Suspension damping compensation method, system, and related devices

Abstract

The application relates to the technical field of vehicle suspensions, and provides a suspension damping compensation method, a system and related equipment. The suspension damping compensation method comprises the following steps: in response to the total mileage of a vehicle meeting a mileage threshold, monitoring a driving state parameter of the vehicle; in response to the driving state parameter representing that the vehicle is in a steady state working condition, detecting road roughness and an output electric signal of an electrically controlled shock absorber in the suspension; in response to the current output electric signal meeting a compensation condition corresponding to the current road roughness, obtaining a current compensation current value corresponding to a current mileage value of the vehicle according to a mapping relationship between the mileage value and the compensation current value; and compensating the damping output of the electrically controlled shock absorber according to the current compensation current value. The suspension damping compensation method of the application realizes damping compensation of the electrically controlled shock absorber of the suspension in a low-cost, false triggering prevention, high-precision and high-reliability manner, effectively maintains the damping performance of the electrically controlled shock absorber and the cushioning function of the suspension, and guarantees the comfort, controllability and safety of the whole vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicle suspension technology, and more specifically, to suspension damping compensation methods, systems and related equipment. Background Technology

[0002] Shock absorbers are important components of vehicle suspension, playing a crucial role in the overall vehicle's ride comfort, handling, and safety.

[0003] Many components in a shock absorber will age with use, causing a decrease in the damping force of the shock absorber, affecting the damping function of the suspension, and consequently affecting the comfort, handling, and safety of the entire vehicle.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] This application provides a suspension damping compensation method, system, and related equipment to solve the problem of reduced damping force caused by aging of electronically controlled shock absorbers in the suspension. It can effectively maintain the damping performance of the electronically controlled shock absorbers and the damping function of the suspension, thereby ensuring the comfort, handling, and safety of the entire vehicle.

[0006] According to one aspect of this application, a suspension damping compensation method is provided, comprising: monitoring vehicle driving state parameters in response to the total mileage of the vehicle meeting a mileage threshold; detecting road surface roughness and the output electrical signal of an electronically controlled shock absorber in the suspension in response to the driving state parameters indicating that the vehicle is in a steady-state condition; obtaining a current compensation current value corresponding to the current mileage of the vehicle based on a mapping relationship between mileage value and compensation current value in response to the current output electrical signal of the electronically controlled shock absorber meeting the compensation condition of the output electrical signal corresponding to the current road surface roughness; and compensating the damping output of the electronically controlled shock absorber based on the current compensation current value.

[0007] In some embodiments, the mileage threshold indicates that the damping output of the electronically controlled vibration damper has entered a decay state; the mapping relationship between the mileage threshold and the mileage value and the compensation current value is obtained based on the durability test of the electronically controlled vibration damper.

[0008] In some embodiments, the driving status parameters include any one or more of the following: bus signal, fault signal, braking signal, steering signal, throttle signal, and vehicle speed signal.

[0009] In some embodiments, the vehicle is determined to be in steady-state condition when the driving state parameters meet the following conditions: all bus signals are valid signals, the fault signal indicates that there is no system fault in the vehicle, the braking signal indicates that the braking pressure is less than a first set value, the steering signal indicates that the change in steering angular velocity is less than a second set value, the throttle signal indicates that the change in throttle position is less than a third set value, and the vehicle speed signal indicates that the vehicle speed is within the set range.

[0010] In some embodiments, the step of monitoring the vehicle's driving state parameters is performed periodically; in response to the driving state parameters indicating that the vehicle is in a steady-state condition, detecting road surface roughness and the output electrical signal of the electronically controlled shock absorber in the suspension includes: when the number of times the vehicle is detected to be in the steady-state condition reaches a preset number, activating the detection of the road surface roughness and the output electrical signal of the electronically controlled shock absorber.

[0011] In some embodiments, the road surface roughness is detected at least based on the vehicle's height sensor; the correspondence between the road surface roughness and the output electrical signal is obtained based on the research and development testing of the electronically controlled vibration damper; the output electrical signal of the electronically controlled vibration damper is the output current value of the electronically controlled vibration damper.

[0012] In some embodiments, the steps of detecting the road surface roughness and the output electrical signal of the electronically controlled vibration damper are performed periodically; in response to the current output electrical signal of the electronically controlled vibration damper satisfying the compensation condition of the output electrical signal corresponding to the current road surface roughness, the steps include: within a set detection period, when the number of times the current output current value of the electronically controlled vibration damper is greater than the output current value corresponding to the current road surface roughness reaches a first threshold or intermittently reaches a second threshold, determining that the current output electrical signal of the electronically controlled vibration damper satisfies the compensation condition of the output electrical signal corresponding to the current road surface roughness.

[0013] In some embodiments, compensating for the damping output of the electronically controlled shock absorber includes: adding the current compensation current value to the initial control current value of the electronically controlled shock absorber to obtain the actual control current value of the electronically controlled shock absorber, so that the actual output damping force of the electronically controlled shock absorber based on the actual control current value is equal to the target damping force; wherein the initial control current value and the target damping force are calculated based on the current operating conditions of the vehicle.

[0014] In some embodiments, the method based on the current compensation current value includes: determining whether the current compensation current value is greater than the compensation upper limit value corresponding to the current mileage value; if yes, using the compensation upper limit value corresponding to the current mileage value; if no, using the current compensation current value.

[0015] According to another aspect of this application, a suspension damping compensation system is provided for implementing the suspension damping compensation method as described in any of the above embodiments. The suspension damping compensation system includes: a state monitoring trigger module configured to monitor the vehicle's driving state parameters in response to the vehicle's total mileage meeting a mileage threshold; a road surface detection trigger module configured to detect road surface roughness and the output electrical signal of the electronically controlled shock absorber in the suspension in response to the driving state parameters indicating that the vehicle is in a steady-state condition; a compensation current acquisition module configured to obtain the current compensation current value corresponding to the vehicle's current mileage value based on the mapping relationship between mileage value and compensation current value in response to the current output electrical signal of the electronically controlled shock absorber meeting the compensation condition of the output electrical signal corresponding to the current road surface roughness; and a damping compensation control module configured to compensate the damping output of the electronically controlled shock absorber based on the current compensation current value.

[0016] According to another aspect of this application, an electronic device is provided, comprising: a processor; a memory storing executable instructions; wherein, when the executable instructions are executed by the processor, they implement the suspension damping compensation method as described in any of the above embodiments.

[0017] According to another aspect of this application, a computer-readable storage medium is provided for storing a program that, when executed by a processor, implements the suspension damping compensation method as described in any of the above embodiments.

[0018] According to another aspect of this application, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the suspension damping compensation method as described in any of the above embodiments.

[0019] The beneficial effects of this application compared to the prior art include at least the following: The suspension damping compensation method of this application uses the vehicle's total mileage meeting a mileage threshold and the vehicle being in a steady-state condition as determined by driving state parameters as prerequisites for activating the damping compensation logic. This ensures that subsequent monitoring is initiated only when the electronically controlled shock absorber may experience damping attenuation, and prevents the damping compensation logic from being activated too frequently or falsely. When the prerequisites are met—that is, the total mileage meets the mileage threshold and the vehicle is in a steady-state condition—the damping compensation logic is activated: the road surface roughness and the output electrical signal of the electronically controlled shock absorber are detected to determine whether the current output electrical signal of the electronically controlled shock absorber meets the compensation condition corresponding to the current road surface roughness. If so, it indicates that the electronically controlled shock absorber has damping attenuation that needs compensation. Then, according to the mapping relationship between mileage value and compensation current value, the current compensation current value corresponding to the current mileage value is obtained, and the damping output of the electronically controlled shock absorber is compensated based on the current compensation current value to overcome the damping force attenuation problem of the electronically controlled shock absorber.

[0020] The suspension damping compensation method of this application achieves damping compensation of the electronically controlled shock absorber of the suspension in a low-cost, anti-false triggering, high-precision and high-reliability manner, effectively maintaining the damping performance of the electronically controlled shock absorber and the damping function of the suspension, thereby ensuring the comfort, handling and safety of the whole vehicle.

[0021] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0022] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0023] Figure 1 This diagram illustrates the main steps of the suspension damping compensation method in an embodiment of this application. Figure 2 This diagram illustrates the implementation logic of the suspension damping compensation method in an embodiment of this application. Figure 3 This diagram illustrates the functional modules of the suspension damping compensation system in an embodiment of this application. Figure 4 A schematic diagram of the structure of the electronic device in an embodiment of this application is shown. Detailed Implementation

[0024] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to those described herein. Rather, these embodiments are provided to make this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art.

[0025] The accompanying drawings are merely illustrative of this application and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0026] The flowchart shown in the accompanying diagram is merely illustrative and does not necessarily include all steps. For example, some steps may be broken down, some steps may be combined or partially combined, and the actual execution order may change depending on the actual situation. The use of terms such as "first," "second," and similar terms in the specific description does not indicate any order, quantity, or importance, but is only used to distinguish different components.

[0027] It should be noted that, unless otherwise specified, the embodiments of this application and the features in different embodiments can be combined with each other. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0028] Figure 1 The main steps of the suspension damping compensation method in the embodiments of this application are illustrated. (Refer to...) Figure 1 As shown, the suspension damping compensation method provided in this application includes: S110, monitoring the vehicle's driving state parameters in response to the vehicle's total mileage meeting a mileage threshold; S120, detecting road surface roughness and the output electrical signal of the electronically controlled shock absorber in the suspension in response to the driving state parameters indicating that the vehicle is in a steady-state condition; S130, obtaining the current compensation current value corresponding to the vehicle's current mileage value based on the mapping relationship between mileage value and compensation current value in response to the current output electrical signal of the electronically controlled shock absorber meeting the compensation condition of the output electrical signal corresponding to the current road surface roughness; S140, compensating the damping output of the electronically controlled shock absorber based on the current compensation current value.

[0029] The suspension damping compensation method of this application uses a vehicle's total mileage meeting a mileage threshold as a prerequisite for activating the damping compensation logic. This ensures that subsequent monitoring is initiated only when the electronically controlled shock absorber may experience damping decay, avoiding unnecessary intervention in the early stages of vehicle operation, improving the operating efficiency of the suspension system, and reducing the risk of miscompensation. This application uses the mileage threshold as an indirect aging indicator of the electronically controlled shock absorber, replacing methods such as detecting damping force through sensors, which can reduce costs and enhance reliability.

[0030] Furthermore, to prevent the damping compensation logic from being activated too frequently or falsely, this application uses the determination of the vehicle's steady-state condition based on driving state parameters as another prerequisite for activating the damping compensation logic. This ensures that the damping compensation logic is activated after the total mileage meets the mileage threshold and the vehicle enters a steady-state condition, thereby improving the activation accuracy of the damping compensation logic and eliminating abnormal interference.

[0031] When the preconditions are met—namely, the total mileage meets the mileage threshold and the vehicle is in a steady-state condition—the damping compensation logic is activated. This involves detecting the road surface roughness and the output electrical signal of the electronically controlled shock absorber to determine if the current output signal of the shock absorber meets the compensation condition corresponding to the current road surface roughness. If so, it indicates that the electronically controlled shock absorber has damping attenuation that needs compensation. Then, based on the mapping relationship between mileage and compensation current, the current compensation current value corresponding to the current mileage is obtained, and the damping output of the electronically controlled shock absorber is compensated based on this current compensation current value to overcome the damping force attenuation problem. The compensation condition for the output electrical signal corresponding to the current road surface roughness and the current compensation current value corresponding to the current mileage can both be obtained through table lookup, thus achieving efficient and accurate damping compensation for the electronically controlled shock absorber.

[0032] The suspension damping compensation method of this application achieves damping compensation of the electronically controlled shock absorber of the suspension in a low-cost, anti-false triggering, high-precision and high-reliability manner, effectively maintaining the damping performance of the electronically controlled shock absorber and the damping function of the suspension, thereby ensuring the comfort, handling and safety of the whole vehicle.

[0033] The suspension damping compensation method of this application is applicable to suspension systems equipped with electronically controlled shock absorbers such as Continuous Damping Control (CDC) shock absorbers and Magneto-Rheological Control (MRC) shock absorbers, which can adjust the damping force through electrical signals.

[0034] In some embodiments, the mileage threshold characterizes the damping output of the electronically controlled vibration damper entering a decay state, and the mapping relationship between the mileage threshold and the mileage value and the compensation current value is obtained based on the durability test of the electronically controlled vibration damper.

[0035] Durability testing ensures the accuracy and reliability of mileage thresholds and mapping relationships, avoids theoretical model deviations, and improves the targeting and effectiveness of damping compensation. The specific execution process of durability testing may include: A brand-new electronically controlled vibration damper was installed in the test environment, and different control current values ​​were applied to it. The damping force generated by the electronically controlled vibration damper based on the different control current values ​​was measured. At this time, the performance of the electronically controlled vibration damper did not degrade, and the generated damping force can be regarded as the reference damping force. Thus, the characteristic curve of "control current value - reference damping force" was obtained, which characterizes the performance benchmark of the electronically controlled vibration damper.

[0036] The electronically controlled vibration damper was subjected to various operating condition tests in a test environment (the test mileage can be determined as needed, such as tens of thousands or even hundreds of thousands of kilometers). During this period, the control current applied to the electronically controlled vibration damper and the actual damping force output by the damper were measured periodically to obtain the "control current value - actual damping force" characteristic curve. At this point, the performance of the electronically controlled vibration damper had degraded to a certain extent after use, manifested as the actual damping force output being less than the reference damping force under the same control current value. Based on this, the actual damping force output by the electronically controlled vibration damper can be brought up to the level of the reference damping force by increasing the control current value; the increased current is the compensation current value corresponding to the current mileage value. Thus, the mapping relationship between mileage value and compensation current value is obtained.

[0037] During the durability test, a "mileage value - actual damping force" characteristic curve was also obtained. Based on the inflection point and other characteristic points of this characteristic curve, the mileage threshold that characterizes the damping output of the electronically controlled shock absorber entering the attenuation state can be determined.

[0038] In some embodiments, the driving state parameters include any one or more of the following: bus signals, fault signals, braking signals, steering signals, throttle signals, and vehicle speed signals. This provides a multi-dimensional data basis for determining whether the vehicle is in a steady-state condition, ensuring the comprehensiveness and accuracy of the judgment results. Each driving state parameter can be obtained by detecting its corresponding sensor.

[0039] In some embodiments, the vehicle is determined to be in a steady-state condition when the driving state parameters meet the following conditions: all bus signals are valid signals; fault signals indicate that there are no system faults in the vehicle, ensuring that the suspension system and related systems are working normally and eliminating fault interference; braking signals indicate that the braking pressure is less than a first set value; steering signals indicate that the change in steering angular velocity is less than a second set value; throttle signals indicate that the change in throttle position is less than a third set value; and vehicle speed signals indicate that the vehicle speed is within a set range, to eliminate frequent activation and false activation of the damping compensation logic caused by human operation. The first, second, and third set values ​​can be set as needed.

[0040] In some embodiments, the step of monitoring the vehicle's driving state parameters is performed periodically; in response to the driving state parameters indicating that the vehicle is in a steady-state condition, the detection of road surface roughness and the output electrical signal of the electronically controlled shock absorber in the suspension includes: when the number of times the vehicle is detected to be in a steady-state condition reaches a preset number, the detection of road surface roughness and the output electrical signal of the electronically controlled shock absorber is activated; wherein, if any driving state parameter does not meet the corresponding condition, subsequent detection is not activated. This enhances the stability of the activation condition of the damping compensation logic and further prevents false activation or excessively frequent activation. The preset number of times can be set as needed: for example, the preset number of times can be once, meaning that the subsequent judgment logic can proceed as long as the activation condition is met once; the preset number of times can also be two or more.

[0041] In some embodiments, detecting road surface roughness received by the vehicle includes: detecting the vehicle's vertical acceleration, at least based on the vehicle's height sensor, to obtain the road surface roughness. Utilizing the vehicle's existing height sensor (or vehicle vertical acceleration sensor) to detect road surface roughness enables low-cost, high-reliability road condition assessment and enhances the feasibility of suspension damping compensation methods.

[0042] In some embodiments, the correspondence between road surface roughness and the output electrical signal is obtained based on the research and development testing of the electronically controlled shock absorber. During the research and development of the electronically controlled shock absorber, the ideal output electrical signal (which can be the output current value, but is not limited to) of the electronically controlled shock absorber under different road surface roughness conditions can be obtained through testing, thus obtaining the correspondence between road surface roughness and the output electrical signal. Under different road surface roughness conditions, the damping requirements of the suspension and the damping performance of the electronically controlled shock absorber are different; by utilizing the correspondence between road surface roughness and the output electrical signal of the electronically controlled shock absorber, it is possible to accurately and specifically determine whether the damping compensation logic needs to be activated under different road surface roughness conditions.

[0043] In some embodiments, the steps of detecting road surface roughness and the output electrical signal of the electronically controlled vibration damper are performed periodically; in response to the current output electrical signal of the electronically controlled vibration damper satisfying the compensation condition of the output electrical signal corresponding to the current road surface roughness, the steps include: within a set detection period, when the number of times the current output current value of the electronically controlled vibration damper is greater than the output current value corresponding to the current road surface roughness reaches a first threshold or intermittently reaches a second threshold, it is determined that the current output electrical signal of the electronically controlled vibration damper satisfies the compensation condition of the output electrical signal corresponding to the current road surface roughness.

[0044] When the output damping of an electronically controlled vibration damper decreases, its output current gradually increases. If the current output current of the electronically controlled vibration damper exceeds the output current value corresponding to the current road surface roughness, it indicates that the output damping of the electronically controlled vibration damper has decreased. If the number of times the current output current of the electronically controlled vibration damper exceeds the output current value corresponding to the current road surface roughness reaches the first threshold consecutively or the second threshold intermittently within a set detection cycle, it further indicates that the decrease in output damping of the electronically controlled vibration damper is stable and continuous, requiring compensation. The first and second thresholds can be set as needed, with the second threshold being greater than the first threshold.

[0045] In some embodiments, compensating for the damping output of the electronically controlled shock absorber includes: adding the current compensation current value to the initial control current value of the electronically controlled shock absorber to obtain the actual control current value of the electronically controlled shock absorber, so that the actual output damping force of the electronically controlled shock absorber based on the actual control current value is equal to the target damping force; wherein the initial control current value and the target damping force are calculated based on the current operating conditions of the vehicle.

[0046] Specifically, an independent controller, such as a suspension controller or a vehicle's electronic control unit (ECU), can be used to calculate the ideal control current value (i.e., the initial control current value) and the ideal damping force (i.e., the target damping force) of the electronically controlled shock absorber in real time based on the vehicle's current operating conditions (including driving mode, road conditions, etc.). The electronically controlled shock absorber is controlled based on the actual control current value, which is the sum of the current compensation current value and the initial control current value. This achieves a simple and efficient response, ensuring that the actual output damping force of the electronically controlled shock absorber equals the target damping force without modifying the underlying algorithm of the suspension system. This makes it easy to integrate into existing suspension systems, enhancing the practicality and compatibility of the suspension damping compensation method. The underlying control algorithm for calculating the ideal control current value and ideal damping force of the electronically controlled shock absorber based on the vehicle's current operating conditions is already available, and this application does not impose any limitations on it.

[0047] In some embodiments, the method based on the current compensation current value includes: determining whether the current compensation current value is greater than the compensation upper limit value corresponding to the current mileage value; if yes, using the compensation upper limit value corresponding to the current mileage value; if no, using the current compensation current value. Specifically, if the current compensation current value is greater than the compensation upper limit value corresponding to the current mileage value, the compensation upper limit value corresponding to the current mileage value can be added to the initial control current value to obtain the actual control current value; if the current compensation current value is not greater than the compensation upper limit value corresponding to the current mileage value, the current compensation current value can be added to the initial control current value to obtain the actual control current value.

[0048] Each mileage value or mileage stage can correspond to a compensation upper limit value. The specific compensation upper limit value can be set as needed to prevent excessive compensation from causing the electronically controlled shock absorber to have excessive damping, which could affect comfort or even safety. This ensures that the damping compensation output is always within a reasonable range, thereby improving the reliability and safety of the suspension system.

[0049] Figure 2 This illustration shows a specific implementation logic of the suspension damping compensation method in an embodiment of this application, with reference to... Figure 2 Furthermore, in conjunction with the descriptions of the above embodiments, in some specific implementations, the implementation logic of the suspension damping compensation method includes: S210 checks if the vehicle's total mileage meets the mileage threshold. If not, the damping compensation logic is not activated; otherwise, subsequent condition checks continue. The mileage threshold can be set during software calibration based on endurance testing.

[0050] S220 checks whether the following conditions are simultaneously met: CAN signal is valid, no system fault, brake pressure is zero, steering angular velocity change is less than a certain value, throttle change is less than a certain value, and vehicle speed is within a certain range. Its purpose includes preventing excessively frequent and false activation of the damping compensation logic. The values ​​for meeting these conditions can be set during software calibration.

[0051] When all the above conditions are met, the activation condition flag is incremented by one. The flag is then reset to zero after ten activations (in this embodiment, the activation condition flag cycle is ten times; this number can be adjusted as needed). Simultaneously, when all the above conditions are met, the subsequent damping compensation logic is activated. If any condition is not met, the damping compensation logic is not activated.

[0052] The S230 detects road surface roughness and the output current value of the electronically controlled vibration damper, comparing them with the calibrated correspondence. The correspondence between road surface roughness and output current value can be based on test inputs during the R&D process to define the activated road conditions.

[0053] S240: Determine whether the current output current value of the electronically controlled vibration damper is greater than the calibration value, i.e., whether it is greater than the output current value corresponding to the current road surface roughness. If yes, execute S250: activate the compensation flag bit and increment it by one; otherwise, do not activate the compensation flag bit.

[0054] S260: If the compensation flag is activated twice or more consecutively within a ten-times activation condition flag period, or if the compensation flag is activated three or more times intermittently within a ten-times activation condition flag period, then proceed to the next compensation logic step. It should be noted that the two consecutive activations and the three intermittent activations are merely examples; adjustments can be made based on actual circumstances in specific applications.

[0055] S270 compensates for the current mileage value according to the calibrated mapping relationship. The mapping relationship between mileage value and compensation current value can be calibrated based on the endurance test results.

[0056] Furthermore, a compensation upper limit can be set for the mileage value. The compensation upper limit can be calibrated based on the actual attenuation of damping force during the durability test. A compensation upper limit can be set for each mileage segment.

[0057] The aforementioned suspension damping compensation method can accurately compensate for the decrease in damping force caused by the aging of the electronically controlled shock absorber. Accurate compensation values ​​can be provided through the mapping relationship between "mileage value - compensation current value" obtained from durability testing. Furthermore, to prevent accidental activation of the damping compensation logic, this application sets reliable preconditions and activation judgments. Therefore, this application can effectively solve the problem of reduced suspension comfort, handling, and safety caused by the aging of the electronically controlled shock absorber.

[0058] This application also provides a suspension damping compensation system and related equipment, which can be used to implement the suspension damping compensation method described in any of the above embodiments. The features and principles of the suspension damping compensation method described in any of the above embodiments can be applied to the following embodiments of the suspension damping compensation system and related equipment. In the following embodiments, the features and principles of suspension damping compensation already explained will not be repeated.

[0059] Figure 3 This diagram illustrates the main functional modules of the suspension damping compensation system, for reference. Figure 3 As shown, the suspension damping compensation system 300 provided in this application embodiment may include: a state monitoring trigger module 310, configured to monitor the vehicle's driving state parameters in response to the vehicle's total mileage meeting a mileage threshold; a road surface detection trigger module 320, configured to detect road surface roughness and the output electrical signal of the electronically controlled shock absorber in the suspension in response to the driving state parameters indicating that the vehicle is in a steady-state condition; a compensation current acquisition module 330, configured to obtain the current compensation current value corresponding to the vehicle's current mileage value based on the mapping relationship between mileage value and compensation current value in response to the current output electrical signal of the electronically controlled shock absorber meeting the compensation condition of the output electrical signal corresponding to the current road surface roughness; and a damping compensation control module 340, configured to compensate the damping output of the electronically controlled shock absorber based on the current compensation current value.

[0060] Furthermore, the suspension damping compensation system 300 may also include modules that implement other process steps of the above-described suspension damping compensation method embodiments. The specific principles of each module can be referred to the description of the above-described suspension damping compensation method embodiments, and will not be repeated here.

[0061] The suspension damping compensation system of this application can achieve damping compensation of the electronically controlled shock absorbers in a low-cost, anti-false-trigger, highly accurate, and highly reliable manner, effectively maintaining the damping performance of the electronically controlled shock absorbers and the damping function of the suspension, thereby ensuring the comfort, handling, and safety of the entire vehicle. The suspension damping compensation system of this application is applicable to suspension systems equipped with electronically controlled shock absorbers such as continuously damped controlled shock absorbers and magnetorheological shock absorbers that can adjust damping force via electrical signals.

[0062] This application also provides an electronic device, including a processor and a memory, wherein the memory stores executable instructions, and when the executable instructions are executed by the processor, the suspension damping compensation method described in any of the above embodiments is implemented.

[0063] The electronic device of this application can be configured as a standalone electronic device deployed in a vehicle, such as a suspension controller, or it can be integrated into existing electronic devices in the vehicle, such as the vehicle's electronic control unit. It can also be deployed partially locally and partially remotely, for example, partially in the vehicle and partially in the cloud. The electronic device of this application performs the aforementioned suspension damping compensation method, enabling low-cost, anti-false triggering, high-precision, and high-reliability damping compensation of the electronically controlled shock absorbers in the suspension. This effectively maintains the damping performance of the electronically controlled shock absorbers and the damping function of the suspension, thereby ensuring the comfort, handling, and safety of the entire vehicle.

[0064] Figure 4 The structure of the electronic device is illustrated, with reference to Figure 4 As shown, the electronic device 400 is presented in the form of a general-purpose computing device. The components of the electronic device 400 include, but are not limited to: at least one processing unit 410, at least one storage unit 420, and a bus 430 connecting different platform components (including storage unit 420 and processing unit 410).

[0065] Storage unit 420 stores program code that can be executed by processing unit 410, causing processing unit 410 to perform the steps of the suspension damping compensation method described in any of the above embodiments. Storage unit 420 may include a readable medium in the form of volatile memory cells, such as random access memory (RAM) and / or cache memory cells, and may further include read-only memory (ROM). Storage unit 420 may also include a program / utility having one or more program modules, such program modules including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0066] Bus 430 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0067] Electronic device 400 can also communicate with one or more external devices, such as keyboards, pointing devices, Bluetooth devices, in-vehicle computers, etc. These external devices enable users to interact and communicate with electronic device 400. Electronic device 400 can also communicate with one or more other computing devices, including routers and modems. This communication can be performed via input / output (I / O) interfaces. Furthermore, electronic device 400 can communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter. The network adapter can communicate with other modules of electronic device 400 via bus 430. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 400, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms.

[0068] This application also provides a computer-readable storage medium for storing a program that, when executed, implements the suspension damping compensation method described in any of the above embodiments.

[0069] The storage medium of this application can be executed by a processor deployed in the vehicle or remotely, enabling low-cost, accident-proof, high-precision, and high-reliability damping compensation of the electronically controlled shock absorber of the suspension, effectively maintaining the damping performance of the electronically controlled shock absorber and the damping function of the suspension, thereby ensuring the comfort, handling, and safety of the entire vehicle.

[0070] The storage medium may be a portable compact disc read-only memory (CD-ROM) containing program code and capable of running on a terminal device, such as an in-vehicle computer. However, the storage medium of this application is not limited to this; it may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0071] The 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,, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media include, but are not limited to: electrical connections having one or more wires, portable disks, hard disks, 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 devices, magnetic storage devices, or any suitable combination thereof.

[0072] A readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying readable program code. This propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable signal medium may also be any readable medium other than a readable storage medium, capable of transmitting, propagating, or transmitting a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable signal medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0073] Program code for performing the operations of this application can be written in any combination of one or more programming languages. The program code can execute entirely on the in-vehicle computing device, partially on the in-vehicle computing device, as a standalone software package, partially on the in-vehicle computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device, for example, via the Internet using an Internet service provider.

[0074] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the suspension damping compensation method as described in any of the above embodiments.

[0075] When the computer program product of this application is run on an execution device, such as an in-vehicle device and / or a remote device, it can achieve damping compensation of the electronically controlled shock absorber of the suspension in a low-cost, accident-proof, highly accurate and reliable manner, effectively maintaining the damping performance of the electronically controlled shock absorber and the damping function of the suspension, thereby ensuring the comfort, handling and safety of the whole vehicle.

[0076] Finally, it should be noted that the above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of this application and should not be construed as limiting the specific implementation of this application to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of this application, and all such modifications or substitutions should be considered within the scope of protection of this application.

Claims

1. A suspension damping compensation method characterized by, include: In response to the vehicle's total mileage meeting a mileage threshold, the vehicle's driving status parameters are monitored, including any one or more of the following: bus signal, fault signal, braking signal, steering signal, throttle signal, and vehicle speed signal. In response to the driving state parameters indicating that the vehicle is in a steady state, the road surface roughness and the output electrical signal of the electronically controlled shock absorber in the suspension are detected; wherein, the vehicle is determined to be in the steady state when the driving state parameters meet the following conditions: all bus signals are valid signals, the fault signal indicates that there is no system fault in the vehicle, the braking signal indicates that the braking pressure is less than a first set value, the steering signal indicates that the change in steering angular velocity is less than a second set value, the throttle signal indicates that the change in throttle position is less than a third set value, and the vehicle speed signal indicates that the vehicle speed is within the set range. Among them, at least based on the vehicle's height sensor, the road surface roughness is detected, and the correspondence between the road surface roughness and the output electrical signal is obtained based on the research and development testing of the electronically controlled shock absorber. The output electrical signal of the electronically controlled shock absorber is the output current value of the electronically controlled shock absorber. In response to the current output electrical signal of the electronically controlled shock absorber satisfying the compensation condition of the output electrical signal corresponding to the current road surface roughness, the current compensation current value corresponding to the current mileage value of the vehicle is obtained according to the mapping relationship between the mileage value and the compensation current value. The steps of detecting the road surface roughness and the output electrical signal of the electronically controlled vibration damper are performed periodically. In response to the current output electrical signal of the electronically controlled vibration damper satisfying the compensation condition of the output electrical signal corresponding to the current road surface roughness, the steps include: within a set detection period, when the number of times the current output current value of the electronically controlled vibration damper is greater than the output current value corresponding to the current road surface roughness reaches the first threshold or the number of times it intermittently reaches the second threshold, it is determined that the current output electrical signal of the electronically controlled vibration damper satisfies the compensation condition of the output electrical signal corresponding to the current road surface roughness. Based on the current compensation current value, the damping output of the electronically controlled vibration damper is compensated, including: determining whether the current compensation current value is greater than the compensation upper limit value corresponding to the current mileage value; if yes, the compensation upper limit value corresponding to the current mileage value is used; if no, the current compensation current value is used.

2. The suspension damping compensation method of claim 1 wherein, The mileage threshold indicates that the damping output of the electronically controlled vibration damper has entered a decay state. The mileage threshold and the mapping relationship between the mileage value and the compensation current value are obtained based on the durability test of the electronically controlled vibration damper.

3. The suspension damping compensation method of claim 1, wherein, The steps for monitoring the vehicle's driving status parameters are performed periodically; In response to the driving state parameters indicating that the vehicle is in a steady-state condition, the system detects road surface roughness and the output electrical signal of the electronically controlled shock absorber in the suspension, including: When the number of times the vehicle is detected to be in the steady-state condition reaches a preset number, the detection of the road surface roughness and the output electrical signal of the electronically controlled shock absorber is activated.

4. The suspension damping compensation method as described in claim 1, characterized in that, Compensating for the damping output of the electronically controlled vibration damper includes: The current compensation current value is added to the initial control current value of the electronically controlled vibration damper to obtain the actual control current value of the electronically controlled vibration damper, so that the actual output damping force of the electronically controlled vibration damper based on the actual control current value is equal to the target damping force. The initial control current value and the target damping force are calculated based on the vehicle's current operating conditions.

5. A suspension damping compensation system for implementing the suspension damping compensation method as described in any one of claims 1 to 4, characterized in that, The suspension damping compensation system includes: The status monitoring trigger module is configured to monitor the vehicle's driving status parameters in response to the vehicle's total mileage meeting a mileage threshold. The road surface detection trigger module is configured to detect road surface roughness and the output electrical signal of the electronically controlled shock absorber in the suspension in response to the driving state parameters indicating that the vehicle is in a steady state. The compensation current acquisition module is configured to respond to the compensation condition of the output electrical signal of the electronically controlled shock absorber satisfying the current road roughness, and obtain the current compensation current value corresponding to the current mileage value of the vehicle according to the mapping relationship between the mileage value and the compensation current value. The damping compensation control module is configured to compensate the damping output of the electronically controlled vibration damper based on the current compensation current value.

6. An electronic device, characterized in that, include: processor; A memory, wherein executable instructions are stored; When the executable instructions are executed by the processor, they implement the suspension damping compensation method as described in any one of claims 1 to 4.

7. A computer-readable storage medium for storing a program, characterized in that, When the program is executed by the processor, it implements the suspension damping compensation method as described in any one of claims 1 to 4.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the suspension damping compensation method as described in any one of claims 1 to 4.

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