Adjusting method and device of air suspension, electronic equipment and computer storage medium

Abstract

The invention provides an air suspension adjusting method and device, electronic equipment and a computer storage medium, and the method comprises the steps: in an air suspension automatic adjusting mode, obtaining current vehicle information in real time; wherein the current vehicle information comprises vehicle speed and height sensor signals in four directions; then, the target height of the air suspension is determined according to the vehicle speed; then, according to the height sensor signals in the four directions, the lifting sequence of the front axle and the rear axle is determined; according to the target height, the current internal air pressure of the air storage tank and the lifting sequence of the front axle and the rear axle, the control information of the load is determined; and finally, the air suspension is adjusted to the target height according to the control information of the load. Therefore, the air suspension is automatically controlled, the driving stability of the automobile is effectively improved, the front axle of the automobile suspension is always maintained to be lower than the rear axle, and the driving safety of the automobile is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile suspension control, and particularly relates to an air suspension adjusting method and device, an electronic device and a computer storage medium. BACKGROUND

[0002] The existing air suspension height adjusting system of an automobile generally controls the controller to adjust to the height corresponding to the mode information manually selected by a driver.

[0003] However, the target height is set according to a single mode signal, which is not suitable for all speed ranges. A higher target height is suitable for a high-speed working condition to ensure driving stability. If the mode signal is manually changed, the driver's attention will be attracted, and driving safety will be affected. In addition, the air bags in four directions are simultaneously lifted and lowered, and the lifting rates are different due to the influence of the load distribution of the automobile. Only one adjustment to the position easily leads to a large height difference between the front and rear, affects comfort, and affects driving safety if the front axle is higher than the rear axle. SUMMARY

[0004] Therefore, the present application provides an air suspension adjusting method and device, an electronic device and a computer storage medium to solve the problems of comfort and driving safety caused by the simultaneous lifting and lowering of the air bags in four directions when the driver manually adjusts the air suspension during driving.

[0005] The first aspect of the present application provides an air suspension adjusting method, comprising:

[0006] When in an automatic air suspension adjusting mode, current vehicle information is acquired in real time; wherein the current vehicle information includes a vehicle speed and height sensor signals in four directions;

[0007] The target height of the air suspension is determined according to the vehicle speed;

[0008] The lifting sequence of the front axle and the rear axle is determined according to the height sensor signals in the four directions;

[0009] The control information of the load is determined according to the target height, the current internal air pressure of the air tank and the lifting sequence of the front axle and the rear axle;

[0010] The air suspension is adjusted to the target height according to the control information of the load.

[0011] Optionally, the target height of the air suspension is determined according to the vehicle speed, comprising:

[0012] If the vehicle speed is greater than a first speed threshold value and the duration is greater than a first time threshold value, the height reduction amount of the air suspension is determined according to the current vehicle speed;

[0013] determining a target height of the air suspension according to the current height of the air suspension and the height reduction of the air suspension;

[0014] if the vehicle speed is less than the second speed threshold and the duration is greater than the second time threshold, determining a height increase of the air suspension according to the current vehicle speed;

[0015] determining a target height of the air suspension according to the current height of the air suspension and the height increase of the air suspension.

[0016] Optionally, the four directions are left front, right front, left rear and right rear respectively, and the determining of the lifting sequence of the front axle and the rear axle according to the height sensor signals of the four directions comprises:

[0017] determining the lifting sequence of the front axle and the rear axle according to the first height, the second height, the height threshold and the current front axle suspension height and the rear axle suspension height; wherein the first height is obtained based on the left front height sensor signal and the right front height sensor signal; and the second height is obtained based on the left rear height sensor signal and the right rear height sensor signal.

[0018] Optionally, the determining of the lifting sequence of the front axle and the rear axle according to the first height, the second height, the height threshold and the current front axle suspension height and the rear axle suspension height comprises:

[0019] judging whether the absolute value of the difference between the first height and the second height is greater than 2 times the height threshold;

[0020] if it is judged that the absolute value of the difference between the first height and the second height is not greater than 2 times the height threshold, determining the lifting sequence of the front axle and the rear axle as a first lifting sequence; wherein the first lifting sequence is that when the air suspension height needs to be raised, the rear axle suspension is raised first, and then the front axle suspension is raised; and when the air suspension height needs to be lowered, the front axle suspension is lowered first, and then the rear axle suspension is lowered;

[0021] if it is judged that the absolute value of the difference between the first height and the second height is greater than 2 times the height threshold, judging whether the current front axle suspension height is higher than the rear axle suspension height;

[0022] if it is judged that the current front axle suspension height is higher than the rear axle suspension height, determining the lifting sequence of the front axle and the rear axle as the first lifting sequence;

[0023] if it is judged that the current front axle suspension height is lower than the rear axle suspension height, determining the lifting sequence of the front axle and the rear axle as a second lifting sequence; wherein the second lifting sequence is that when the air suspension height needs to be raised, the front axle suspension is raised first, and then the rear axle suspension is raised; and when the air suspension height needs to be lowered, the rear axle suspension is lowered first, and then the front axle suspension is lowered.

[0024] Optionally, the load includes four-direction air bag valves, air tank valves, exhaust valves and air compressors, the four directions are left front, right front, left rear and right rear respectively, the control information of the load is determined according to the target height, the current internal air pressure of the air tank and the lifting sequence of the front axle and the rear axle, and the control information of the load includes:

[0025] When the air suspension height needs to be raised, it is judged whether the current internal air pressure of the air tank is greater than the air pressure threshold;

[0026] If it is judged that the current internal air pressure of the air tank is greater than the air pressure threshold, the first control information of the load is determined according to the lifting sequence of the front axle and the rear axle; wherein the first control information of the load is: opening the air bag valve and the air tank valve corresponding to the rear axle, waiting for the height sensor signals corresponding to the rear axle to all rise to the target height, closing the air bag valve corresponding to the rear axle, opening the air bag valve corresponding to the front axle, waiting for the height sensor signals corresponding to the front axle to all rise to the target height, closing the air bag valve and the air tank valve corresponding to the front axle;

[0027] If it is judged that the current internal air pressure of the air tank is not greater than the air pressure threshold, the second control information of the load is determined according to the lifting sequence of the front axle and the rear axle; wherein the second control information of the load is: opening the air bag valve and the air compressor corresponding to the rear axle, waiting for the height sensor signals corresponding to the rear axle to all rise to the target height, closing the air bag valve corresponding to the rear axle, opening the air bag valve corresponding to the front axle, waiting for the height sensor signals corresponding to the front axle to all rise to the target height, closing the air bag valve and the air compressor corresponding to the front axle;

[0028] When the air suspension height needs to be lowered, the third control information of the load is determined according to the lifting sequence of the front axle and the rear axle; wherein the third control information of the load is: opening the air bag valve and the exhaust valve corresponding to the front axle, waiting for the height sensor signals corresponding to the front axle to all drop to the target height, closing the air bag valve corresponding to the front axle, opening the air bag valve corresponding to the rear axle, waiting for the height sensor signals corresponding to the rear axle to all drop to the target height, closing the air bag valve and the exhaust valve corresponding to the rear axle.

[0029] Optionally, the current vehicle information further includes: steering wheel angle, steering wheel speed, longitudinal acceleration and lateral acceleration, before the control information of the load is determined according to the target height, the current internal air pressure of the air tank and the lifting sequence of the front axle and the rear axle, it further includes:

[0030] The control state of the current vehicle is determined according to the steering wheel angle, the steering wheel speed, the longitudinal acceleration and the lateral acceleration;

[0031] The undulating state of the current road surface is determined according to the height sensors of the four directions;

[0032] determine an adjustment analysis result according to the control state of the current vehicle and the undulating state of the current road, wherein the adjustment analysis result is whether the current vehicle can perform suspension height adjustment.

[0033] Optionally, before determining the lifting sequence of the front axle and the rear axle according to the height sensor signals of the four directions, the method further comprises:

[0034] determining a height difference value of the height sensor signal of each direction and the target height;

[0035] determining a hierarchical adjustment result according to the height difference value and a single-stage height difference threshold value, wherein if the height difference value is greater than the single-stage height difference threshold value, hierarchical adjustment is adopted in the process of height adjustment; and in the process of hierarchical adjustment, if the height difference value is greater than the single-stage height difference threshold value, the adjustment amplitude of each stage is the single-stage height difference threshold value, and if the height difference value is less than the single-stage height difference threshold value, the adjustment amplitude of each stage is the height difference value.

[0036] The second aspect of the present application provides an adjustment device of an air suspension, comprising:

[0037] an acquisition unit configured to acquire current vehicle information in real time when in an air suspension automatic adjustment mode, wherein the current vehicle information comprises vehicle speed and height sensor signals of four directions;

[0038] a target height determination unit configured to determine a target height of the air suspension according to the vehicle speed;

[0039] a lifting sequence determination unit configured to determine a lifting sequence of a front axle and a rear axle according to the height sensor signals of the four directions;

[0040] a control information determination unit configured to determine control information of a load according to the target height, a current internal air pressure of a gas storage tank, and the lifting sequence of the front axle and the rear axle;

[0041] an adjustment unit configured to adjust the air suspension to the target height according to the control information of the load.

[0042] Optionally, the target height determination unit comprises:

[0043] a first target height determination sub-unit configured to determine a height reduction amount of the air suspension according to the current vehicle speed if the vehicle speed is greater than a first speed threshold value and a duration is greater than a first time threshold value;

[0044] the first target height determination sub-unit is further configured to determine the target height of the air suspension according to the height of the current air suspension and the height reduction amount of the air suspension;

[0045] a second target height determining sub-unit, configured to determine an increasing amount of the air suspension according to the current vehicle speed, if the vehicle speed is less than a second speed threshold and the time duration is greater than a second time threshold;

[0046] The second target height determining sub-unit is further configured to determine the target height of the air suspension according to the current height of the air suspension and the increasing amount of the air suspension.

[0047] Optionally, the four directions are left front, right front, left rear and right rear respectively, and the lifting sequence determining unit comprises:

[0048] a lifting sequence determining sub-unit, configured to determine the lifting sequence of the front axle and the rear axle according to the first height, the second height, a height threshold and the current front axle suspension height and the rear axle suspension height, wherein the first height is obtained based on the left front height sensor signal and the right front height sensor signal, and the second height is obtained based on the left rear height sensor signal and the right rear height sensor signal.

[0049] Optionally, the lifting sequence determining sub-unit comprises:

[0050] a first judging unit, configured to judge whether the absolute value of the difference between the first height and the second height is greater than 2 times of the height threshold;

[0051] a first determining unit, configured to determine the lifting sequence of the front axle and the rear axle as a first lifting sequence, if the first judging unit judges that the absolute value of the difference between the first height and the second height is not greater than 2 times of the height threshold, wherein the first lifting sequence is that when the air suspension height needs to be increased, the rear axle suspension is lifted first, and then the front axle suspension is lifted, and when the air suspension height needs to be decreased, the front axle suspension is lowered first, and then the rear axle suspension is lowered.

[0052] a second judging unit, configured to judge whether the current front axle suspension height is higher than the rear axle suspension height, if the first judging unit judges that the absolute value of the difference between the first height and the second height is greater than 2 times of the height threshold.

[0053] a second determining unit, configured to determine the lifting sequence of the front axle and the rear axle as the first lifting sequence, if the second judging unit judges that the current front axle suspension height is higher than the rear axle suspension height.

[0054] a third determining unit, configured to determine the lifting sequence of the front axle and the rear axle as a second lifting sequence, if the second judging unit judges that the current front axle suspension height is lower than the rear axle suspension height, wherein the second lifting sequence is that when the air suspension height needs to be increased, the front axle suspension is lifted first, and then the rear axle suspension is lifted, and when the air suspension height needs to be decreased, the rear axle suspension is lowered first, and then the front axle suspension is lowered.

[0055] Optionally, the load includes four-direction air bag valves, air tank valves, exhaust valves and air compressors, the four directions are left front, right front, left rear and right rear respectively, the control information determination unit includes:

[0056] The third determination unit is configured to determine whether the current internal air pressure of the air tank is greater than the air pressure threshold when the air suspension height needs to be raised.

[0057] The first control information determination unit is configured to determine the first control information of the load according to the lifting sequence of the front axle and the rear axle if the current internal air pressure of the air tank is greater than the air pressure threshold; wherein the first control information of the load is to open the air bag valve and the air tank valve corresponding to the rear axle, to close the air bag valve corresponding to the rear axle after the height sensor signals corresponding to the rear axle are all raised to the target height, to open the air bag valve corresponding to the front axle, and to close the air bag valve and the air tank valve corresponding to the front axle after the height sensor signals corresponding to the front axle are all raised to the target height.

[0058] The second control information determination unit is configured to determine the second control information of the load according to the lifting sequence of the front axle and the rear axle if the current internal air pressure of the air tank is not greater than the air pressure threshold determined by the third determination unit; wherein the second control information of the load is to open the air bag valve and the air compressor corresponding to the rear axle, to close the air bag valve corresponding to the rear axle after the height sensor signals corresponding to the rear axle are all raised to the target height, to open the air bag valve corresponding to the front axle, and to close the air bag valve and the air compressor corresponding to the front axle after the height sensor signals corresponding to the front axle are all raised to the target height.

[0059] The third control information determination unit is configured to determine the third control information of the load according to the lifting sequence of the front axle and the rear axle if the current internal air pressure of the air tank is not greater than the air pressure threshold determined by the third determination unit; wherein the third control information of the load is to open the air bag valve and the exhaust valve corresponding to the front axle, to close the air bag valve corresponding to the front axle after the height sensor signals corresponding to the front axle are all lowered to the target height, to open the air bag valve corresponding to the rear axle, and to close the air bag valve and the exhaust valve corresponding to the rear axle after the height sensor signals corresponding to the rear axle are all lowered to the target height.

[0060] Optionally, the current vehicle information further includes steering wheel angle, steering wheel speed, longitudinal acceleration and lateral acceleration, and the air suspension adjustment device further includes:

[0061] The vehicle control state determination unit is configured to determine the control state of the current vehicle according to the steering wheel angle, the steering wheel speed, the longitudinal acceleration and the lateral acceleration.

[0062] The road surface fluctuation state determination unit is configured to determine the fluctuation state of the current road surface according to the four-direction height sensors.

[0063] An adjustment analysis unit is configured to determine an adjustment analysis result according to the control state of the current vehicle and the undulating state of the current road surface, wherein the adjustment analysis result is whether the current vehicle can perform the suspension height adjustment.

[0064] Optionally, the adjustment device of the air suspension further comprises:

[0065] A height difference value determination unit is configured to determine, for each direction of the height sensor signal, a height difference value between the height sensor signal of the direction and the target height.

[0066] A hierarchical adjustment result determination unit is configured to determine a hierarchical adjustment result according to the height difference value and a single-level height difference threshold value, wherein if the height difference value is greater than the single-level height difference threshold value, hierarchical adjustment is adopted in the process of height adjustment; and in the process of hierarchical adjustment, if the height difference value is greater than the single-level height difference threshold value, the adjustment amplitude of each level is the single-level height difference threshold value, and if the height difference value is less than the single-level height difference threshold value, the adjustment amplitude of each level is the height difference value.

[0067] The third aspect of the present application provides an electronic device, comprising:

[0068] One or more processors;

[0069] A storage device having one or more programs stored thereon;

[0070] When the one or more programs are executed by the one or more processors, the one or more processors implement the adjustment method of the air suspension according to any one of the first aspect.

[0071] The fourth aspect of the present application provides a computer storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the adjustment method of the air suspension according to any one of the first aspect.

[0072] From the above solution, the present application provides an adjustment method and device of an air suspension, an electronic device and a computer storage medium. When in an automatic adjustment mode of the air suspension, current vehicle information is acquired in real time, wherein the current vehicle information includes a vehicle speed and height sensor signals of four directions; then, a target height of the air suspension is determined according to the vehicle speed; thereafter, a lifting sequence of front and rear axles is determined according to the height sensor signals of the four directions; again, control information of a load is determined according to the target height, a current internal air pressure of a gas tank and the lifting sequence of the front and rear axles; finally, the air suspension is adjusted to the target height according to the control information of the load. Thus, the air suspension is automatically adjusted under the conditions, the driving stability of the vehicle is effectively improved, and the front axle of the vehicle suspension is always lower than the rear axle, thereby ensuring the driving safety of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0073] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of the provided drawings.

[0074] Figure 1 A specific flow chart of an air suspension adjustment method provided for an embodiment of the present application;

[0075] Figure 2 A flow chart of a method for determining the lifting sequence of the front axle and the rear axle provided for another embodiment of the present application;

[0076] Figure 3 A flow chart of a method for determining the adjustment analysis result provided for another embodiment of the present application;

[0077] Figure 4 A flow chart of a method for determining the control information of the load provided for another embodiment of the present application;

[0078] Figure 5 A signal interface schematic diagram of an air suspension adjustment method provided for another embodiment of the present application;

[0079] Figure 6 A schematic diagram of an air suspension adjustment device provided for another embodiment of the present application;

[0080] Figure 7 A schematic diagram of an electronic device for implementing an air suspension adjustment method provided for another embodiment of the present application. DETAILED DESCRIPTION

[0081] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort fall within the scope of protection of the present application.

[0082] The term “comprising” and its variants are open-ended, that is, “including but not limited to”. The term “based on” is “at least partially based on”. The term “one embodiment” means “at least one embodiment”; the term “another embodiment” means “at least one additional embodiment”; the term “some embodiments” means “at least some embodiments”. The related definitions of other terms will be given in the following description.

[0083] It should be noted that the information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards of the country and region.

[0084] It should be noted that the concepts of "first", "second" and the like mentioned in the present application are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0085] It should be noted that the modification of "one" or "multiple" in the present application is illustrative but not limiting, and those skilled in the art should understand that unless the context clearly indicates otherwise, it should be understood as "one or more".

[0086] The embodiment of the present application provides a method for adjusting an air suspension, as shown in Figure 1 The method comprises the following steps:

[0087] S101, when in an air suspension automatic adjustment mode, real-time current vehicle information is obtained.

[0088] The current vehicle information includes vehicle speed and height sensor signals in four directions.

[0089] In the specific implementation process of the present application, the current air suspension mode M set by the driver and the current real-time vehicle speed V can be obtained through the chassis bus, but are not limited thereto.

[0090] S102, determining the target height of the air suspension according to the vehicle speed.

[0091] Optionally, in the specific implementation process of the present application, one embodiment of step S102 specifically comprises:

[0092] If the vehicle speed is greater than a first speed threshold and the duration is greater than a first time threshold, the height reduction amount of the air suspension is determined according to the current vehicle speed; and the target height of the air suspension is determined according to the current height of the air suspension and the height reduction amount of the air suspension.

[0093] If the vehicle speed is less than a second speed threshold and the duration is greater than a second time threshold, the height increase amount of the air suspension is determined according to the current vehicle speed; and the target height of the air suspension is determined according to the current height of the air suspension and the height increase amount of the air suspension.

[0094] The first speed threshold, the first time threshold, the second speed threshold and the second time threshold are set or changed by technicians, experts or the like, and are not limited herein.

[0095] In the implementation of the present application, the specific implementation of determining the height increase of the air suspension according to the current vehicle speed can be, but is not limited to, determining the height increase of the air suspension according to a preset corresponding relationship, such as a linear relationship, between the vehicle speed and the height increase, and the present application is not limited herein. The implementation of determining the height decrease of the air suspension according to the current vehicle speed is the same as that of determining the height increase of the air suspension according to the current vehicle speed, and will not be repeated herein.

[0096] S103, determining the lifting sequence of the front axle and the rear axle according to the height sensor signals of the four directions.

[0097] In order to make the heights of the front axle and the rear axle of the suspension as level as possible to ensure the safe driving posture of the vehicle, in another embodiment of the present application, before step S103 is implemented, one implementation of the adjusting method of the air suspension further comprises:

[0098] For each direction of the height sensor signal, the height difference between the direction of the height sensor signal and the target height is determined; and the stepwise adjusting result is determined according to the height difference and the single-stage height difference threshold.

[0099] If the height difference is greater than the single-stage height difference threshold, stepwise adjustment is adopted in the height adjusting process; and if the height difference is greater than the single-stage height difference threshold, the adjusting amplitude of each step is the single-stage height difference threshold, and if the height difference is less than the single-stage height difference threshold, the adjusting amplitude of each step is the height difference.

[0100] Specifically, when the absolute value AH of the difference between the current height displayed by the height sensor and the target height H Tar is greater than the set single-stage height difference threshold H Cal , the adjusted height is stepwise adjusted, and the adjusting amplitude of each step can be represented by the following formula, which is not limited herein:

[0101] ;

[0102] In order to make the height of the rear axle of the suspension always higher than the height of the front axle of the suspension during the adjusting process to ensure the safety of the vehicle driving, in another embodiment of the present application, the four directions are left front, right front, left rear and right rear respectively, and one implementation of step S103 specifically comprises:

[0103] The lifting sequence of the front axle and the rear axle is determined according to the first height, the second height, the height threshold, and the current front axle suspension height and the rear axle suspension height.

[0104] The first height is obtained based on the left front height sensor signal and the right front height sensor signal; and the second height is obtained based on the left rear height sensor signal and the right rear height sensor signal.

[0105] Specifically, the left front height is determined according to the left front height sensor signal, the right front height is determined according to the right front height sensor signal, and the sum of the left front height and the right front height is taken as the first height; the left rear height is determined according to the left rear height sensor signal, the right rear height is determined according to the right rear height sensor signal, and the sum of the left rear height and the right rear height is taken as the second height.

[0106] Optionally, in another embodiment of the present application, an embodiment of determining the lifting sequence of the front axle and the rear axle according to the first height, the second height, a height threshold value, and the current front axle suspension height and the rear axle suspension height is as shown in Figure 2 , which comprises:

[0107] S201, judging whether the absolute value of the difference between the first height and the second height is greater than 2 times the height threshold value.

[0108] It should be noted that if the present application performs the step S103 before the step S101, the height threshold value here is the single-stage height difference threshold value H Cal .

[0109] Specifically, if it is judged that the absolute value of the difference between the first height and the second height is not greater than 2 times the height threshold value, the step S202 is performed; if it is judged that the absolute value of the difference between the first height and the second height is greater than 2 times the height threshold value, the step S203 is performed.

[0110] S202, determining the lifting sequence of the front axle and the rear axle as a first lifting sequence.

[0111] The first lifting sequence is that when the air suspension height needs to be raised, the rear axle suspension is raised first, and then the front axle suspension is raised; and when the air suspension height needs to be lowered, the front axle suspension is lowered first, and then the rear axle suspension is lowered.

[0112] It should be noted that when the target height is higher than the current suspension height, the air suspension height needs to be raised; and when the target height is lower than the current suspension height, the air suspension height needs to be lowered.

[0113] S203, judging whether the current front axle suspension height is higher than the rear axle suspension height.

[0114] Specifically, if it is judged that the current front axle suspension height is higher than the rear axle suspension height, the step S202 is performed; if it is judged that the current front axle suspension height is lower than the rear axle suspension height, the step S204 is performed.

[0115] S204, determining the lifting sequence of the front axle and the rear axle as a second lifting sequence.

[0116] In the second lifting sequence, when the air suspension height needs to be raised, the front axle suspension is raised first, and then the rear axle suspension is raised; when the air suspension height needs to be lowered, the rear axle suspension is lowered first, and then the front axle suspension is lowered.

[0117] As shown in Table 1, according to the first height, the second height, the height threshold value, and the current front axle suspension height and the rear axle suspension height, the lifting sequence of the front axle and the rear axle is determined.

[0118] Table 1

[0119]

[0120] H FL is a left front height sensor signal; H FR is a right front height sensor signal; H RL is a left rear height sensor signal; H RR is a right rear height sensor signal.

[0121] S104, according to the target height, the current internal air pressure of the air tank, and the lifting sequence of the front axle and the rear axle, determining the control information of the load.

[0122] In order to make the suspension height value reflect the true height state of the vehicle, under the conditions of turning, undulating, accelerating and decelerating, etc., the suspension height adjustment is limited to avoid frequent work of the air suspension load. In another embodiment of the present application, the current vehicle information further includes: steering wheel angle, steering wheel speed, longitudinal acceleration and lateral acceleration. Before the implementation step S104, one embodiment of the air suspension adjustment method, as shown in Figure 3 , further includes:

[0123] S301, according to the steering wheel angle, the steering wheel speed, the longitudinal acceleration and the lateral acceleration, determining the control state of the current vehicle.

[0124] In the actual application process of the present application, the first control state analysis result can be determined according to the steering wheel angle and the steering wheel angle threshold value, for example: when the steering wheel angle is greater than the set steering wheel angle threshold value, the suspension height adjustment is prohibited; when the steering wheel angle is less than the set steering wheel angle threshold value and lasts for 2 seconds, the suspension height adjustment is allowed, which is not limited here.

[0125] In the actual application process of the present application, the second control state analysis result can be determined according to the steering wheel speed and the steering wheel speed threshold value, for example: when the steering wheel speed is greater than the set steering wheel speed threshold value, the suspension height adjustment is prohibited; when the steering wheel speed is less than the set steering wheel speed threshold value and lasts for 2 seconds, the suspension height adjustment is allowed, which is not limited here.

[0126] In the practical application of the present application, the third control state analysis result can be determined according to the longitudinal acceleration and the longitudinal acceleration threshold, for example: when the longitudinal acceleration is greater than the set longitudinal acceleration threshold, the suspension height adjustment is prohibited; when the longitudinal acceleration is less than the set longitudinal acceleration threshold and lasts for 2 seconds, the suspension height adjustment is allowed, which is not limited here.

[0127] In the practical application of the present application, the fourth control state analysis result can be determined according to the lateral acceleration and the lateral acceleration threshold, for example: when the lateral acceleration is greater than the set lateral acceleration threshold, the suspension height adjustment is prohibited; when the lateral acceleration is less than the set lateral acceleration threshold and lasts for 2 seconds, the suspension height adjustment is allowed, which is not limited here.

[0128] S302, determine the undulation state of the current road surface according to the four-direction height sensor.

[0129] In the practical application of the present application, the implementation of step S302 can be but not limited to that when the absolute value sum of the difference between the maximum value and the minimum value of the height of any suspension in the four-direction height sensor signal in the non-height adjustment process within 4 continuous periods (1 period = 0.5 seconds) is greater than the set height undulation threshold, the suspension height adjustment is prohibited; when the absolute value sum of the difference between the maximum value and the minimum value of the height within 4 continuous periods is less than the set height undulation threshold and lasts for 2 seconds, the suspension height adjustment is allowed.

[0130] S303, determine the adjustment analysis result according to the control state of the current vehicle and the undulation state of the current road surface.

[0131] The adjustment analysis result is whether the current vehicle can perform the suspension height adjustment.

[0132] In the practical application of the present application, if the first control state analysis result, the second control state analysis result, the third control state analysis result, the fourth control state analysis result and the undulation state of the current road surface all indicate that the air suspension adjustment can be performed at present, it is determined that the current vehicle can perform the suspension height adjustment, and if the adjustment analysis result indicates that the suspension height adjustment can be performed at present, step S104 is executed again.

[0133] Optionally, in another embodiment of the present application, the load includes four-direction air bag valves, air tank valves, exhaust valves and air compressors, and when the air suspension height needs to be raised, one implementation of step S104, as shown in Figure 4 includes:

[0134] S401, when the air suspension height needs to be raised, determine whether the current internal air pressure of the air tank is greater than the air pressure threshold.

[0135] Specifically, if it is judged that the current internal gas pressure of the gas tank is greater than the gas pressure threshold, step S402 is executed; if it is judged that the current internal gas pressure of the gas tank is not greater than the gas pressure threshold, step S403 is executed.

[0136] S402, determining the first control information of the load according to the lifting sequence of the front axle and the rear axle.

[0137] The first control information of the load is: opening the air bag valve and the gas tank valve corresponding to the rear axle, waiting for the height sensor signals corresponding to the rear axle to all rise to the target height, then closing the air bag valve corresponding to the rear axle, opening the air bag valve corresponding to the front axle, waiting for the height sensor signals corresponding to the front axle to all rise to the target height, then closing the air bag valve corresponding to the front axle and the gas tank valve.

[0138] S403, determining the second control information of the load according to the lifting sequence of the front axle and the rear axle.

[0139] The second control information of the load is: opening the air bag valve corresponding to the rear axle and the air compressor, waiting for the height sensor signals corresponding to the rear axle to all rise to the target height, then closing the air bag valve corresponding to the rear axle, opening the air bag valve corresponding to the front axle, waiting for the height sensor signals corresponding to the front axle to all rise to the target height, then closing the air bag valve corresponding to the front axle and the air compressor.

[0140] It can be understood that if the present application performs step S103, the load should be adjusted multiple times until the air suspension is adjusted to the target height.

[0141] Taking the target height of 30mm, the single-stage height difference threshold H Cal of 15mm, and the height sensor signals H FL , H FR , H RL , and H RR of 0mm as an example, if the internal gas pressure of the gas tank is greater than the set gas pressure threshold. First, open the left rear direction air bag valve S RL , the right rear direction air bag valve S RR , and the gas tank valve S Res , wait for the left rear direction height sensor signal H RL and the right rear direction height sensor signal H RR to rise to 15mm, then close the left rear direction air bag valve S RL and the right rear direction air bag valve S RR ; then open the left front direction air bag valve S FL and the right front direction air bag valve S FR , wait for the left front direction height sensor signal H FL and the right front direction height sensor signal H FRAfter raising the airbag to 15mm, close the left front steering airbag valve S. FL and right front airbag valve S FR Then open the left rear airbag valve S. RL and right rear airbag valve S RR Wait for the left rear direction height sensor signal H RL and the right rear direction height sensor signal H RR After raising the airbag to 30mm, close the left rear airbag valve S. RL and right rear airbag valve S RR Finally, open the left front steering airbag valve S. FL and right front airbag valve S FR Wait for the left front direction height sensor signal H FL and the right front direction height sensor signal H FR After raising the airbag to 30mm, close the left front steering airbag valve S. FL Right front airbag valve S FR and gas tank valve S Res .

[0142] With a target height of 15mm and a single-level height difference threshold H Cal The height sensor signal H is 15mm in length and has four orientations. FL H FR H RL H RR Taking 0mm as an example, if the air pressure inside the air tank is less than the set air pressure threshold, then first open the left rear airbag valve S. RL Right rear airbag valve S RR and air compressor S Comp Wait for the left rear direction height sensor signal H RL and the right rear direction height sensor signal H RR After raising the airbag to 15mm, close the left rear airbag valve S. RL and right rear airbag valve S RR Finally, open the left front steering airbag valve S. FL and right front airbag valve S FR Wait for the left front direction height sensor signal H FL and the right front direction height sensor signal H FR After raising the airbag to 15mm, close the left front steering airbag valve S. FL Right front airbag valve S FR and air compressor S Comp .

[0143] Optionally, in another embodiment of this application, the load includes a four-way airbag valve, an air tank valve, an exhaust valve, and an air compressor. When the air suspension height needs to be lowered, one implementation of step S104 specifically includes:

[0144] When the air suspension height needs to be lowered, the third control information of the load is determined according to the lifting sequence of the front axle and the rear axle.

[0145] The third control information of the load is: opening the air bag valve and the exhaust valve corresponding to the front axle, waiting for the height sensor signals corresponding to the front axle to all drop to the target height, then closing the air bag valve corresponding to the front axle, opening the air bag valve corresponding to the rear axle, waiting for the height sensor signals corresponding to the rear axle to all drop to the target height, then closing the air bag valve and the exhaust valve corresponding to the rear axle.

[0146] Taking the target height of -15 mm, the single-stage height difference threshold H Cal of 15 mm, the four-direction height sensor signals H FL , H FR , H RL , and H RR all being 0 mm as an example, first, open the left front direction air bag valve S FL , the right front direction air bag valve S FR , and the exhaust valve S Ex , wait for the left front direction height sensor signal H FL and the right front direction height sensor signal H FR to drop to -15 mm, then close the left front direction air bag valve S FL and the right front direction air bag valve S FR ; finally, open the left rear direction air bag valve S RL and the right rear direction air bag valve S RR , wait for the left rear direction height sensor signal H RL and the right rear direction height sensor signal H RR to drop to -15 mm, then close the left rear direction air bag valve S RL , the right rear direction air bag valve S RR , and the exhaust valve S Ex .

[0147] S105, adjusting the air suspension to the target height according to the control information of the load.

[0148] The signal interface diagram of the air suspension adjustment method of the present application is shown in Figure 5 After the air suspension mode M is selected in the car control instrument, the air suspension height adjustment controller obtains the vehicle speed V, the steering wheel angle W A / rotational speed W S , the longitudinal acceleration A Lgt , the lateral acceleration A Lat , and the four-direction height sensor signals H FL , H FR , H RL , and H RR, the adjusting method of the air suspension of the application is used to calculate the switch state, switch sequence and switch time of the actuator including four-direction air bag valves S FL , S FR , S RL , S RR , air tank valves S Res , exhaust valves S Ex , air compressors S Comp , so as to finally realize the lifting of the air suspension height.

[0149] From the above scheme, the application provides an adjusting method of an air suspension. When in an automatic adjusting mode of the air suspension, current vehicle information is acquired in real time. The current vehicle information includes vehicle speed and height sensor signals in four directions. Then, a target height of the air suspension is determined according to the vehicle speed. After that, a lifting sequence of front and rear axles is determined according to the height sensor signals in the four directions. Then, control information of the load is determined according to the target height, the current internal air pressure of the air tank and the lifting sequence of the front and rear axles. Finally, the air suspension is adjusted to the target height according to the control information of the load. Thus, the air suspension is automatically adjusted under the condition, and the driving stability of the vehicle is effectively improved. Moreover, the front axle of the vehicle suspension is always lower than the rear axle, and the driving safety of the vehicle is ensured.

[0150] Another embodiment of the application provides an adjusting device of an air suspension, as shown in Figure 6 , and specifically includes:

[0151] An acquisition unit 601 is configured to acquire current vehicle information in real time when in an automatic adjusting mode of the air suspension.

[0152] The current vehicle information includes vehicle speed and height sensor signals in four directions.

[0153] A target height determination unit 602 is configured to determine a target height of the air suspension according to the vehicle speed.

[0154] Optionally, in another embodiment of the application, one embodiment of the target height determination unit 602 includes:

[0155] A first target height determination subunit is configured to determine a height reduction amount of the air suspension according to the current vehicle speed if the vehicle speed is greater than a first speed threshold value and the duration is greater than a first time threshold value.

[0156] The first target height determination subunit is also configured to determine the target height of the air suspension according to the height of the current air suspension and the height reduction amount of the air suspension.

[0157] The second target height determination subunit is configured to determine an increase in height of the air suspension according to the current vehicle speed if the vehicle speed is less than the second speed threshold and the duration is greater than the second time threshold.

[0158] The second target height determination subunit is further configured to determine the target height of the air suspension according to the current height of the air suspension and the increase in height of the air suspension.

[0159] The specific working processes of the units disclosed in the above embodiments of the present application can be referred to the corresponding method embodiment contents, which will not be described here again.

[0160] The lifting sequence determination unit 603 is configured to determine the lifting sequence of the front axle and the rear axle according to the height sensor signals of the four directions.

[0161] Optionally, in another embodiment of the present application, the four directions are left front, right front, left rear and right rear respectively, and one embodiment of the lifting sequence determination unit 603 comprises:

[0162] The lifting sequence determination subunit is configured to determine the lifting sequence of the front axle and the rear axle according to the first height, the second height, the height threshold and the current front axle suspension height and the rear axle suspension height.

[0163] The first height is obtained based on the left front height sensor signal and the right front height sensor signal; and the second height is obtained based on the left rear height sensor signal and the right rear height sensor signal.

[0164] Optionally, in another embodiment of the present application, one embodiment of the lifting sequence determination subunit comprises:

[0165] The first determination unit is configured to determine the lifting sequence of the front axle and the rear axle as the first lifting sequence if the first determination unit determines that the absolute value of the difference between the first height and the second height is not greater than 2 times the height threshold.

[0166] The first determination unit is configured to determine the lifting sequence of the front axle and the rear axle as the first lifting sequence if the first determination unit determines that the absolute value of the difference between the first height and the second height is not greater than 2 times the height threshold.

[0167] The first lifting sequence is that when the air suspension height needs to be raised, the rear axle suspension is raised first, and then the front axle suspension is raised; and when the air suspension height needs to be lowered, the front axle suspension is lowered first, and then the rear axle suspension is lowered.

[0168] The second determination unit is configured to determine whether the current front axle suspension height is higher than the rear axle suspension height if the first determination unit determines that the absolute value of the difference between the first height and the second height is greater than 2 times the height threshold.

[0169] The second determining unit is configured to determine the lifting sequence of the front axle and the rear axle as the first lifting sequence if the second judging unit determines that the current front axle suspension height is higher than the current rear axle suspension height.

[0170] The first lifting sequence is to first lift the rear axle suspension and then lift the front axle suspension when the air suspension height needs to be lifted, and to first lower the front axle suspension and then lower the rear axle suspension when the air suspension height needs to be lowered.

[0171] The third determining unit is configured to determine the lifting sequence of the front axle and the rear axle as the second lifting sequence if the second judging unit determines that the current front axle suspension height is lower than the current rear axle suspension height.

[0172] The second lifting sequence is to first lift the front axle suspension and then lift the rear axle suspension when the air suspension height needs to be lifted, and to first lower the rear axle suspension and then lower the front axle suspension when the air suspension height needs to be lowered.

[0173] The specific working process of the units disclosed in the above embodiments of the application can be referred to the corresponding method embodiment contents, such as shown in the method embodiment, and details are not described herein. Figure 2

[0174] The control information determining unit 604 is configured to determine the control information of the load according to the target height, the current internal air pressure of the air tank, and the lifting sequence of the front axle and the rear axle.

[0175] Optionally, in another embodiment of the application, the load includes four-direction air bag valves, air tank valves, exhaust valves, and air compressors, the four directions are left front, right front, left rear, and right rear, and an embodiment of the control information determining unit 604 includes:

[0176] The third judging unit is configured to determine whether the current internal air pressure of the air tank is greater than the air pressure threshold when the air suspension height needs to be lifted.

[0177] The first control information determining unit is configured to determine the first control information of the load according to the lifting sequence of the front axle and the rear axle if the third judging unit determines that the current internal air pressure of the air tank is greater than the air pressure threshold.

[0178] The first control information of the load is to open the air bag valve and the air tank valve corresponding to the rear axle, to close the air bag valve corresponding to the rear axle after the height sensor signals corresponding to the rear axle are all lifted to the target height, to open the air bag valve corresponding to the front axle, and to close the air bag valve and the air tank valve corresponding to the front axle after the height sensor signals corresponding to the front axle are all lifted to the target height.

[0179] The second control information determining unit is configured to determine the second control information of the load according to the lifting sequence of the front axle and the rear axle if the third judging unit determines that the current internal air pressure of the air tank is not greater than the air pressure threshold. ​

[0180] The second control information of the load is: opening the airbag valve and the air compressor corresponding to the rear axle, waiting for the height sensor signals corresponding to the rear axle to all rise to the target height, then closing the airbag valve corresponding to the rear axle, opening the airbag valve corresponding to the front axle, waiting for the height sensor signals corresponding to the front axle to all rise to the target height, then closing the airbag valve corresponding to the front axle and the air compressor.

[0181] The third control information determination unit is configured to determine the third control information of the load according to the lifting sequence of the front axle and the rear axle if the third determination unit determines that the air suspension height needs to be lowered.

[0182] The third control information of the load is: opening the airbag valve and the exhaust valve corresponding to the front axle, waiting for the height sensor signals corresponding to the front axle to all drop to the target height, then closing the airbag valve corresponding to the front axle, opening the airbag valve corresponding to the rear axle, waiting for the height sensor signals corresponding to the rear axle to all drop to the target height, then closing the airbag valve corresponding to the rear axle and the exhaust valve.

[0183] The specific working process of the units disclosed in the above embodiments of the application can be referred to the corresponding method embodiment contents, such as shown in the following table, and details are not described here again. Figure 4

[0184] The adjusting unit 605 is configured to adjust the air suspension to the target height according to the control information of the load.

[0185] The specific working process of the units disclosed in the above embodiments of the application can be referred to the corresponding method embodiment contents, such as shown in the following table, and details are not described here again. Figure 1

[0186] Optionally, in another embodiment of the application, the current vehicle information further includes: steering wheel angle, steering wheel speed, longitudinal acceleration and lateral acceleration, and an embodiment of the adjusting device of the air suspension further includes:

[0187] The vehicle control state determination unit is configured to determine the control state of the current vehicle according to the steering wheel angle, the steering wheel speed, the longitudinal acceleration and the lateral acceleration.

[0188] The road surface fluctuation state determination unit is configured to determine the fluctuation state of the current road surface according to the four direction height sensors.

[0189] The adjustment analysis unit is configured to determine the adjustment analysis result according to the control state of the current vehicle and the fluctuation state of the current road surface.

[0190] The adjustment analysis result is whether the current vehicle can perform the suspension height adjustment.

[0191] The specific working process of the units disclosed in the above embodiments of the application can be referred to the corresponding method embodiment contents, and details are not described here again.​​

[0192] Optionally, in another embodiment of the present application, an embodiment of the adjusting device of the air suspension further comprises:

[0193] a height difference value determining unit configured to determine, for each of the direction height sensor signals, a height difference value between the direction height sensor signal and the target height.

[0194] a hierarchical adjusting result determining unit configured to determine the hierarchical adjusting result according to the height difference value and a single-level height difference threshold value.

[0195] wherein if the height difference value is greater than the single-level height difference threshold value, hierarchical adjusting is adopted in the process of height adjusting; and if the height difference value is greater than the single-level height difference threshold value, the adjusting amplitude of each level is the single-level height difference threshold value, and if the height difference value is less than the single-level height difference threshold value, the adjusting amplitude of each level is the height difference value.

[0196] The specific working process of the units disclosed in the above embodiments of the present application can be referred to the corresponding method embodiment contents, which will not be described here.

[0197] As can be seen from the above scheme, the present application provides an adjusting device of an air suspension. When in an automatic adjusting mode of the air suspension, the obtaining unit 601 obtains current vehicle information in real time; wherein the current vehicle information includes a vehicle speed and height sensor signals of four directions; then, the target height determining unit 602 determines a target height of the air suspension according to the vehicle speed; thereafter, the lifting sequence determining unit 603 determines a lifting sequence of the front axle and the rear axle according to the height sensor signals of the four directions; the control information determining unit 604 determines control information of the load according to the target height, the current internal air pressure of the air tank and the lifting sequence of the front axle and the rear axle; finally, the adjusting unit 605 adjusts the air suspension to the target height according to the control information of the load. Thus, the air suspension is automatically adjusted, the driving stability of the vehicle is effectively improved, and the front axle of the vehicle suspension is always lower than the rear axle, thereby ensuring the driving safety of the vehicle.

[0198] The functionality described hereinabove can be performed, at least in part, by one or more hardware logic components. For example, and without limitation, an example type of hardware logic components that can be used include Field-programmable Gate Arrays (FPGAs), Application-specific Integrated Circuits (ASICs), Application-specific Standard Products (ASSPs), System-on-a-chip systems (SOCs), Complex Programmable Logic Devices (CPLDs), etc.

[0199] Another embodiment of the present application provides an electronic device, as shown in the accompanying drawings, comprising: Figure 7 as shown in the accompanying drawings, comprising:

[0200] one or more processors 701.

[0201] a storage device 702 having one or more programs stored thereon.

[0202] The one or more programs, when executed by the one or more processors 701, enable the one or more processors 701 to implement the method of adjusting air suspension as described in the above embodiments.

[0203] Another embodiment of the present application provides a computer storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the method of adjusting air suspension as described in the above embodiments.

[0204] In the context of the present application, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0205] It should be noted that the computer readable medium in the present application can be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or apparatus. In the present application, the computer readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer readable program code. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination of the above. The computer readable signal medium can also be any computer readable medium other than the computer readable storage medium, which can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or apparatus. The program code contained in the computer readable medium can be transmitted by any suitable medium, including but not limited to a wire, a cable, an RF (radio frequency) or the like, or any suitable combination of the above.

[0206] The computer readable medium described above can be contained in the electronic device described above; or can exist separately and not be assembled into the electronic device.

[0207] Another embodiment of the present application provides a computer program product for executing the air suspension adjustment method described above when the computer program product is executed.

[0208] In particular, according to embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, embodiments of the present application include a computer program product comprising a computer program carried on a non-transitory computer readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network by a communication device, or installed from a storage device, or installed from a ROM. When the computer program is executed by a processing device, the above-mentioned functions defined in the method of the embodiments of the present application are executed.

[0209] Although the subject matter has been described in language specific to structural features and / or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

[0210] Although specific implementation details have been included in the above discussion, these should not be construed as limiting the scope of the application. Some of the features described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment can also be implemented separately or in any appropriate subcombination. It is, therefore, contemplated that the application can include any combination of the features described in the foregoing disclosure.

[0211] The above description is merely exemplary of the application and the application principles that have been employed. It is to be understood that the application is not limited to the specific devices, methods, or the like, described above, and that numerous modifications can be made by one skilled in the art without departing from the application. For example, one of ordinary skill in the art will recognize that the application is not limited to the specific implementations described above, but will also include any implementation that is within the scope of the claims and that utilizes the principles of the application.

Claims

1. A method for adjusting an air suspension, characterized in that, include: When the air suspension is in automatic adjustment mode, it acquires real-time vehicle information, including vehicle speed and height sensor signals in four directions. Determine the target height of the air suspension based on the vehicle speed; The lifting sequence of the front and rear axles is determined based on the height sensor signals from the four directions. The load control information is determined based on the target height, the current internal air pressure of the air tank, and the lifting sequence of the front and rear axles. The air suspension is adjusted to the target height based on the control information of the load.

2. The air suspension adjustment method according to claim 1, characterized in that, Determining the target height of the air suspension based on the vehicle speed includes: If the vehicle speed is greater than the first speed threshold and the duration is greater than the first time threshold, the amount of reduction in air suspension height is determined based on the current vehicle speed. Determine the target height of the air suspension based on the current air suspension height and the amount of reduction in air suspension height; If the vehicle speed is less than the second speed threshold and the duration is greater than the second time threshold, the increase in air suspension height is determined based on the current vehicle speed. The target height of the air suspension is determined based on the current height of the air suspension and the amount of increase in the air suspension height.

3. The air suspension adjustment method according to claim 1, characterized in that, The four directions are left front, right front, left rear, and right rear, respectively. Determining the lifting sequence of the front and rear axles based on the height sensor signals from these four directions includes: The lifting sequence of the front and rear axles is determined based on the first height, the second height, the height threshold, and the current front and rear axle suspension heights; wherein the first height is obtained based on the signals from the left front height sensor and the right front height sensor; and the second height is obtained based on the signals from the left rear height sensor and the right rear height sensor.

4. The air suspension adjustment method according to claim 3, characterized in that, The step of determining the lifting sequence of the front and rear axles based on the first height, the second height, the height threshold, and the current front and rear axle suspension heights includes: Determine whether the absolute value of the difference between the first height and the second height is greater than twice the height threshold; If it is determined that the absolute value of the difference between the first height and the second height is not greater than twice the height threshold, then the lifting order of the front axle and the rear axle is determined as the first lifting order; wherein, the first lifting order is that when the air suspension height needs to be increased, the rear axle suspension is increased first, and then the front axle suspension is increased; when the air suspension height needs to be decreased, the front axle suspension is decreased first, and then the rear axle suspension is decreased. If the absolute value of the difference between the first height and the second height is greater than twice the height threshold, then determine whether the current front axle suspension height is higher than the rear axle suspension height. If it is determined that the current front axle suspension height is higher than the rear axle suspension height, then the lifting sequence of the front axle and the rear axle is determined to be the first lifting sequence. If it is determined that the current front axle suspension height is lower than the rear axle suspension height, then the lifting sequence of the front and rear axles is determined as the second lifting sequence. The second lifting sequence is as follows: when the air suspension height needs to be increased, the front axle suspension is increased first, and then the rear axle suspension is increased; when the air suspension height needs to be decreased, the rear axle suspension is decreased first, and then the front axle suspension is decreased.

5. The air suspension adjustment method according to claim 1, characterized in that, The load includes airbag valves, air tank valves, exhaust valves, and an air compressor in four directions: front left, front right, rear left, and rear right. The control information for the load is determined based on the target height, the current internal air pressure of the air tank, and the lifting sequence of the front and rear axles, including: When the air suspension height needs to be increased, determine whether the current internal air pressure of the air tank is greater than the air pressure threshold. If it is determined that the current internal air pressure of the air tank is greater than the air pressure threshold, the first control information of the load is determined according to the lifting sequence of the front axle and the rear axle; wherein, the first control information of the load is: open the airbag valve and the air tank valve corresponding to the rear axle, and after the height sensor signal corresponding to the rear axle has risen to the target height, close the airbag valve corresponding to the rear axle; open the airbag valve corresponding to the front axle, and after the height sensor signal corresponding to the front axle has risen to the target height, close the airbag valve and the air tank valve corresponding to the front axle. If it is determined that the current internal air pressure of the air tank is not greater than the air pressure threshold, the second control information of the load is determined according to the lifting sequence of the front axle and the rear axle; wherein, the second control information of the load is: open the airbag valve and air compressor corresponding to the rear axle, and after the height sensor signal corresponding to the rear axle has risen to the target height, close the airbag valve corresponding to the rear axle; open the airbag valve corresponding to the front axle, and after the height sensor signal corresponding to the front axle has risen to the target height, close the airbag valve and air compressor corresponding to the front axle. When the air suspension height needs to be lowered, the third control information of the load is determined according to the lifting sequence of the front axle and the rear axle; wherein, the third control information of the load is: open the airbag valve and exhaust valve corresponding to the front axle, and after the height sensor signal corresponding to the front axle has dropped to the target height, close the airbag valve corresponding to the front axle; open the airbag valve corresponding to the rear axle, and after the height sensor signal corresponding to the rear axle has dropped to the target height, close the airbag valve and exhaust valve corresponding to the rear axle.

6. The air suspension adjustment method according to claim 1, characterized in that, The current vehicle information also includes: steering wheel angle, steering wheel speed, longitudinal acceleration, and lateral acceleration. Before determining the load control information based on the target height, the current internal air pressure of the air tank, and the lifting sequence of the front and rear axles, the following is also included: The current control state of the vehicle is determined based on the steering wheel angle, steering wheel speed, longitudinal acceleration, and lateral acceleration. The current road surface undulation is determined based on the height sensors in four directions; Based on the current vehicle control state and the current road surface undulation state, the adjustment analysis result is determined; wherein, the adjustment analysis result is whether the current vehicle can adjust the suspension height.

7. The air suspension adjustment method according to claim 1, characterized in that, Before determining the lifting sequence of the front and rear axles based on the height sensor signals from the four directions, the method further includes: For each direction of the height sensor signal, determine the height difference between the height sensor signal in that direction and the target height; Based on the height difference and the single-level height difference threshold, the graded adjustment result is determined; wherein, if the height difference is greater than the single-level height difference threshold, graded adjustment is adopted during the height adjustment process; during the graded adjustment process, if the height difference is greater than the single-level height difference threshold, the adjustment range of each level is the single-level height difference threshold, and if the height difference is less than the single-level height difference threshold, the adjustment range of each level is the height difference.

8. An air suspension adjustment device, characterized in that, include: The acquisition unit is used to acquire real-time vehicle information when the air suspension is in automatic adjustment mode; the current vehicle information includes vehicle speed and height sensor signals in four directions. A target height determination unit is used to determine the target height of the air suspension based on the vehicle speed. The lifting sequence determination unit is used to determine the lifting sequence of the front axle and the rear axle based on the height sensor signals in the four directions. The control information determination unit is used to determine the load control information based on the target height, the current internal air pressure of the air tank, and the lifting sequence of the front and rear axles. An adjustment unit is used to adjust the air suspension to a target height based on the control information of the load.

9. An electronic device, characterized in that, include: One or more processors; A storage device on which one or more programs are stored; When the one or more programs are executed by the one or more processors, the one or more processors implement the air suspension adjustment method as described in any one of claims 1 to 7.

10. A computer storage medium, characterized in that, It stores a computer program, wherein the computer program, when executed by a processor, implements the air suspension adjustment method as described in any one of claims 1 to 7.

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