Vehicle suspension adjusting method and device and medium

Abstract

The invention provides a vehicle suspension adjusting method and device and a medium, and the method comprises the steps that a vehicle door state signal and a passenger detection signal are obtained, and a passenger action mode is determined according to the vehicle door state signal and the passenger detection signal; in response to the passenger action mode being a get-on mode or a get-off mode, determining a target passenger and a height offset corresponding to the target passenger according to the vehicle door state signal and the passenger detection signal; and according to the normal driving height and the height offset, the target adjusting height is determined, and according to the target adjusting height, a suspension is controlled to adjust the height of the vehicle body. According to the technical scheme, the effects that the getting-on and getting-off requirements of passengers are predicted in advance, the suspension is actively adjusted, and the appropriate vehicle body height is provided for the passengers are achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a vehicle suspension adjustment method, device and medium. BACKGROUND

[0002] In traditional automobile design, the body height is usually fixed or can only be manually adjusted within a limited range. This causes many inconveniences for passengers when getting on and off the vehicle, especially for children, the elderly, pregnant women and people with limited mobility. For example, children need to climb laboriously to get into the vehicle due to their low height; the elderly may fall down when getting on and off the vehicle due to decreased body flexibility; and pregnant women may cause compression to the abdomen when bending to get into the vehicle, affecting the health of the fetus. In addition, when passengers carry large luggage or ride a wheelchair, the fixed body height also brings great difficulty to getting on and off the vehicle. SUMMARY

[0003] In view of the above defects or deficiencies in the prior art, the present application aims to provide a vehicle suspension adjustment method, device and medium to predict the getting on and off demand of passengers in advance and actively adjust the suspension to provide a suitable body height for passengers.

[0004] The present application provides a vehicle suspension adjustment method, which comprises: acquiring a door state signal and a passenger detection signal, and determining a passenger action mode according to the door state signal and the passenger detection signal; in response to the passenger action mode being a getting-on mode or a getting-off mode, determining a target passenger and a height offset corresponding to the target passenger according to the door state signal and the passenger detection signal; determining a target adjustment height according to a normal driving height and the height offset, and controlling the suspension to adjust the body height according to the target adjustment height.

[0005] According to the technical scheme provided by the present application, optionally, the passenger detection signal comprises an external infrared signal and a seat pressure signal; and the determination of the passenger action mode according to the door state signal and the passenger detection signal comprises: for each door, determining an external passenger movement state according to the external infrared signal corresponding to the door, and determining a seat occupancy state according to the seat pressure signal corresponding to the door; in response to the door state signal corresponding to the door being open, the external passenger movement state corresponding to the door being a close state, and the seat occupancy state corresponding to the door being an unoccupied state, determining the passenger action mode as the getting-on mode; in response to the vehicle door state signal corresponding to the vehicle door being open and the seat occupancy state corresponding to the vehicle door being empty, determining whether the vehicle is stationary according to a vehicle travel signal; in response to the vehicle being stationary, determining that the passenger action mode is a getting-off mode.

[0006] According to the technical scheme provided by the embodiment of the application, optionally, after the vehicle body height is adjusted according to the target adjustment height, the technical scheme further comprises: updating the vehicle door state signal and the passenger detection signal, and in response to a change in the vehicle door state signal, determining whether the getting-on or getting-off action is completed according to the passenger action mode, the updated vehicle door state signal and the passenger detection signal; in response to the getting-on or getting-off action being completed, controlling the vehicle body height to be adjusted to a normal travel height.

[0007] According to the technical scheme provided by the embodiment of the application, optionally, the passenger detection signal comprises an outside infrared signal and a seat pressure signal; and the determining whether the getting-on or getting-off action is completed according to the passenger action mode, the updated vehicle door state signal and the passenger detection signal comprises: determining a target vehicle door according to the updated vehicle door state signal; updating an outside passenger movement state according to an outside infrared signal corresponding to the target vehicle door, and updating a seat occupancy state according to a seat pressure signal corresponding to the target vehicle door; in response to the passenger action mode being the getting-on mode and the updated seat occupancy state being occupied, determining that the getting-on action is completed; in response to the passenger action mode being the getting-off mode and the updated outside passenger movement state being the moving away state, determining that the getting-off action is completed in a case where a distance between the passenger in the moving away state and the vehicle is greater than or equal to a target distance.

[0008] According to the technical scheme provided by the embodiment of the application, optionally, the passenger detection signal comprises an inside infrared signal, an outside infrared signal and a seat pressure signal; and the determining a target passenger and a height offset corresponding to the target passenger according to the vehicle door state signal and the passenger detection signal in response to the passenger action mode being the getting-on mode or the getting-off mode comprises: in response to the passenger action mode being the getting-on mode, determining the target passenger according to the vehicle door state signal and the outside infrared signal, determining a height, a weight and a related state of the target passenger according to historical outside infrared signals, and determining the height offset corresponding to the target passenger according to the height, the weight and the related state of the target passenger; In response to the passenger action mode being the getting-off mode, a target passenger is determined according to the door state signal and the in-vehicle infrared signal, a sitting height and a related state of the target passenger are determined according to historical in-vehicle infrared signals, a body weight of the target passenger is determined according to historical seat pressure signals, and a height offset corresponding to the target passenger is determined according to the sitting height, the body weight and the related state of the target passenger.

[0009] According to the technical scheme provided in the embodiments of the present application, optionally, the controlling the suspension to adjust the height of the vehicle body according to the target adjustment height comprises: obtaining a current height of the vehicle body, and determining a height difference value according to the current height of the vehicle body and the target adjustment height; in response to an absolute value of the height difference value being greater than or equal to a preset threshold, determining a duty cycle of the electromagnetic valve according to the height difference value, and controlling the electromagnetic valve by the suspension controller according to the duty cycle of the electromagnetic valve, so as to control the suspension to adjust the height of the vehicle body, and returning to perform the operation of obtaining the current height of the vehicle body; in response to the absolute value of the height difference value being less than the preset threshold, controlling the electromagnetic valve to be closed, so as to control the suspension to stop adjusting the height of the vehicle body.

[0010] According to the technical scheme provided in the embodiments of the present application, optionally, the obtaining the current height of the vehicle body comprises: determining a to-be-filtered height based on a height sensor signal; determining the current height of the vehicle body according to a preset filtering coefficient, the to-be-filtered height and a previous height of the vehicle body.

[0011] According to the technical scheme provided in the embodiments of the present application, optionally, the determining the duty cycle of the electromagnetic valve according to the height difference value comprises: determining a target control quantity according to the height difference value and a preset proportional-integral-derivative algorithm; determining the duty cycle of the electromagnetic valve according to an absolute value of the target control quantity.

[0012] The embodiments of the present application further provide an electronic device, which comprises: a processor and a memory; the processor is configured to execute the steps of the vehicle suspension adjustment method by calling programs or instructions stored in the memory.

[0013] The embodiments of the present application further provide a computer readable storage medium, which stores programs or instructions, and the programs or instructions enable a computer to execute the steps of the vehicle suspension adjustment method.

[0014] To sum up, the application provides a vehicle suspension adjustment method, which is applied to a suspension controller. The vehicle door state signal and the passenger detection signal are acquired, and the passenger action mode is determined according to the vehicle door state signal and the passenger detection signal, so as to predict the passenger getting on or off trend. When the passenger action mode is the getting on mode or the getting off mode, the target passenger and the height offset corresponding to the target passenger are determined according to the vehicle door state signal and the passenger detection signal, so as to provide different degrees of vehicle body height adjustment for different types of passengers in an individualized manner. The target adjustment height is determined according to the normal driving height and the height offset, and the suspension is controlled to adjust the vehicle body height according to the target adjustment height, so that the passenger getting on or off action is predicted, the suspension height can be adaptively adjusted in combination with the individualized information of the passenger, the appropriate vehicle body height is provided for the passenger getting on or off, and the use experience of the passenger is improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a flowchart of a vehicle suspension adjustment method provided by an embodiment of the application; Figure 2 is a flowchart of another vehicle suspension adjustment method provided by an embodiment of the application; Figure 3 is a structural schematic diagram of an electronic device provided by an embodiment of the application. DETAILED DESCRIPTION

[0016] The application will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related application, but not to limit the application. In addition, it should be noted that only parts related to the application are shown in the drawings for the convenience of description.

[0017] It should be noted that the embodiments in the application and the features in the embodiments can be combined with each other without conflict. The application will be described in detail below with reference to the drawings and embodiments.

[0018] Figure 1 is a flowchart of a vehicle suspension adjustment method provided by an embodiment of the application, and the method is applied to a suspension controller. Referring to Figure 1 , the vehicle suspension adjustment method specifically includes: S110, acquiring a vehicle door state signal and a passenger detection signal, and determining a passenger action mode according to the vehicle door state signal and the passenger detection signal.

[0019] The suspension controller can send corresponding control instructions to the active suspension execution module to automatically adjust the suspension height. The door state signal is a signal from a door state sensor installed on the door, and the door state signal includes opening and closing of the door. The passenger detection signal is a sensor signal for detecting whether the passenger has a tendency to get on or off the vehicle, which can be a complex and accurate camera sensor signal, or a signal detected by an infrared sensor inside the vehicle, an infrared sensor outside the vehicle, a seat pressure sensor, etc. The passenger action mode is information describing the passenger getting on or off the vehicle, which can include a getting-on mode and a getting-off mode.

[0020] Specifically, various sensors are installed on the vehicle, and the door state signal can be obtained through the door state sensor, and the passenger detection signal can be obtained through the infrared sensor inside the vehicle, the infrared sensor outside the vehicle, the seat pressure sensor, etc. The getting-on or getting-off intention of the passenger inside or outside the vehicle is analyzed in combination with the door state signal and the passenger detection signal to determine whether the passenger is in the getting-on mode or the getting-off mode, i.e., to determine the passenger action mode.

[0021] On the basis of the above example, the passenger detection signal includes an outside infrared signal and a seat pressure signal, and the passenger action mode can be determined according to the door state signal and the passenger detection signal in the following manner: For each door, the outside passenger movement state is determined according to the outside infrared signal corresponding to the door, and the seat occupancy state is determined according to the seat pressure signal corresponding to the door. In response to the door state signal corresponding to the door being open, the outside passenger movement state corresponding to the door being close, and the seat occupancy state corresponding to the door being empty, the passenger action mode is determined to be the getting-on mode. In response to the door state signal corresponding to the door being open and the seat occupancy state corresponding to the door being empty, it is determined whether the vehicle is stable according to the vehicle running signal. In response to the vehicle being stable, the passenger action mode is determined to be the getting-off mode.

[0022] The outside infrared signal can be outside the vehicle, specifically an infrared signal collected by an infrared sensor installed outside the door (towards the outside) or around the door. The outside passenger movement state describes whether the outside passenger is close to the door, far from the door, or no one. The seat occupancy state describes whether the corresponding seat is occupied by a passenger, including a person state and an empty state. The vehicle running signal is a motion signal of the vehicle, which can include the vehicle speed, etc.

[0023] Specifically, for each door, it is determined whether a passenger has an intention to get on or off the vehicle through the door. Therefore, according to the corresponding external infrared signal of the door, the distance between the external passenger and the door can be continuously analyzed, so as to obtain the moving state of the external passenger. In addition, the seat pressure signal corresponding to the door is analyzed to determine whether the seat beside the door is occupied, that is, to determine the seat occupancy state. If the door state signal corresponding to the door is open, the moving state of the external passenger corresponding to the door is close, and the seat occupancy state corresponding to the door is empty, it indicates that the door is open, the external passenger is close to the door, and the seat beside the door can be used for the passenger to sit down. Therefore, it can be determined that the passenger action mode is the boarding mode. If the door state signal corresponding to the door is open and the seat occupancy state corresponding to the door is empty, it indicates that the door is open, and the passenger may have a standing-up action beside the seat. In order to ensure the safety of getting off the vehicle, it is necessary to further combine the vehicle running signal to determine whether the vehicle is stable. If the vehicle is stable, it can be determined that the passenger action mode is the getting-off mode.

[0024] S120, in response to the passenger action mode being the boarding mode or the getting-off mode, determining a target passenger and a height offset corresponding to the target passenger according to the door state signal and the passenger detection signal.

[0025] The target passenger is a passenger who has an intention to get on or off the vehicle. The height offset is a moving distance of the vehicle body height provided for the target passenger.

[0026] Specifically, if the passenger action mode is the boarding mode or the getting-off mode, the door state signal and the passenger detection signal need to be combined to further determine the passenger getting on or off the vehicle. If the passenger action mode is the boarding mode, the target passenger is determined as the passenger close to the door with the door state signal being open and the passenger detection signal detecting the passenger. If the passenger action mode is the getting-off mode, the target passenger is determined as the passenger with a standing-up trend with the door state signal being open and the passenger detection signal detecting the passenger. Furthermore, the personalized vehicle body height requirement of the target passenger can be estimated through the passenger detection signal, for example, the height offset corresponding to the target passenger can be determined through table lookup or the like.

[0027] On the basis of the above examples, the passenger detection signal includes the internal infrared signal, the external infrared signal, and the seat pressure signal. In response to the passenger action mode being the boarding mode or the getting-off mode, the target passenger and the height offset corresponding to the target passenger can be determined according to the door state signal and the passenger detection signal in the following manner: In response to the passenger action mode being the getting-on mode, a target passenger is determined according to the door state signal and the outside infrared signal, and the height, weight and related state of the target passenger are determined according to the historical outside infrared signal, and the height offset corresponding to the target passenger is determined according to the height, weight and related state of the target passenger. In response to the passenger action mode being the getting-off mode, a target passenger is determined according to the door state signal and the inside infrared signal, and the seat height and related state of the target passenger are determined according to the historical inside infrared signal, the weight of the target passenger is determined according to the historical seat pressure signal, and the height offset corresponding to the target passenger is determined according to the seat height, weight and related state of the target passenger.

[0028] The inside infrared signal can be an infrared signal collected by an infrared sensor installed outside the vehicle, specifically, inside or around the door. The related state is used to describe the related situation affecting the movement of the passenger getting on or off the vehicle, for example, the target passenger can be a pregnant woman, an old person, a child, or the target passenger carrying large luggage.

[0029] Specifically, if the passenger action mode is the getting-on mode, the passenger close to the open door can be determined as the target passenger by combining the door state signal and the outside infrared signal analysis, and then the height, weight and related state of the detected target passenger can be analyzed by combining the installation position and angle of the outside infrared sensor according to the historical outside infrared signal. The height offset corresponding to the target passenger can be determined by looking up the pre-constructed table of individual vehicle height adjustment corresponding to the getting-on mode, or can be calculated by combining the pre-constructed function relationship corresponding to the getting-on mode. If the passenger action mode is the getting-off mode, the passenger with the intention of getting up corresponding to the open door can be determined as the target passenger by combining the door state signal and the inside infrared signal analysis, and then the seat height and related state of the detected target passenger can be analyzed by combining the installation position and angle of the inside infrared sensor according to the historical inside infrared signal. The weight of the target passenger can be determined according to the historical seat pressure signal, that is, the seat pressure signal before the target passenger gets up. The height offset corresponding to the target passenger can be determined by looking up the pre-constructed table of individual vehicle height adjustment corresponding to the getting-off mode, or can be calculated by combining the pre-constructed function relationship corresponding to the getting-off mode.

[0030] S130, determining the target adjustment height according to the normal driving height and the height offset, and controlling the suspension to adjust the vehicle height according to the target adjustment height.

[0031] The normal driving height is the height of the vehicle body during driving. The target adjustment height is the height to which the vehicle body needs to be adjusted for the convenience of the target passenger. The active suspension execution module includes components such as air springs, electromagnetic valves, and actuators. The air springs serve as the main elastic elements of the suspension and can change the height of the vehicle body by being inflated and deflated. The electromagnetic valves are used to control the inflation and deflation of the air springs and accurately adjust the air pressure in the air springs according to the instructions of the suspension controller. The actuators assist the air springs to achieve faster and smoother suspension adjustment actions.

[0032] Specifically, the difference between the normal driving height and the height offset is taken as the target adjustment height. Then, the suspension controller is controlled according to the target adjustment height to control the suspension to adjust the height of the vehicle body, so that the height of the vehicle body is adjusted to the target adjustment height. The adjustment process can be monitored in real time by using the vehicle body height sensor, so as to be accurately adjusted to the target adjustment height.

[0033] The vehicle suspension adjustment method provided by the embodiments of the present application is applied to a suspension controller. The vehicle door state signal and the passenger detection signal are obtained, and the passenger action mode is determined according to the vehicle door state signal and the passenger detection signal, so as to predict the getting-on and getting-off trend of the passenger. If the passenger action mode is the getting-on mode or the getting-off mode, the target passenger and the height offset corresponding to the target passenger are determined according to the vehicle door state signal and the passenger detection signal, so as to provide different degrees of vehicle body height adjustment for different types of passengers in an individualized manner. The target adjustment height is determined according to the normal driving height and the height offset, and the suspension is controlled to adjust the height of the vehicle body according to the target adjustment height. The getting-on and getting-off actions of the passenger are predicted, the suspension height is adaptively adjusted in combination with the individualized information of the passenger, the appropriate vehicle body height is provided for the passenger to get on and off, and the use experience of the passenger is improved.

[0034] Figure 2 is a flowchart of another vehicle suspension adjustment method provided by the embodiments of the present application. The method is applied to a suspension controller. On the basis of the above-mentioned embodiments, the process of controlling the suspension controller in combination with the target adjustment height is exemplarily described, and the recovery control process of the height of the vehicle body after the passenger gets on and off is added. Referring to Figure 2 , the vehicle suspension adjustment method specifically includes the following steps. S210, obtaining a vehicle door state signal and a passenger detection signal, and determining a passenger action mode according to the vehicle door state signal and the passenger detection signal.

[0035] S220, in response to the passenger action mode being the getting-on mode or the getting-off mode, determining a target passenger and a height offset corresponding to the target passenger according to the vehicle door state signal and the passenger detection signal.

[0036] S230, determining a target adjustment height according to the normal driving height and the height offset.

[0037] S240, obtaining a current vehicle body height, and determining a height difference value according to the current vehicle body height and the target adjustment height.

[0038] The current vehicle body height is a vehicle body height currently monitored based on a vehicle body height sensor installed on the vehicle. Generally, the vehicle body height sensor is installed at four corners of the vehicle body. The height difference value is a difference value between the current vehicle body height and the target adjustment height.

[0039] Specifically, the current vehicle body height can be measured based on the vehicle body height sensor, and the height difference value can be obtained by subtracting the target adjustment height from the current vehicle body height.

[0040] S250, in response to an absolute value of the height difference value being less than a preset threshold, determining a solenoid valve duty cycle according to the height difference value, and controlling the solenoid valve through a suspension controller according to the solenoid valve duty cycle to adjust the vehicle body height, and returning to perform the operation of obtaining the current vehicle body height; and in response to the absolute value of the height difference value being greater than or equal to the preset threshold, controlling the solenoid valve to be closed to stop adjusting the vehicle body height.

[0041] The preset threshold is a numerical value for judging whether the vehicle body adjustment is completed. The solenoid valve duty cycle is a ratio of the energization time to the total signal period in the pulse signal for controlling the solenoid valve to work, and is used to accurately adjust the opening degree of the solenoid valve. The solenoid valve is a component for controlling the inflation and deflation speed of the air spring.

[0042] Specifically, if the absolute value of the height difference value is greater than or equal to the preset threshold, it indicates that there is still a distance to complete the vehicle body height adjustment, and the solenoid valve duty cycle needs to be adjusted according to the height difference value, and then the solenoid valve in the active suspension execution module is controlled through the suspension controller using the determined solenoid valve duty cycle to adjust the deflation speed of the air spring, so as to adjust the vehicle body height, and return to perform the operation of obtaining the current vehicle body height, so as to judge again whether the suspension control is used to complete the vehicle body height adjustment. If the absolute value of the height difference value is less than the preset threshold, it indicates that the vehicle body height has been basically adjusted to the target adjustment height, and therefore the solenoid valve can be controlled to be closed to stop controlling the air spring, and further to stop adjusting the vehicle body height.

[0043] On the basis of the above example, the current vehicle body height can be obtained in the following manner: determining a to-be-filtered height based on a height sensor signal; determining a current vehicle body height according to a preset filtering coefficient, the to-be-filtered height, and a previous vehicle body height.

[0044] wherein the height sensor signal is a signal of a vehicle body height sensor. The height to be filtered is a height value determined based on the height sensor signal. The preset filter coefficient is a coefficient preset for filtering the height value. The previous vehicle body height is a vehicle body height at a previous time.

[0045] Specifically, based on the height sensor signal, the height sensor signal is converted into the height to be filtered. Then, the height to be filtered is filtered using the preset filter coefficient and the previous vehicle body height to obtain the current vehicle body height.

[0046] Exemplarily, due to the inertia of the vehicle body, the height to be filtered converted from the height sensor signal will fluctuate and have noise, and needs to be filtered and estimated to obtain a more smooth and accurate current vehicle body height . Therefore, a first-order low-pass filter algorithm can be used:

[0047] wherein, is the preset filter coefficient (0 <1), the closer to 1, the faster the response but the greater the noise, the closer to 0, the smoother the response but the greater the delay, and usually 0.2-0.5 is taken; is the current vehicle body height, is the previous vehicle body height.

[0048] On the basis of the above example, the solenoid duty cycle can be determined according to the height difference value in the following manner: determining a target control quantity according to the height difference value and a preset proportional-integral-derivative algorithm; determining the solenoid duty cycle according to the absolute value of the target control quantity.

[0049] wherein the proportional-integral-derivative algorithm (PID) is an algorithm for controlling in proportion to the error, the integral and the derivative. The target control quantity is an output value of the proportional-integral-derivative algorithm.

[0050] Specifically, the height difference value is substituted into the preset proportional-integral-derivative algorithm to calculate the target control quantity. The solenoid duty cycle is determined according to the absolute value of the target control quantity, the greater the absolute value of the target control quantity, the greater the solenoid duty cycle, which can be a proportional relationship.

[0051] Exemplarily, the control signal output to the solenoid, that is, the target control quantity, is calculated by the preset PID algorithm to drive the air spring so that the current vehicle body height quickly and smoothly approaches the target adjustment height .

[0052] defined height difference value : .

[0053] preset PID control algorithm:

[0054] wherein, target control amount at time t, height difference value at time t, preset proportional gain, preset integral gain, preset differential gain, integral time constant, height difference value from the start of control to time t.

[0055] Control of the electromagnetic valve: if u(t)>0, then control the electromagnetic valve to open, and the electromagnetic valve duty ratio is proportional to u(t); if u(t)<0, then control the electromagnetic valve to open, and the electromagnetic valve duty ratio is proportional to |u(t)|. If |e(t)|<δ (δ is a preset threshold, such as 2 mm), then close the electromagnetic valve and maintain the state.

[0056] S260, update the vehicle door state signal and the passenger detection signal, and in response to a change in the vehicle door state signal, determine whether the boarding and alighting action is completed according to the passenger action mode, the updated vehicle door state signal, and the passenger detection signal.

[0057] Specifically, based on the sensors installed on the vehicle, the vehicle door state signal and the passenger detection signal are reacquired. If the vehicle door state signal changes, it means that the boarding and alighting action may be completed, and then the updated vehicle door state signal and the passenger detection signal are used to analyze whether the target passenger completes the boarding and alighting action in combination with the passenger action mode before the vehicle door.

[0058] On the basis of the above example, the passenger detection signal includes an outside infrared signal and a seat pressure signal, and whether the boarding and alighting action is completed can be determined according to the passenger action mode, the updated vehicle door state signal, and the passenger detection signal in the following manner: determine the target vehicle door according to the updated vehicle door state signal; update the outside passenger movement state according to the outside infrared signal corresponding to the target vehicle door, and update the seat occupancy state according to the seat pressure signal corresponding to the target vehicle door; in response to the passenger action mode being the boarding mode and the updated seat occupancy state being the occupied state, determine that the boarding action is completed; In response to the passenger action mode being the getting-off mode and the updated off-vehicle passenger movement state being the moving-away state, it is determined that the getting-off action is completed in a case where the distance between the passenger in the moving-away state and the vehicle is greater than or equal to the target distance.

[0059] The target distance is a safety distance at which the passenger moves away from the vehicle and is set in advance.

[0060] Specifically, the door state signals before and after the update are compared, and the door corresponding to the door state signal that is converted from open to closed is taken as the target door. The off-vehicle infrared signal corresponding to the target door is obtained, the off-vehicle passenger movement state corresponding to the target door is re-determined, the seat pressure signal corresponding to the target door is obtained, and the seat occupancy state corresponding to the target door is re-determined. If the passenger action mode corresponding to the target door before is the getting-on mode and the updated seat occupancy state is the occupied state, it indicates that the passenger has already sat down on the seat corresponding to the target door, and it can be determined that the getting-on action is completed. If the passenger action mode corresponding to the target door before is the getting-off mode and the updated off-vehicle passenger movement state is the moving-away state, it is necessary to calculate the distance between the passenger in the moving-away state and the vehicle based on the off-vehicle infrared signal, and to determine whether the distance is greater than or equal to the target distance. If yes, it indicates that the passenger has already left the vehicle and is outside the safety distance, and it can be determined that the getting-off action is completed. If no, it is necessary to continue to detect the distance.

[0061] S270, in response to the completion of the getting-on and getting-off action, the vehicle body height is adjusted to the normal driving height.

[0062] Specifically, if it is detected that the target passenger completes the getting-on and getting-off action, it indicates that the door has been closed, no one is performing the getting-on and getting-off action, and the vehicle body height can be restored. Therefore, the vehicle body height is adjusted to the normal driving height. The vehicle body height can also be adjusted by using the adjustment PID control mode to adjust to the target adjustment height.

[0063] Exemplarily, the sensor modules used in the above examples include: (1) Door status sensor: installed on the vehicle door, used to detect the opening and closing state of the vehicle door. When the door is opened, the sensor transmits a signal to the suspension controller, triggering the suspension adjustment program; when the door is closed, the sensor sends a signal to restore the suspension to the normal driving height. (2) Passenger detection sensor: a combination of infrared sensors and pressure sensors, infrared sensors installed near the door can detect the approach and departure of passengers; pressure sensors are set on the seat, when the passenger sits on the seat, the pressure sensor senses the pressure change and transmits the signal to the suspension controller. (3) Vehicle height sensor: installed at the four corners of the vehicle body, real-time monitoring of the height information of the vehicle body, and feedback the data to the suspension controller for accurate suspension adjustment. (4) Suspension controller: receives various signals from the sensor module, and analyzes and processes according to the preset algorithm and logic. According to the information of door status, passenger detection and vehicle height, etc., the corresponding control instructions are issued to the active suspension execution module to realize the automatic adjustment of the suspension height.

[0064] Regarding the process of passenger getting on: when the target passenger approaches the door, the infrared sensor outside the vehicle detects the approach of the target passenger and transmits a signal to the suspension controller. The suspension controller calculates the target adjustment height suitable for the passenger getting on according to the passenger detection signal and the preset personalized settings (table of personalized body height adjustment). At the same time, the door state sensor detects that the door is open, and the suspension controller issues a command to the active suspension execution module to lower the body height. The electromagnetic valve opens, the air spring starts to deflate, and the body height gradually decreases. During the process of lowering the body height, the body height sensor monitors the change of the body height in real time and feeds back the data to the suspension controller. The suspension controller adjusts the opening degree of the electromagnetic valve according to the feedback information to accurately control the deflation speed of the air spring, so that the body height stably decreases to the target adjustment height. After the passenger sits on the seat, the pressure sensor senses the pressure change and transmits the signal to the suspension controller. After confirming that the passenger has gotten on, the suspension controller issues a command to the active suspension execution module to restore the normal height of the body (normal driving height), and the air spring starts to inflate, and the body height gradually rises to the normal driving height. Regarding the process of passenger getting off: after the vehicle arrives at the destination, the suspension controller can predict the passenger's getting-off demand in advance according to the preset trip information or the passenger's operation instruction. After the door state sensor detects that the door is open, the suspension controller accepts the signal and issues a command to the active suspension execution module to lower the body height. The air spring deflates and the body height decreases. During the process of lowering the body height, real-time monitoring and feedback control are also performed through the body height sensor to ensure that the body height accurately decreases to the target adjustment height suitable for the passenger getting off. After the passenger gets off, the infrared sensor outside the vehicle detects that the passenger has left a safe distance, and the suspension controller confirms that the passenger has gotten off and issues a command to the active suspension execution module to restore the normal height of the body. The air spring inflates and the body height rises to the normal driving height.

[0065] The above is an example of getting on to introduce the principle: 1) Event trigger: the target passenger approaches, and the infrared sensor outside the vehicle detects the movement state of the passenger outside the vehicle corresponding to the infrared signal outside the vehicle ==1 (approaching state), the door is opened, ==1 (door state signal is open), wherein == is an equal comparison operator for judging whether the left and right sides of the operator are completely equal. If both satisfy the above judgment conditions, the event is triggered.

[0066] 2) Target decision: the suspension controller determines to enter "getting on mode" according to the decision logic. Query the table of personalized settings of the target passenger to obtain the height offset, such as = 30mm, calculate the target adjustment height = - , This is the normal driving height.

[0067] 3) Error calculation: Read the current vehicle height after filtering. Calculate the height difference = - Assuming =-30mm, which means the vehicle height needs to be reduced by 30mm.

[0068] 4) PID control output: The PID controller outputs based on... Calculate the target control quantity A negative value will output a larger opening signal to the venting solenoid valve in the solenoid valve, such as a PWM (Pulse Width Modulation) wave with a solenoid valve duty cycle of 80%, causing the air spring to vent quickly.

[0069] 5) Real-time feedback and adjustment: As the vehicle height decreases, The absolute value decreases (e.g., from -30mm to -10mm). Through PID calculations, the signal output to the venting solenoid valve is correspondingly reduced (e.g., the solenoid valve duty cycle is reduced to 30%) for fine-tuning to prevent overshoot. When When the height is less than 2mm (preset threshold), the vehicle body height is considered to have reached the target adjustment height, and the solenoid valve is closed.

[0070] 6) State transition: Upon detecting that a passenger has completed boarding, the controller's decision logic switches the target to [new state]. And again, through the aforementioned closed-loop control process (error calculation, PID control output, and real-time feedback and adjustment), the vehicle body is smoothly raised to... .

[0071] The vehicle suspension adjustment method provided in this application embodiment is applied to a suspension controller. It acquires the current vehicle height, determines the height difference based on the current vehicle height and the target adjustment height, and determines the solenoid valve duty cycle based on the height difference when the absolute value of the height difference is less than a preset threshold. The suspension controller then controls the solenoid valve to adjust the vehicle height based on the solenoid valve duty cycle and returns to the operation of acquiring the current vehicle height. If the absolute value of the height difference is greater than or equal to the preset threshold, the solenoid valve is closed to stop adjusting the vehicle height. This achieves precise and stable vehicle height adjustment through closed-loop feedback control. Furthermore, it updates the door status signal and passenger detection signal. If the door status signal changes, it determines whether the passenger has completed getting on or off the vehicle based on the passenger's action mode, the updated door status signal, and the passenger detection signal. If the passenger has completed getting on or off the vehicle, the vehicle height is adjusted to the normal driving height to maintain a suitable vehicle height during subsequent vehicle travel. This achieves precise and stable adjustment of the personalized vehicle height for passengers and allows the vehicle height to be restored to the normal driving height promptly after the passenger has completed getting on or off the vehicle, providing convenience for subsequent travel.

[0072] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. For example... Figure 3 As shown, the electronic device 300 includes one or more processors 301 and memory 302.

[0073] The processor 301 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 300 to perform desired functions.

[0074] The memory 302 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 301 may execute the program instructions to implement the vehicle suspension adjustment method of any embodiment of this application described above and / or other desired functions. Various contents such as initial extrinsic parameters and thresholds may also be stored in the computer-readable storage medium.

[0075] In one example, the electronic device 300 may further include an input device 303 and an output device 304, these components being interconnected via a bus system and / or other forms of connection mechanisms (not shown). The input device 303 may include, for example, a keyboard, a mouse, etc. The output device 304 may output various information to the outside, including warning messages, braking force, etc. The output device 304 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0076] Of course, for the sake of simplicity, Figure 3 Only some of the components of the electronic device 300 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 300 may include any other suitable components depending on the specific application.

[0077] In addition to the methods and devices described above, embodiments of this application may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps of the vehicle suspension adjustment method provided in any embodiment of this application.

[0078] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0079] Furthermore, embodiments of this application may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps of the vehicle suspension adjustment method provided in any embodiment of this application.

[0080] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0081] It should be noted that the terminology used in this application is for the purpose of describing specific embodiments only and is not intended to limit the scope of this application. As shown in the specification and claims of this application, unless the context clearly indicates otherwise, words such as "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, or apparatus. Without further limitations, an element defined by the phrase "comprising an..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes said element.

[0082] It should also be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," "linked," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0083] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. The above descriptions are only preferred embodiments of this application. It should be noted that due to the limitations of written expression, while there are objectively infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of this invention, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of this application.

Claims

1. A method for adjusting vehicle suspension, characterized in that, include: Acquire door status signals and passenger detection signals, and determine passenger action patterns based on the door status signals and passenger detection signals; In response to the passenger's action mode being either boarding or alighting, the target passenger and the corresponding height offset are determined based on the door status signal and the passenger detection signal. Based on the normal driving height and the height offset, the target adjustment height is determined, and the suspension is controlled to adjust the vehicle height according to the target adjustment height.

2. The method according to claim 1, characterized in that, The passenger detection signal includes external infrared signal and seat pressure signal; determining the passenger action pattern based on the door status signal and the passenger detection signal includes: For each car door, the movement status of the passenger outside the car is determined based on the infrared signal outside the car door corresponding to the door, and the seat occupancy status is determined based on the seat pressure signal corresponding to the car door. If the door status signal corresponding to the door is open, the passenger movement status outside the door corresponding to the door is approaching, and the seat status corresponding to the door is unoccupied, then the passenger action mode is determined to be the boarding mode. If the door status signal corresponding to the door is open and the seat corresponding to the door is unoccupied, then the vehicle is determined to be stationary based on the vehicle driving signal. In response to the vehicle coming to a complete stop, the passenger's action mode is determined to be the disembarkation mode.

3. The method according to claim 1, characterized in that, After adjusting the vehicle height according to the target height, the method further includes: Update the door status signal and passenger detection signal. In response to a change in the door status signal, determine whether the boarding or alighting action has been completed based on the passenger action mode, the updated door status signal, and the passenger detection signal. In response to the completion of getting on or off the vehicle, the vehicle height is adjusted to the normal driving height.

4. The method according to claim 3, characterized in that, The passenger detection signal includes external infrared signal and seat pressure signal; the step of determining whether the boarding or alighting action has been completed based on the passenger movement pattern, the updated door status signal, and the passenger detection signal includes: The target door is determined based on the updated door status signal; Based on the external infrared signal corresponding to the target door, update the passenger movement status outside the vehicle, and based on the seat pressure signal corresponding to the target door, update the seat occupancy status. If the passenger's action mode is the boarding mode and the updated seat occupancy status is occupied, then the boarding action is confirmed to be completed. In response to the passenger's action mode being the disembarkation mode and the updated passenger movement status outside the vehicle being the moving away state, if the distance between the moving away passenger and the vehicle is greater than or equal to the target distance, the disembarkation action is determined to be completed.

5. The method according to claim 1, characterized in that, The passenger detection signal includes in-vehicle infrared signal, out-of-vehicle infrared signal, and seat pressure signal; in response to the passenger action mode being either boarding or alighting, the target passenger and the corresponding height offset are determined based on the door status signal and the passenger detection signal, including: In response to the passenger's action mode being the boarding mode, the target passenger is determined based on the door status signal and the external infrared signal. The height, weight, and related status of the target passenger are determined based on historical external infrared signals. The height offset of the target passenger is determined based on the height, weight, and related status of the target passenger. In response to the passenger's action mode being the disembarkation mode, the target passenger is determined based on the door status signal and the in-vehicle infrared signal. The target passenger's sitting height and related status are determined based on historical in-vehicle infrared signals. The target passenger's weight is determined based on historical seat pressure signals. The target passenger's corresponding height offset is determined based on the target passenger's sitting height, weight, and related status.

6. The method according to claim 1, characterized in that, The step of adjusting the vehicle height according to the target height and controlling the suspension to adjust the vehicle height includes: Obtain the current vehicle height, and determine the height difference based on the current vehicle height and the target adjustment height; If the absolute value of the height difference is greater than or equal to a preset threshold, the duty cycle of the solenoid valve is determined based on the height difference. Based on the duty cycle of the solenoid valve, the solenoid valve is controlled by the suspension controller to control the suspension to adjust the vehicle height, and then the operation of obtaining the current vehicle height is returned to be executed. If the absolute value of the height difference is less than the preset threshold, the solenoid valve is controlled to close, thereby stopping the suspension from adjusting the vehicle height.

7. The method according to claim 6, characterized in that, The process of obtaining the current vehicle height includes: The height to be filtered is determined based on the altitude sensor signal; The current vehicle height is determined based on the preset filtering coefficient, the height to be filtered, and the previous vehicle height.

8. The method according to claim 6, characterized in that, Determining the duty cycle of the solenoid valve based on the height difference includes: The target control quantity is determined based on the height difference and a preset proportional-integral-differential algorithm. The duty cycle of the solenoid valve is determined based on the absolute value of the target control quantity.

9. An electronic device, characterized in that, The electronic device includes: Processor and memory; The processor executes the steps of the vehicle suspension adjustment method as described in any one of claims 1 to 8 by calling the program or instructions stored in the memory.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program or instructions that cause a computer to perform the steps of the vehicle suspension adjustment method as described in any one of claims 1 to 8.

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