputting an extreme value current value, outputting an average current calculation value and outputting a corrected average current calculation value after the average current calculation value is calculated; the current calculated value is processed according to a current arbitration scheme for controlling the current of the shock absorber control model. The invention further provides a damper damping control system, electronic equipment and a storage medium. According to the invention, the current arbitration scheme is optimized through the number of extreme current values of the current calculation value and the standard deviation, and more appropriate current output control is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle suspension damping, in particular to a control method of damper damping. BACKGROUND

[0002] The semi-active suspension damper control strategy optimizes the performance of the vehicle suspension by adjusting the damping force, taking into account the performance of active control and the cost and energy consumption advantages of passive control. Common semi-active suspension damper control strategies include Skyhook Control, Groundhook Control, Acceleration-Driven Damper Control (ADD), steering module damping control, roll module damping control, pitch module damping control, and suspension travel damping module control, etc. A series of module integrated control damper damping is used.

[0003] Current control is a means to achieve damping control, especially in electromagnetic dampers, by adjusting the current to change the damping force. The adjustable current range of the dampers on the market is between 0~1.6A, and 1.6A is the extreme current of the adjustable current of the damper. In the prior art, the maximum value of each module is output. SUMMARY

[0004] The present application aims to solve at least one of the technical problems existing in the prior art and proposes a vehicle suspension damping technology field for optimizing current output.

[0005] In a first aspect, the embodiments of the present application provide a control method of damper damping, comprising: obtaining current calculation values output by each sub-module of a damper control model; the sub-modules at least include one of a skyhook module, a groundhook module, a steering module, a pitch module and a suspension travel module; selecting a current arbitration scheme according to the number of extreme current values of the current calculation values and the standard deviation; the current arbitration scheme at least includes one of outputting the extreme current value, outputting the average current calculation value and outputting the corrected average current calculation value after calculating the average current calculation value; processing the current calculation values according to the current arbitration scheme to control the current of the damper control model.

[0006] According to an embodiment of the present application, the current arbitration scheme is selected according to the number of extreme current values and the standard deviation of the current calculation values, comprising: in response to the number of current calculation values equal to the extreme current value being less than a preset number, the current arbitration scheme is selected according to the number of extreme current values and the standard deviation; wherein when there is no current calculation value equal to the extreme current value, the current arbitration scheme comprises a preset first correction value and a second correction value; when there is one current calculation value equal to the extreme current value, the current arbitration scheme comprises a preset third correction value, a fourth correction value and a fifth correction value; when there are two current calculation values equal to the extreme current value, the current arbitration scheme comprises a preset sixth correction value, a seventh correction value and an eighth correction value; in response to the number of current calculation values equal to the extreme current value being greater than or equal to the preset number, the extreme current value is output.

[0007] According to an embodiment of the present application, the current arbitration scheme is selected according to the number of extreme current values and the standard deviation, comprising: in response to there being no current calculation value equal to the extreme current value, the following steps are performed: in response to the standard deviation being in a first standard deviation interval, an average current calculation value is output; in response to the standard deviation being in a second standard deviation interval, the average current calculation value is corrected using a first correction value; in response to the standard deviation being in a third standard deviation interval, the average current calculation value is corrected using a second correction value; wherein the second correction value is greater than the first correction value.

[0008] According to an embodiment of the present application, the current arbitration scheme is selected according to the number of extreme current values and the standard deviation, comprising: in response to there being one current calculation value equal to the extreme current value, the following steps are performed: in response to the standard deviation being in a first standard deviation interval, an average current calculation value is output using a third correction value; in response to the standard deviation being in a second standard deviation interval, the average current calculation value is corrected using a fourth correction value; in response to the standard deviation being in a third standard deviation interval, the average current calculation value is corrected using a fifth correction value; wherein the fifth correction value is greater than the fourth correction value; and the fourth correction value is greater than the third correction value.

[0009] According to an embodiment of the present application, the current arbitration scheme is selected according to the number of extreme current values and the standard deviation, comprising: in response to there being two current calculation values equal to the extreme current value, the following steps are performed: in response to the standard deviation being in a first standard deviation interval, an average current calculation value is output using a sixth correction value; in response to the standard deviation being in a second standard deviation interval, the average current calculation value is corrected using a seventh correction value; in response to the standard deviation being in a third standard deviation interval, the average current calculation value is corrected using an eighth correction value; wherein the eighth correction value is greater than the seventh correction value; and the seventh correction value is greater than the sixth correction value.

[0010] According to an embodiment of the present application, the first correction value is less than the fourth correction value and the fourth correction value is less than the seventh correction value; the second correction value is less than the fifth correction value and the fifth correction value is less than the eighth correction value; and the third correction value is less than the sixth correction value.

[0011] According to an embodiment of the present application, the maximum of the first standard deviation interval is less than the minimum of the second standard deviation interval; and the maximum of the second standard deviation interval is less than the minimum of the third standard deviation interval.

[0012] The second aspect of the present application provides a control system for damper damping, which can be used to implement the control method for damper damping, and the system comprises: a collection module configured to obtain current calculation values output by each sub-module of a damper control model; the sub-modules comprise at least one of a skyhook module, a groundhook module, a roll module, a pitch module and a suspension travel module; an arbitration module configured to select a current arbitration scheme according to the number of extreme current values and the standard deviation of the current calculation values; the current arbitration scheme comprises at least one of outputting the extreme current values, outputting the average current calculation values and outputting the corrected average current calculation values after calculating the average current calculation values; and an output module configured to process the current calculation values according to the current arbitration scheme to control the current of the damper control model.

[0013] The third aspect of the present application provides an electronic device, comprising: one or more processors; a memory configured to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors execute the control method for damper damping.

[0014] The fourth aspect of the present application further provides a computer-readable storage medium having executable instructions stored thereon, which are executed by a processor to make the processor execute the control method for damper damping.

[0015] The control method for damper damping provided by the present application is that the control current request of each control module is input to an arbitration module, and the arbitration module respectively monitors the number of extreme current requests and the standard deviation. By data fusion on the output current, the most suitable damper current in the comprehensive dimension is calculated. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 A flowchart of a control method for damper damping provided by an embodiment of the present application;

[0017] Figure 2 A flowchart of an optional specific implementation method of step S2 in an embodiment of the present application;

[0018] Figure 3 A flowchart of an optional specific implementation method of step S21 in an embodiment of the present application;

[0019] Figure 4 A structural block diagram of a control system for damping of a shock absorber according to an embodiment of the present application is provided.

[0020] Figure 5 A structural block diagram of an electronic device according to an embodiment of the present application is provided. DETAILED DESCRIPTION

[0021] For a better understanding of the technical solutions of the present application, the following describes exemplary embodiments of the present application with reference to the drawings, including various details of the embodiments of the present application to help understanding, which should be considered as merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Also, for the sake of clarity and conciseness, the description below omits the description of well-known functions and structures.

[0022] In the case of no conflict, each embodiment of the present application and each feature in the embodiments can be combined with each other.

[0023] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0024] The terms used herein are only used to describe specific embodiments, and are not intended to limit the present application. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. The terms "connected" or "coupled" and / or like terms as used herein are not intended to be limited to a direct or physical connection or coupling, but can include an indirect or wireless connection or coupling.

[0025] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present application, and will not be interpreted in an overly literal or overly formal sense unless expressly so defined herein.

[0026] The collection, storage, use, processing, transmission, provision and disclosure of the user personal information in the technical solution of the present application comply with relevant laws and regulations and do not violate public order and good customs. The use of user data in the technical solution complies with relevant national laws and regulations (for example, the "Information Security Technology Personal Information Security Specification" and the like). For example, appropriate measures are taken for personal information access control; the display of personal information is limited according to regulations; the use purpose of personal information does not exceed the direct or reasonably associated range; the use of personal information eliminates explicit identity orientation and avoids pinpointing to a specific individual.

[0027] The shock absorber control model includes five sub-modules: a skyhook module, an earthhook module, a steering module, a pitch module and a suspension travel module. The skyhook module simulates a virtual "skyhook" damper to connect the vehicle body to a fixed reference point, reduce vehicle body vibration and output a skyhook damping current calculation value. The earthhook module simulates a virtual "earthhook" damper to connect the vehicle wheel to the ground, reduce wheel vibration and output an earthhook damping current calculation value. The steering control module takes the steering wheel angle and the steering wheel angle speed as input, calculates the required damping value of the shock absorber in the steering condition to prevent vehicle roll and instability, and outputs a steering damping current calculation value. The pitch module calculates the required damping value of the shock absorber according to the size of the vehicle longitudinal acceleration when the vehicle is driving on a flat road to prevent the vehicle from generating a relatively large pitch angle and affecting the vehicle comfort, and outputs a pitch damping current calculation value. The suspension travel module calculates the required damping value of the shock absorber according to the compression and stretching state of the suspension to prevent the vehicle from generating a relatively large impact when the suspension is at an extreme travel and affecting the vehicle comfort, and outputs a suspension travel damping current calculation value.

[0028] The five modules output calculation currents, and how to reasonably use the five groups of data is the function of the current arbitration module. In the shock absorber current control strategy, the current arbitration module is a key component for coordinating and distributing multiple control requirements or input signals to ultimately determine the target current value of the shock absorber. Its role is similar to a "decision center" to ensure that the system can reasonably and efficiently adjust the current under different working conditions, thereby optimizing the damping performance of the shock absorber. The shock absorber control model mostly includes sub-modules with different functions: skyhook module, earthhook module, steering module, pitch module, etc. Each module outputs control currents of the sub-modules through corresponding data monitoring, and the output currents of the sub-modules enter the current arbitration module. At present, most of the arbitration modules on the market output the maximum value of each module. The arbitration module is single and extreme, and directly selects the maximum value for output. This way makes the shock absorber work in a large current state for a long time, especially when the single working condition outputs the extreme current (1.6A), directly selects the maximum value for output, ignores the small current request of other modules, and the adjustment is too extreme, which is not conducive to the vehicle comfort and the service life of the shock absorber.

[0029] To solve at least one of the technical problems existing in the related art, Figure 1 A flowchart of a control method for damper damping provided by an embodiment of the present application is shown in FIG. 2. The control method for damper damping provided by the embodiment of the present application includes the following steps. Figure 1 As shown in FIG. 2, the control method for damper damping provided by the embodiment of the present application includes the following steps: obtaining current calculation values output by each sub-module of a damper control model; the sub-modules include at least one of a skyhook module, a groundhook module, a roll module, a pitch module and a suspension travel module; selecting a current arbitration scheme according to the number of extreme current values and the standard deviation of the current calculation values; the current arbitration scheme includes at least one of outputting the extreme current values, outputting the average current calculation value and outputting the corrected average current calculation value after calculating the average current calculation value; and processing the current calculation values according to the current arbitration scheme to control the current of the damper control model.

[0030] It should be noted that the standard deviation is the average distance of data from the mean, reflecting the degree of dispersion of data. The number of extreme values is the number of maximum values in the data set.

[0031] Through the embodiment of the present application, the number of extreme current values of each control module is monitored, the standard deviation is calculated, and the statistics and analysis of the data set are introduced. An adaptive current arbitration scheme is selected. By data fusion on the output current according to the current arbitration scheme, the most suitable damper current is calculated.

[0032] Figure 2 A flowchart of an optional specific implementation method for step S2 in the embodiment of the present application is shown in FIG. 3. Figure 2 As shown in FIG. 3, the selection of the current arbitration scheme according to the number of extreme current values and the standard deviation of the current calculation values includes: in response to the number of current calculation values equal to the extreme current values being less than a preset number, selecting the current arbitration scheme according to the number of extreme current values and the standard deviation; wherein when there is no current calculation value equal to the extreme current value, the current arbitration scheme includes a preset first correction value and a second correction value; when there is one current calculation value equal to the extreme current value, the current arbitration scheme includes a preset third correction value, a fourth correction value and a fifth correction value; when there are two current calculation values equal to the extreme current value, the current arbitration scheme includes a preset sixth correction value, a seventh correction value and an eighth correction value; and in response to the number of current calculation values equal to the extreme current values being greater than or equal to the preset number, outputting the extreme current values. In this embodiment, the preset number is 3.

[0033] Optionally, when the preset number is 4, and there are three current calculation values equal to the extreme current value, the current arbitration scheme further includes a preset ninth correction value, a tenth correction value and an eleventh correction value, to correct in a similar manner to the correction when there is one current calculation value equal to the extreme current value and when there are two current calculation values equal to the extreme current value.

[0034] Through the embodiment of the application, when the number of current calculation values equal to the extreme current value is greater than or equal to the preset number, no additional judgment is performed, and the extreme current value is directly output, thereby improving the judgment and current output efficiency.

[0035] Figure 3 An optional specific implementation method for step S21 in the embodiment of the application is shown in a flowchart as shown in Figure 3 The current arbitration scheme is selected according to the number of extreme current values and the standard deviation, including: in response to the absence of a current calculation value equal to the extreme current value, the following steps are performed: in response to the standard deviation being located in a first standard deviation interval, an average current calculation value is output; in response to the standard deviation being located in a second standard deviation interval, the average current calculation value is corrected using a first correction value; in response to the standard deviation being located in a third standard deviation interval, the average current calculation value is corrected using a second correction value; and the second correction value is greater than the first correction value.

[0036] In this embodiment, five modules output calculation currents respectively, when the extreme number is 0, the standard deviation is calculated, and according to the current data distribution, the standard deviation range is [0, 0.784), the standard deviation data interval is divided into three levels (more levels can be divided, the more levels, the more detailed control. It should be noted that the numerical definition of interval division needs to be strictly calibrated), the standard deviation interval is in [0, 0.15), the standard deviation is marked as small, the standard deviation interval is in [0.15, 0.4), the standard deviation is marked as medium, and the standard deviation interval is in [0.4, 0.784), the standard deviation is marked as large, and the standard deviation value is determined according to which interval. When the standard deviation is determined to be small, the average value of the output module is output, and the current request of each module is balanced. When the standard deviation is determined to be medium, the average value of the output module plus the correction value β is output, and the correction value β is defined according to the real vehicle performance calibration. When the standard deviation is determined to be large, the average value of the output module plus the correction value Δ is output, and the correction value Δ is defined according to the real vehicle performance calibration, and the current request of each module and the vehicle comfort are considered. (In this state, the correction value Δ > the correction value β, and the specific data can be obtained according to the test data calibration).

[0037] On the basis of the above embodiment, the current arbitration scheme is selected according to the number of extreme current values and the standard deviation, including: in response to the existence of one current calculation value equal to the extreme current value, the following steps are performed: in response to the standard deviation being located in the first standard deviation interval, the average current calculation value is output using a third correction value; in response to the standard deviation being located in the second standard deviation interval, the average current calculation value is corrected using a fourth correction value; in response to the standard deviation being located in the third standard deviation interval, the average current calculation value is corrected using a fifth correction value; wherein the fifth correction value is greater than the fourth correction value; the fourth correction value is greater than the third correction value.

[0038] In this embodiment, five modules output the calculated current respectively, when the number of extreme values is 1, the standard deviation is calculated, according to the current data distribution, the standard deviation range is [0, 0.784), the standard deviation data interval is divided into three levels (more levels can be divided, the more levels, the more detailed control. It should be noted that the numerical definition of interval division needs to be strictly calibrated), the standard deviation interval is marked as small when the standard deviation interval is [0, 0.15), the standard deviation interval is marked as medium when the standard deviation interval is [0.15, 0.4), and the standard deviation interval is marked as large when the standard deviation interval is [0.4, 0.784), according to the standard deviation value to determine which interval. When the standard deviation is small, the output module average value plus correction value α1, when the standard deviation is medium, the output module average value plus correction value β1, the correction value is defined according to the real vehicle performance calibration. When the standard deviation is large, the output module average value plus correction value Δ1. (In this state, the correction value Δ1> β1> α1, compared with the above paragraph, Δ1> Δ, β1> β).

[0039] On the basis of the above embodiment, the current arbitration scheme is selected according to the number of extreme current values and the standard deviation, including: in response to the existence of two current calculation values equal to the extreme current value, the following steps are performed: in response to the standard deviation being located in the first standard deviation interval, the average current calculation value is output using a sixth correction value; in response to the standard deviation being located in the second standard deviation interval, the average current calculation value is corrected using a seventh correction value; in response to the standard deviation being located in the third standard deviation interval, the average current calculation value is corrected using an eighth correction value; wherein the eighth correction value is greater than the seventh correction value; the seventh correction value is greater than the sixth correction value.

[0040] In the embodiment, five modules output calculation currents respectively, when the number of extreme values is 2, a standard deviation is calculated, according to the current data distribution, the standard deviation range is [0, 0.784), the standard deviation data interval is divided into three levels (more levels can be divided, the more levels, the more detailed control. It should be noted that the numerical definition of interval division needs to be strictly calibrated), when the standard deviation interval is [0, 0.15), the standard deviation is marked as small, when the standard deviation interval is [0.15, 0.4), the standard deviation is marked as medium, and when the standard deviation interval is [0.4, 0.784), the standard deviation is marked as large, according to the standard deviation value to determine which interval. When the standard deviation is judged to be small, the output module average value plus the correction value α2, the current request and the extreme current of each module are balanced. When the standard deviation is judged to be medium, the output module average value plus the correction value β2, the correction value is defined according to the actual vehicle performance calibration. When the standard deviation is judged to be large, the output module average value plus the correction value Δ2. (In this state, the correction value Δ2> β2> α2, compared with the above paragraph, Δ2> Δ1> Δ, β2> β1> β).

[0041] Through the embodiment of the application, the single data selector is optimized, the most suitable control current is selected according to different interval judgments, the frequency of extreme current is reduced, and the service life of the shock absorber is increased. At the same time, the comfort performance of the automobile caused by the extreme current of the shock absorber is avoided, and the comfort performance of the automobile is considered.

[0042] On the basis of the above embodiment, the first correction value is less than the fourth correction value, and the fourth correction value is less than the seventh correction value; the second correction value is less than the fifth correction value, and the fifth correction value is less than the eighth correction value; and the third correction value is less than the sixth correction value.

[0043] Through the embodiment of the application, as the number of extreme values increases, the correction value calculated by the arbitration module is larger, and the arbitration result will greatly increase the output current to respond to the strong request of the sub-module to the extreme current.

[0044] On the basis of the above embodiment, the maximum value of the first standard deviation interval is less than the minimum value of the second standard deviation interval; and the maximum value of the second standard deviation interval is less than the minimum value of the third standard deviation interval.

[0045] Through the embodiment of the application, as the standard deviation is higher, the difference between the current values is larger, and therefore the correction value is larger.

[0046] Figure 4 A structural block diagram of a shock absorber damping control system provided for the embodiment of the application is as follows, Figure 4As shown, the second aspect of the present application provides a damper damping control system, which can be used to implement the damper damping control method, and the system comprises: a collection module, configured to obtain current calculation values output by each sub-module of a damper control model; the sub-modules at least include one of a skyhook module, a groundhook module, a steering module, a pitch module and a suspension travel module; an arbitration module, configured to select a current arbitration scheme according to the number of extreme current values and the standard deviation of the current calculation values; the current arbitration scheme at least includes one of outputting the extreme current value, outputting the average current calculation value, and outputting the corrected average current calculation value after calculating the average current calculation value; and an output module, configured to process the current calculation values according to the current arbitration scheme to control the current of the damper control model.

[0047] Based on the same inventive concept, the embodiments of the present application also provide an electronic device. Figure 5 A structural block diagram of an electronic device provided by the embodiments of the present application is shown in FIG. 1. Figure 5 As shown, the electronic device provided by the embodiments of the present application comprises one or more processors 101, a memory 102, and one or more I / O interfaces 103. The memory 102 stores one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the damper damping control method of any of the above embodiments. The one or more I / O interfaces 103 are connected between the processor and the memory, and are configured to realize the information interaction between the processor and the memory.

[0048] The processor 101 is a device with data processing capability, including but not limited to a central processing unit (CPU) and the like; the memory 102 is a device with data storage capability, including but not limited to a random access memory (RAM, more specifically SDRAM, DDR, etc.), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), and a flash memory (FLASH); and the I / O interface (read-write interface) 103 is connected between the processor 101 and the memory 102, and can realize the information interaction between the processor 101 and the memory 102, including but not limited to a data bus (Bus) and the like.

[0049] In some embodiments, the processor 101, the memory 102 and the I / O interface 103 are connected to each other through a bus 104, and further connected to other components of the computing device.

[0050] In some embodiments, the one or more processors 101 include a field programmable gate array.

[0051] The embodiment of the present application also provides a computer readable medium. The computer readable medium stores a computer program, wherein the program is executed by a processor to implement the steps in the control method of the damper damping of any of the above embodiments. The computer readable storage medium can be a volatile or non-volatile computer readable storage medium.

[0052] The embodiment of the present application also provides a computer program product comprising computer readable code or a non-volatile computer readable storage medium carrying computer readable code, when the computer readable code is run in a processor of an electronic device, the processor in the electronic device executes the control method of the damper damping.

[0053] Those skilled in the art can understand that all or some of the steps in the method disclosed above, the functional modules / units in the system and the device can be implemented as software, firmware, hardware and appropriate combinations thereof. In the hardware implementation, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component can have multiple functions, or one function or step can be performed by several physical components in cooperation. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software can be distributed on a computer readable storage medium, which can include computer storage media (or non-transitory media) and communication media (or transitory media).

[0054] As known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable program instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM), static random access memory (SRAM), flash memory or other memory technology, portable compact disc read only memory (CD-ROM), digital versatile disc (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is known to those skilled in the art that communication media typically includes computer readable program instructions, data structures, program modules or other data in modulated data signals such as carrier waves or other transport mechanisms, and can include any information delivery medium.

[0055] The computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0056] Computer readable program instructions for carrying out operations of the present application can be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on the user's computing / processing device, partly on the user's computing / processing device, as a stand-alone software package, partly on the user's computing / processing device and partly on a remote computing / processing device or entirely on the remote computing / processing device or server. In the latter scenario, the remote computing / processing device can be connected to the user's computing / processing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computing / processing device, for example, through the Internet using an Internet Service Provider. In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate array (FPGA), or programmable logic array (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present application.

[0057] The computer program product described herein can be embodied specifically by hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied specifically as a computer storage medium, and in another alternative embodiment, the computer program product is embodied specifically as a software product, such as a software development kit (SDK) or the like.

[0058] The computer program product described herein can be embodied specifically by hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied specifically as a computer storage medium, and in another alternative embodiment, the computer program product is embodied specifically as a software product, such as a software development kit (SDK) or the like.

[0059] These computer readable program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions can also be stored in a computer readable storage medium that can include a non-transitory computer readable storage medium that can be a computer- readable storage medium having no data storage cycles that change state. The instructions can be executed by one or more processors of a computer, other programmable data processing apparatus, or other devices to produce a computer-implemented process such that the instructions which execute via the one or more processors of the computer or other programmable data processing devices create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0060] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0061] The flow diagrams and the block diagrams in the drawings are presented to illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to the present application. In this regard, each block in the flow diagrams and the block diagrams can represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical functions ("instructions"). In some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flow diagrams, and combinations thereof, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and

[0062] Example embodiments have been disclosed and, although a particular terminology is employed, it will be understood in view of the specification that the description is for general informational purposes only and is not intended to be limiting. In some instances, it will be apparent to those skilled in the art that features, characteristics or aspects described with reference to a particular embodiment can be used alone or in combination with other embodiments, unless explicitly stated otherwise. Accordingly, it will be understood that various changes in form and details can be made without departing from the scope of the present application as set forth in the appended claims.

Claims

1. A method for controlling the damping of a shock absorber, characterized in that, include: Obtain the current calculation value output by each submodule of the shock absorber control model; the submodule includes at least one of the following: ceiling module, floor module, steering module, pitch module, and suspension travel module; Based on the number of extreme current values ​​and the standard deviation of the calculated current, a current arbitration scheme is selected; the current arbitration scheme includes at least one of the following: outputting extreme current values, outputting average calculated current values, and outputting corrected average calculated current values ​​after calculating average calculated current values; The calculated current value is processed according to the current arbitration scheme to control the current of the vibration damper control model.

2. The method according to claim 1, wherein, Based on the number of extreme current values ​​and the standard deviation of the calculated current, a current arbitration scheme is selected, including: If the number of calculated current values ​​equal to the extreme current value is less than a preset number, a current arbitration scheme is selected based on the number of extreme current values ​​and the standard deviation. Specifically, if there is no calculated current value equal to the extreme current value, the current arbitration scheme includes a preset first correction value and a preset second correction value; if there is one calculated current value equal to the extreme current value, the current arbitration scheme includes preset third, fourth, and fifth correction values; and if there are two calculated current values ​​equal to the extreme current value, the current arbitration scheme includes preset sixth, seventh, and eighth correction values. If the number of calculated current values ​​equal to the extreme current value is greater than or equal to a preset number, the extreme current value is output.

3. The method according to claim 2, wherein, The current arbitration scheme is selected based on the number of extreme current values ​​and the standard deviation, including: If no calculated current value equal to the extreme current value exists, the following steps are performed: If the standard deviation is within the first standard deviation range, the average current calculation value is output. If the standard deviation is within the second standard deviation range, the average current calculation value is corrected using the first correction value. If the standard deviation is within the third standard deviation range, the average current calculation value is corrected using the second correction value. Wherein, the second correction value is greater than the first correction value.

4. The method according to claim 2, wherein, The current arbitration scheme is selected based on the number of extreme current values ​​and the standard deviation, including: If a calculated current value equal to the extreme current value exists, the following steps are performed: If the standard deviation is within the first standard deviation range, the average current calculation value is output using the third correction value. If the standard deviation is within the second standard deviation range, the average current calculation value is corrected using the fourth correction value. If the standard deviation is within the third standard deviation range, the average current calculation value is corrected using the fifth correction value. Wherein, the fifth correction value is greater than the fourth correction value; and the fourth correction value is greater than the third correction value.

5. The method according to claim 2, wherein, The current arbitration scheme is selected based on the number of extreme current values ​​and the standard deviation, including: If two calculated current values ​​equal to the extreme current value exist, the following steps are performed: If the standard deviation is within the first standard deviation range, the average current calculation value is output using the sixth correction value. If the standard deviation is within the second standard deviation range, the average current calculation value is corrected using the seventh correction value. If the standard deviation is within the third standard deviation range, the average current calculation value is corrected using the eighth correction value. Wherein, the eighth correction value is greater than the seventh correction value; and the seventh correction value is greater than the sixth correction value.

6. The method according to claim 2, wherein, The first correction value is less than the fourth correction value and the fourth correction value is less than the seventh correction value; the second correction value is less than the fifth correction value and the fifth correction value is less than the eighth correction value; the third correction value is less than the sixth correction value.

7. The method according to any one of claims 3 to 5, wherein, The maximum value of the first standard deviation interval is less than the minimum value of the second standard deviation interval; the maximum value of the second standard deviation interval is less than the minimum value of the third standard deviation interval.

8. A control system for damper damping, capable of implementing the damper damping control method as described in claim 1, characterized in that, The system includes: The acquisition module is used to acquire the current calculation value output by each sub-module of the shock absorber control model; the sub-module includes at least one of the following: ceiling module, floor module, steering module, pitch module, and suspension travel module; The arbitration module is used to select a current arbitration scheme based on the number of extreme current values ​​and the standard deviation of the current calculation; the current arbitration scheme includes at least one of the following: outputting extreme current values, outputting average current calculation values, and outputting a corrected average current calculation value after calculating the average current calculation value; The output module is used to process the calculated current value according to the current arbitration scheme to provide the current for controlling the damper control model.

9. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in claim 1.

10. A computer-readable medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method as described in claim 1.

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