Vehicle control method and device, vehicle, storage medium and product

Abstract

The embodiment of the invention provides a vehicle control method and device, a vehicle, a storage medium and a product. The method comprises the steps that under the condition that a vehicle body posture angle of a vehicle is not within a preset angle range, a target air spring needing to be adjusted in the air suspension and the corresponding adjusting direction of the target air spring are determined according to the deviation direction of the vehicle body posture angle relative to a preset value; and height adjustment is conducted on the target air spring according to the target step length and the adjustment direction until the vehicle body posture angle is within the preset angle range or the spring state data of the target air spring does not meet the attribute constraint condition, and independent, directional and refined control over all the air springs of the air suspension is achieved. The precision and efficiency of automatic leveling on complex road surfaces such as rugged road surfaces are remarkably improved, and the precision and safety of vehicle body leveling are improved, so that the use requirements of camping scenes are met.

Description

Technical Field

[0001] This application belongs to the field of vehicle technology, and in particular relates to a vehicle control method, device, vehicle, storage medium and product. Background Technology

[0002] With the development of car camping culture, the market has placed higher demands on the camping adaptability of vehicles. Vehicles equipped with camping leveling functions will see a significant increase in their product competitiveness. Currently, most models with camping leveling functions are active suspension models. Traditional coil spring / leaf spring suspensions lack height adjustment capabilities and cannot actively adapt to the complex terrain of camping scenarios to adjust the vehicle height. While mainstream air suspensions have some height adjustment capabilities, they cannot achieve precise vehicle leveling and cannot meet users' needs for vehicle stability during camping. Summary of the Invention

[0003] This application provides a vehicle control method, device, vehicle, storage medium, and product that can solve the technical problem that existing air suspension models cannot meet the precise leveling requirements in camping scenarios.

[0004] In a first aspect, embodiments of this application provide a vehicle control method, the method comprising: When the vehicle body posture angle is not within the preset angle range, the target air spring in the air suspension that needs to be adjusted and its corresponding adjustment direction are determined according to the deviation direction of the vehicle body posture angle relative to the preset value. The height of the target air spring is adjusted according to the target step size and the adjustment direction until the vehicle body posture angle is within the preset angle range or the spring state data of the target air spring does not meet the attribute constraint conditions.

[0005] In one feasible implementation, the vehicle body attitude angle includes the vehicle pitch angle and the vehicle roll angle; the step of determining the target air spring in the air suspension to be adjusted and its corresponding adjustment direction based on the deviation direction of the vehicle body attitude angle from the preset value when the vehicle body attitude angle is not within the preset angle range includes: The vehicle pitch angle and vehicle roll angle are compared with their respective preset angle ranges; If the vehicle pitch angle and / or the vehicle roll angle are not within the corresponding preset angle range, the target air spring in the air suspension to be adjusted and its corresponding adjustment direction are determined according to the deviation direction of the vehicle pitch angle and / or the vehicle roll angle relative to the preset value.

[0006] In one feasible implementation, the step of determining the target air spring in the air suspension to be adjusted and its corresponding adjustment direction based on the deviation direction of the vehicle pitch angle and / or the vehicle roll angle from the preset angle range when the vehicle pitch angle and / or the vehicle roll angle are not within the corresponding preset angle range includes: If the vehicle pitch angle is not within the corresponding preset angle range, it is determined that all the multiple air springs included in the air suspension are target air springs that need to be height adjusted. When the deviation direction of the vehicle pitch angle relative to the preset value is a positive deviation, it is determined that the adjustment direction of the air springs located at both ends of the front axle of the vehicle is to raise, and the adjustment direction of the air springs located at both ends of the rear axle of the vehicle is to lower. When the deviation direction of the vehicle pitch angle relative to the preset value is negative, the adjustment direction of the air springs located at both ends of the front axle is determined to be downward adjustment, and the adjustment direction of the air springs located at both ends of the rear axle is determined to be upward adjustment.

[0007] In one feasible implementation, the step of determining the target air spring in the air suspension to be adjusted and its corresponding adjustment direction based on the deviation direction of the vehicle pitch angle and / or the vehicle roll angle from the preset angle range when the vehicle pitch angle and / or the vehicle roll angle are not within the corresponding preset angle range includes: If the vehicle body roll angle is not within the corresponding preset angle range, it is determined that all the multiple air springs included in the air suspension are target air springs that need to be height adjusted. When the deviation direction of the vehicle body roll angle relative to the preset value is a positive deviation, the adjustment direction of the air spring located at the left end of the front axle and the air spring located at the left end of the rear axle is determined to be a downward adjustment, and the adjustment direction of the air spring located at the right end of the front axle and the air spring located at the right end of the rear axle is determined to be a upward adjustment; the left end and the right end are determined with the longitudinal center plane of the vehicle as a reference. When the deviation direction of the vehicle body roll angle relative to the preset value is negative, it is determined that the adjustment direction of the air spring located at the left end of the front axle and the air spring located at the left end of the rear axle is both upward adjustment, and it is determined that the adjustment direction of the air spring located at the right end of the front axle and the air spring located at the right end of the rear axle is both downward adjustment.

[0008] In one feasible implementation, the step of determining the target air spring in the air suspension to be adjusted and its corresponding adjustment direction based on the deviation direction of the vehicle pitch angle and / or the vehicle roll angle from the preset angle range when the vehicle pitch angle and / or the vehicle roll angle are not within the corresponding preset angle range includes: When both the vehicle roll angle and the vehicle pitch angle are not within the corresponding preset angle range, and the deviation direction of the vehicle roll angle relative to the preset value is a positive deviation, and the deviation direction of the vehicle pitch angle relative to the preset value is a positive deviation, the air spring located at the left end of the rear axle and the air spring located at the right end of the front axle are determined as target air springs. The adjustment direction of the air spring at the left end of the rear axle is determined to be a lowering adjustment, and the adjustment direction of the air spring at the right end of the front axle is determined to be a raising adjustment. The left end and the right end are determined with the longitudinal center plane of the vehicle as a reference. When both the vehicle body roll angle and the vehicle body pitch angle are not within the corresponding preset angle range, and the deviation direction of the vehicle body roll angle relative to the preset value is negative and the deviation direction of the vehicle body pitch angle relative to the preset value is positive, the air spring located at the right end of the rear axle and the air spring located at the left end of the front axle are determined as target air springs. The adjustment direction of the air spring at the right end of the rear axle is determined to be lowering adjustment, and the adjustment direction of the air spring at the left end of the front axle is determined to be raising adjustment. When both the vehicle body roll angle and the vehicle body pitch angle are not within the corresponding preset angle range, and the deviation direction of the vehicle body roll angle relative to the preset value is negative and the deviation direction of the vehicle body pitch angle relative to the preset value is negative, the air spring located at the left end of the rear axle and the air spring located at the right end of the front axle are determined as target air springs, the adjustment direction of the air spring at the left end of the rear axle is determined to be lifting adjustment, and the adjustment direction of the air spring at the right end of the front axle is determined to be lowering adjustment. When both the vehicle roll angle and the vehicle pitch angle are not within the corresponding preset angle range, and the deviation direction of the vehicle roll angle relative to the preset value is a positive deviation and the deviation direction of the vehicle pitch angle relative to the preset value is a negative deviation, the air spring located at the right end of the rear axle and the air spring located at the left end of the front axle are determined as target air springs. The adjustment direction of the air spring at the right end of the rear axle is determined to be a raise adjustment, and the adjustment direction of the air spring at the left end of the front axle is determined to be a lower adjustment.

[0009] In one feasible implementation, the step of adjusting the height of the target air spring according to the target step size and the adjustment direction until the vehicle body posture angle is within the preset angle range or the spring state data of the target air spring does not meet the attribute constraint conditions includes: The height of the target air spring is adjusted according to the target step size and the adjustment direction; If the current adjustment task ends and the vehicle body posture angle is not within the preset angle range, return to the step of determining the target air spring in the air suspension to be adjusted and its corresponding adjustment direction based on the deviation direction of the vehicle body posture angle relative to the preset value, until the vehicle body posture angle is within the preset angle range or the spring state data of the target air spring does not meet the attribute constraint conditions.

[0010] In one feasible implementation, the step of adjusting the height of the target air spring according to the target step size and the adjustment direction includes: In the presence of multiple target air springs, the priority order of height adjustment is determined based on the mechanical position of each target air spring and the direction of deviation of the vehicle body posture angle from a preset value. According to the priority order, the height of each target air spring is adjusted sequentially according to the target step size and the adjustment direction of each target air spring.

[0011] In one feasible implementation, the attribute constraint includes at least one of the following: The spring height is within the preset height range; The air pressure inside the air spring is within the preset air pressure range.

[0012] In one feasible implementation, when the vehicle's body posture angle is not within a preset angle range, determining the target air spring in the air suspension to be adjusted and its corresponding adjustment direction based on the deviation direction of the body posture angle relative to a preset value; before the step of determining the target air spring as an air spring included in the vehicle's air suspension, the method further includes: In response to the vehicle's body leveling command in camping mode, the original attitude angle signal of the vehicle is acquired. The original attitude angle signal is filtered to obtain the vehicle body attitude angle.

[0013] Secondly, embodiments of this application provide a vehicle control device, the device comprising: The processing module is used to determine the target air spring in the air suspension that needs to be adjusted and its corresponding adjustment direction based on the deviation direction of the vehicle body posture angle from the preset value when the vehicle body posture angle is not within the preset angle range. The adjustment module is used to adjust the height of the target air spring according to the target step size and the adjustment direction until the vehicle body posture angle is within the preset angle range or the spring state data of the target air spring does not meet the attribute constraint conditions.

[0014] Thirdly, embodiments of this application provide a vehicle, the vehicle including: a processor, and a memory storing computer program instructions; the processor reads and executes the computer program instructions to implement the vehicle control method as described in the first aspect.

[0015] Fourthly, embodiments of this application provide a computer storage medium on which computer program instructions are stored, and when executed by a processor, the computer program instructions implement the vehicle control method of the first aspect.

[0016] Fifthly, embodiments of this application provide a computer program product in which instructions, when executed by a processor of an electronic device, cause the electronic device to perform the vehicle control method as described in the first aspect.

[0017] The vehicle control method, device, vehicle, storage medium, and product of this application embodiment, by first determining the target air spring to be adjusted and the adjustment direction according to the deviation direction of the attitude angle relative to the preset value when the vehicle body attitude angle exceeds the preset range, and then controlling the target air spring to adjust its height according to the target step length and the determined adjustment direction, until the vehicle body attitude angle reaches the standard or the adjustment mechanism state does not meet the attribute constraint conditions, achieves independent, directional, and precise control of each air spring of the air suspension, significantly improves the accuracy and efficiency of automatic leveling on complex road surfaces such as rugged roads, and improves the accuracy and safety of vehicle body leveling, thereby meeting the usage needs of camping scenarios. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic flowchart of an embodiment of a vehicle control method provided in this application; Figure 2 This is a schematic diagram of the angle and direction of a vehicle control method provided in Embodiment 1 of this application; Figure 3 This is a schematic flowchart of a second embodiment of a vehicle control method provided in this application; Figure 4This is a schematic diagram of the axle end position of a vehicle control method provided in Embodiment 2 of this application; Figure 5 This is a schematic flowchart of Embodiment 3 of a vehicle control method provided in this application; Figure 6 This is a schematic diagram of the leveling process of a vehicle control method provided in Embodiment 3 of this application; Figure 7 This is another leveling process diagram of a vehicle control method provided in Embodiment 3 of this application; Figure 8 This is a schematic diagram of another leveling process of a vehicle control method provided in Embodiment 3 of this application; Figure 9 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application; Figure 10 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0020] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0021] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or 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, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0022] It should be noted that the acquisition, storage, use, and processing of data in this application embodiment all comply with the relevant provisions of national laws and regulations.

[0023] It should be noted that in the embodiments of this application, certain software, components, models and other existing solutions in the industry may be mentioned. These should be regarded as exemplary and are only intended to illustrate the feasibility of implementing the technical solution of this application. However, it does not mean that the applicant has used or necessarily used the solution.

[0024] In the current technology, most vehicles with camping leveling functions are active suspension vehicles; traditional coil spring / leaf spring suspensions lack height adjustment capabilities and cannot actively adapt to terrain to adjust the vehicle height. Although mainstream air suspensions have height adjustment functions, they cannot individually adjust the height of each wheel to achieve vehicle leveling for complex road surfaces. Therefore, there is still a technological gap in the field of camping leveling for air suspension vehicles.

[0025] To address the problems of the prior art, embodiments of this application provide a vehicle control method, apparatus, vehicle, storage medium, and product. The vehicle control method provided in this application embodiment will be described first below.

[0026] Figure 1 A schematic flowchart of a vehicle control method according to an embodiment of this application is shown. Figure 1 As shown, the method may include steps 210-220: Step 210: When the vehicle body posture angle is not within the preset angle range, determine the target air spring in the air suspension that needs to be adjusted and its corresponding adjustment direction according to the deviation direction of the vehicle body posture angle relative to the preset value.

[0027] The execution subject of this embodiment can be a vehicle equipped with an air suspension. The air suspension includes multiple sets of air springs corresponding to multiple axles of the vehicle (e.g., front axle, rear axle), and at least one air spring is symmetrically arranged at both ends of each axle. As the core elastic element of the air suspension, the air spring can change its height through inflation / deflation operations, thereby realizing the overall or partial height adjustment and attitude control of the vehicle body.

[0028] Vehicle attitude angle refers to the spatial angle of a vehicle relative to a horizontal reference plane, measured in real time by vehicle attitude sensors (such as gyroscopes and accelerometers), including but not limited to vehicle pitch angle and vehicle roll angle. The preset angle range is a pre-defined reasonable interval for vehicle attitude angles. When multiple parameters exist in the vehicle attitude angle, each parameter corresponds to an independent preset angle range. The preset value is a pre-set reference value used to distinguish the positive and negative directions of the vehicle attitude angle; in this embodiment, it is set to 0, but it can be adjusted as needed. The deviation direction refers to the directional determination result obtained by comparing the vehicle attitude angle with the preset value, used to clearly characterize the positive or negative deviation of the vehicle attitude angle from the preset reference.

[0029] Optionally, after the vehicle is stationary and camping mode is activated, the vehicle controller continuously monitors whether the vehicle body posture angle is within a preset angle range. If the vehicle body posture angle includes multiple parameters, each parameter is compared with its corresponding preset angle range. If any parameter is outside the preset angle range, the deviation direction of the vehicle body posture angle corresponding to that parameter relative to the preset value is first obtained. Then, based on the mechanical relationship between the deviation direction and vehicle body posture adjustment, the corresponding part of the vehicle body (e.g., the wheel) that needs to be offset by height adjustment is located, and the air spring corresponding to that part is identified as the target air spring. Simultaneously, the adjustment direction is determined according to the deviation correction requirement, that is, the posture correction force opposite to the deviation direction is generated by adjusting the height (raising / lowering) of the target air spring, so that the vehicle body posture returns to the preset range. Here, the target air spring refers to the specific air spring in the air suspension that is determined to need to be adjusted by height to correct the vehicle body posture deviation.

[0030] In one possible implementation, steps A11-A12 may be included before step 210: Step A11: In response to the vehicle's body leveling command in camping mode, acquire the vehicle's original attitude angle signal.

[0031] Step A12: Filter the original attitude angle signal to obtain the vehicle body attitude angle.

[0032] The vehicle leveling command in camping mode refers to the control command that activates the automatic vehicle leveling function after the vehicle enters camping mode, either actively triggered by the user or automatically issued by system conditions (such as the vehicle being stationary). The original attitude angle signal refers to the vehicle attitude data directly collected by the vehicle's onboard attitude sensors (such as gyroscopes and accelerometers) without signal processing, including but not limited to the initial acquisition signals of the vehicle pitch angle and vehicle roll angle. This signal is susceptible to environmental interference and contains noise.

[0033] When the vehicle enters camping mode, if a vehicle leveling command is detected, the vehicle's attitude sensors (such as gyroscopes and accelerometers) are triggered to acquire data, obtaining the vehicle's current raw attitude angle signal. A first-order low-pass filter is then applied to the acquired raw attitude angle signal. This filtering operation eliminates environmental noise in the raw signal, resulting in a smooth and stable vehicle attitude angle. In this embodiment, the vehicle pitch angle and roll angle included in the vehicle attitude angle are based on the vehicle's right-hand coordinate system, where the Z-axis points upwards, the Y-axis points in the vehicle's forward direction, and the X-axis points to the left side of the vehicle. The positive and negative relationships of each angle are shown in Figure 2.

[0034] In this embodiment, the original attitude angle signal is acquired in a timely manner by responding to the vehicle leveling command in camping mode, and the signal noise is eliminated by first-order low-pass filtering. This not only achieves accurate triggering of the vehicle leveling function, but also ensures that the output vehicle attitude angle is accurate and stable. This provides reliable basic data input for subsequent vehicle attitude determination and leveling operation, effectively improving the accuracy and stability of the vehicle leveling process in camping mode.

[0035] Step 220: Adjust the height of the target air spring according to the target step length and the adjustment direction until the vehicle body posture angle is within the preset angle range or the spring state data of the target air spring does not meet the attribute constraint conditions.

[0036] The target step length refers to the change in the height of the target air spring during a single adjustment. The target step length can be a preset fixed value or dynamically adjusted according to the working conditions. In this embodiment, to ensure the controllability and smoothness of the adjustment process, the target step length is set to a fixed value (X millimeters). When adjusting the height of multiple target air springs, all target air springs use the same target step length.

[0037] Spring state data are core parameters characterizing the working state of a target air spring, including but not limited to current air pressure and spring height. Attribute constraints are pre-set threshold ranges for key operating state parameters of the air spring to ensure its structural safety and operational reliability.

[0038] Optionally, based on the target step length and adjustment direction, the target air spring is adjusted once or continuously (inflated to raise or deflated to lower); during the adjustment process, the vehicle body attitude angle and the spring state data of the target air spring are monitored in real time; if the vehicle body attitude angle returns to the preset angle range, or if the spring state data is found to be unsatisfactory, the adjustment operation of the target air spring is stopped immediately.

[0039] In one feasible implementation, the attribute constraints include at least one of the following: the height of the air spring is within a preset height range; the air pressure inside the air spring is within a preset air pressure range.

[0040] In some embodiments, the attribute constraints may include, but are not limited to, the following constraints: 1. The sprung height of the air spring is within a preset height range: The sprung height refers to the actual height of the part of the air spring supporting the vehicle body. The preset height range is a threshold range set based on the structural tensile / compression limit of the air spring, used to avoid structural damage and elastic performance failure of the air spring due to exceeding the height limit. 2. The air pressure inside the air spring is within a preset air pressure range: The preset air pressure range is a threshold set by combining the air spring's pressure resistance limit and the air pressure range corresponding to normal load-bearing, used to prevent excessive air pressure from causing the air spring components to burst, or excessive air pressure from causing insufficient load-bearing capacity and failure of the attitude adjustment function. For example, if the spring state data of the target air spring does not meet any of the attribute constraints, then it is determined that the spring state data of the target air spring does not meet the attribute constraints.

[0041] In this embodiment, by setting threshold constraints on the spring height and air pressure of the air spring, the structural safety and operational reliability of the air spring are ensured, while a safety boundary is defined for the vehicle body posture adjustment operation, thereby improving the safety and stability of the overall adjustment process.

[0042] This embodiment achieves independent, directional, and precise control of each air spring in the air suspension when the vehicle body posture angle exceeds a preset range. It first determines the target air spring and adjustment direction based on the deviation direction of the posture angle from the preset value, and then controls the target air spring to adjust its height according to the target step length and the determined adjustment direction until the vehicle body posture angle reaches the standard or the adjustment mechanism does not meet the attribute constraint conditions. This significantly improves the accuracy and efficiency of automatic leveling on complex road surfaces such as rugged roads, and enhances the precision and safety of vehicle body leveling, thereby meeting the usage requirements of camping scenarios.

[0043] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 3 In the vehicle control method, the vehicle attitude angle includes the vehicle pitch angle and the vehicle roll angle; step 210 may include steps 310-320: Step 310: Compare the vehicle pitch angle and the vehicle roll angle with the corresponding preset angle ranges.

[0044] Step 320: If the vehicle pitch angle and / or the vehicle roll angle are not within the corresponding preset angle range, determine the target air spring in the air suspension that needs to be adjusted and its corresponding adjustment direction based on the deviation direction of the vehicle pitch angle and / or the vehicle roll angle relative to the preset value.

[0045] The vehicle pitch angle is the longitudinal tilt angle of a vehicle relative to a horizontal reference plane, used to characterize the height difference between the front and rear of the vehicle; the vehicle roll angle is the transverse tilt angle of a vehicle relative to a horizontal reference plane, used to characterize the height difference between the left and right sides of the vehicle.

[0046] Optionally, the vehicle controller acquires the filtered vehicle pitch angle and vehicle roll angle, compares the two angle parameters with their respective preset angle ranges one by one, and determines whether each parameter is within the compliant range, thereby determining whether there is any abnormality in the vehicle posture.

[0047] When any angle parameter is not within the corresponding preset range, the deviation direction of the vehicle body posture angle corresponding to that parameter relative to the preset value is first obtained. Then, based on the mechanical relationship between the deviation direction and the vehicle body posture adjustment, the corresponding part of the vehicle body (e.g., the wheel) that needs to be offset by height adjustment is located, and the air spring corresponding to that part is identified as the target air spring. At the same time, the adjustment direction is determined according to the deviation correction requirement, that is, the posture correction force opposite to the deviation direction is generated by adjusting the height (raising / lowering) of the target air spring, so that the vehicle body posture returns to the preset range. For example, when the vehicle body pitch angle is not within the corresponding preset angle range, and the deviation direction of the vehicle body pitch angle relative to the preset value is a positive deviation (i.e., the vehicle body pitch angle is greater than zero, corresponding to a posture where the front of the vehicle is too high), all air springs included in the air suspension are target air springs. Among them, the adjustment direction of the air springs located at both ends of the front axle of the vehicle (i.e., the left front and right front air springs) is raised, and the adjustment direction of the air springs located at both ends of the rear axle of the vehicle (i.e., the left rear and right rear air springs) is lowered. In this embodiment, for ease of understanding, it is now referred to as Figure 4 The definitions of left and right ends are as follows: With the longitudinal center plane of the vehicle as the reference, when standing behind the vehicle and observing along the factory-marked forward direction, the end of the shaft located to the left of the longitudinal center plane is the left end of the shaft, and the end of the shaft located to the right of the longitudinal center plane is the right end of the shaft.

[0048] In one possible implementation, step 320 may include steps B11-B13: Step B11: If the vehicle pitch angle is not within the corresponding preset angle range, determine that all the multiple air springs included in the air suspension are target air springs that need to be height adjusted.

[0049] Step B12: When the deviation direction of the vehicle pitch angle relative to the preset value is positive, it is determined that the adjustment direction of the air springs located at both ends of the front axle of the vehicle is to raise, and the adjustment direction of the air springs located at both ends of the rear axle of the vehicle is to lower.

[0050] Step B13: When the deviation direction of the vehicle pitch angle relative to the preset value is negative, determine that the adjustment direction of the air springs at both ends of the front axle of the vehicle is downward adjustment, and the adjustment direction of the air springs at both ends of the rear axle of the vehicle is upward adjustment.

[0051] Optionally, if only the vehicle pitch angle is outside the corresponding preset angle range in the vehicle attitude angle, it indicates an abnormal longitudinal attitude of the vehicle. In this case, all air springs included in the air suspension are identified as target air springs requiring height adjustment. If it is further determined that the deviation of the vehicle pitch angle from the preset value is a positive deviation, i.e., the vehicle pitch angle is greater than zero, and the vehicle is in an attitude where the front is higher and the rear is lower, based on the mechanical correlation logic of longitudinal attitude correction, it is determined that the adjustment direction of the air springs located at both ends of the front axle (i.e., the left front and right front air springs) is to be raised, and the adjustment direction of the air springs located at both ends of the rear axle (i.e., the left rear and right rear air springs) is to be lowered. The pitch correction force is generated by the reverse height adjustment of the front and rear axle air springs, so that the longitudinal attitude of the vehicle returns to a horizontal state. If the deviation of the vehicle's pitch angle from the preset value is determined to be negative, i.e., the pitch angle is less than zero and the vehicle is in a posture with the front of the vehicle lower and the rear of the vehicle higher, then the adjustment direction of the air springs at both ends of the front axle is determined to be lowering, and the adjustment direction of the air springs at both ends of the rear axle is determined to be raising. By adjusting the height of the air springs at the front and rear axles in opposite directions, the longitudinal tilt deviation of the vehicle body is offset, and the longitudinal posture is leveled.

[0052] In this embodiment, for scenarios with abnormal vehicle pitch angle, by setting all air springs as target components and performing coordinated adjustment of the front and rear axles lifting in opposite directions, the longitudinal tilt deviation of the vehicle body can be quickly offset, and the longitudinal attitude leveling of the vehicle body can be accurately achieved. At the same time, the targeting and execution efficiency of pitch attitude adjustment are improved.

[0053] In one feasible implementation, step 320 may include steps C11-C13: Step C11: If the vehicle body roll angle is not within the corresponding preset angle range, determine that all the multiple air springs included in the air suspension are target air springs that need to be height adjusted.

[0054] Step C12: When the deviation direction of the vehicle body roll angle relative to the preset value is a positive deviation, it is determined that the adjustment direction of the air spring located at the left end of the front axle and the air spring located at the left end of the rear axle is both downward adjustment, and the adjustment direction of the air spring located at the right end of the front axle and the air spring located at the right end of the rear axle is both upward adjustment; the left end and the right end are determined with the longitudinal center plane of the vehicle as a reference.

[0055] Step C13: When the deviation direction of the vehicle body roll angle relative to the preset value is negative, determine that the adjustment direction of the air spring located at the left end of the front axle and the air spring located at the left end of the rear axle is both upward adjustment, and determine that the adjustment direction of the air spring located at the right end of the front axle and the air spring located at the right end of the rear axle is both downward adjustment.

[0056] Optionally, if only the vehicle roll angle is outside the corresponding preset angle range in the vehicle posture angle, it indicates an abnormal lateral posture. In this case, all air springs included in the air suspension are identified as target air springs requiring height adjustment. If it is further determined that the deviation of the vehicle roll angle from the preset value is a positive deviation, i.e., the vehicle roll angle is greater than zero, and the vehicle is in a posture with the left side higher and the right side lower, based on the mechanical correlation logic of lateral posture correction, it is determined that the adjustment direction of the air springs located at the left end of the front axle and the left end of the rear axle is to lower, and the adjustment direction of the air springs located at the right end of the front axle and the right end of the rear axle is to raise. The roll correction force is generated by the opposite height adjustment of the air springs on the left and right sides of the vehicle, so that the lateral posture of the vehicle returns to a horizontal state. If the deviation of the vehicle body roll angle from the preset value is determined to be negative, that is, the vehicle body roll angle is less than zero, and the vehicle is in a posture with the right side higher and the left side lower, then the adjustment direction of the air springs located at the left end of the front axle and the left end of the rear axle is determined to be to raise, and the adjustment direction of the air springs located at the right end of the front axle and the right end of the rear axle is determined to be to lower. By adjusting the height of the air springs on the left and right sides of the vehicle body in opposite directions, the lateral tilt deviation of the vehicle body is offset, and the lateral posture is leveled.

[0057] In this embodiment, for scenarios with abnormal body roll angle, by setting all air springs as target components and performing coordinated adjustment of reverse lifting at both ends of the axle, the lateral tilt deviation of the body can be quickly offset, and the lateral attitude leveling of the body can be accurately achieved. At the same time, the targeting and execution efficiency of the roll attitude adjustment are improved.

[0058] In one possible implementation, step 320 may include steps D11-D14: Step D11: When both the vehicle roll angle and the vehicle pitch angle are not within the corresponding preset angle range, and the deviation direction of the vehicle roll angle relative to the preset value is a positive deviation, and the deviation direction of the vehicle pitch angle relative to the preset value is a positive deviation, the air spring located at the left end of the rear axle and the air spring located at the right end of the front axle are determined as target air springs. The adjustment direction of the air spring at the left end of the rear axle is determined to be a lowering adjustment, and the adjustment direction of the air spring at the right end of the front axle is determined to be a raising adjustment. The left end and the right end are determined with the longitudinal center plane of the vehicle as a reference.

[0059] Step D12: When both the vehicle roll angle and the vehicle pitch angle are not within the corresponding preset angle range, and the deviation direction of the vehicle roll angle relative to the preset value is negative and the deviation direction of the vehicle pitch angle relative to the preset value is positive, the air spring located at the right end of the rear axle and the air spring located at the left end of the front axle are determined as target air springs. The adjustment direction of the air spring at the right end of the rear axle is determined to be lowering adjustment, and the adjustment direction of the air spring at the left end of the front axle is determined to be raising adjustment.

[0060] Step D13: When both the vehicle roll angle and the vehicle pitch angle are not within the corresponding preset angle range, and the deviation direction of the vehicle roll angle relative to the preset value is negative, and the deviation direction of the vehicle pitch angle relative to the preset value is negative, the air spring located at the left end of the rear axle and the air spring located at the right end of the front axle are determined as target air springs. The adjustment direction of the air spring at the left end of the rear axle is determined to be a raise adjustment, and the adjustment direction of the air spring at the right end of the front axle is determined to be a lower adjustment.

[0061] Step D14: When the vehicle body roll angle and the vehicle body pitch angle are not within the corresponding preset angle range, and the deviation direction of the vehicle body roll angle relative to the preset value is a positive deviation and the deviation direction of the vehicle body pitch angle relative to the preset value is a negative deviation, the air spring located at the right end of the rear axle and the air spring located at the left end of the front axle are determined as target air springs. The adjustment direction of the air spring at the right end of the rear axle is determined to be a raise adjustment, and the adjustment direction of the air spring at the left end of the front axle is determined to be a lower adjustment.

[0062] Optionally, if both the body roll angle and the body pitch angle are not within their respective preset angle ranges, it indicates an abnormal composite vehicle posture. If, in this case, the body roll angle and body pitch angle are further determined to be positively deviated (i.e., both are greater than zero), the vehicle exhibits an abnormal composite posture with the front of the vehicle tilted upwards and the left side raised. Based on the posture correction mechanics logic of the composite deviation, the air springs at the left end of the rear axle and the right end of the front axle are selected as target air springs. The adjustment direction of the air spring at the left end of the rear axle is set to lower, and the adjustment direction of the air spring at the right end of the front axle is set to raise. Through precise adjustment at these two points, the composite tilt deviation is offset, allowing the vehicle to return to a level state.

[0063] Optionally, if both the body roll angle and the body pitch angle are not within the corresponding preset angle range in the vehicle attitude angle, and it is further determined that the body roll angle is a negative deviation and the body pitch angle is a positive deviation (i.e., the body roll angle is less than zero and the body pitch angle is greater than zero), the vehicle exhibits an abnormal composite attitude with the front of the vehicle tilted upwards and the right side raised. Based on the correction requirements of this deviation combination, the air spring at the right end of the rear axle and the air spring at the left end of the front axle are selected as target air springs. The adjustment direction of the air spring at the right end of the rear axle is set to lower and the adjustment direction of the air spring at the left end of the front axle is set to raise. By making targeted adjustments, the composite tilt of the lateral and longitudinal directions is offset, thereby achieving vehicle attitude correction.

[0064] Optionally, if both the body roll angle and the body pitch angle are not within the corresponding preset angle range in the vehicle attitude angle, and it is further determined that the body roll angle and the body pitch angle are negative deviations (i.e., the body roll angle is less than zero and the body pitch angle is less than zero), the vehicle exhibits an abnormal composite attitude with the front of the vehicle tilted down and the right side raised. Based on the mechanical correction logic of this deviation characteristic, the air spring at the left end of the rear axle and the air spring at the right end of the front axle are selected as target air springs. The adjustment direction of the air spring at the left end of the rear axle is set to increase and the adjustment direction of the air spring at the right end of the front axle is set to decrease. The composite tilt is offset by the reverse height adjustment, so that the vehicle body returns to a level attitude.

[0065] Optionally, if both the body roll angle and the body pitch angle are not within the corresponding preset angle range in the vehicle attitude angle, and it is further determined that the body roll angle is a positive deviation and the body pitch angle is a negative deviation (i.e., the body roll angle is greater than zero and the body pitch angle is less than zero), the vehicle exhibits an abnormal composite attitude with the front of the vehicle tilted down and the left side raised. Based on the correction requirement for this composite deviation, the air spring at the right end of the rear axle and the air spring at the left end of the front axle are selected as target air springs. The adjustment direction of the air spring at the right end of the rear axle is set to increase and the adjustment direction of the air spring at the left end of the front axle is set to decrease. By adjusting the precise points, the dual tilt deviations of the lateral and longitudinal directions are offset, and the vehicle attitude is leveled.

[0066] In this embodiment, for a complex attitude scenario where the vehicle body roll angle and pitch angle are abnormal at the same time, the air springs at specific points are selected as the adjustment objects by precisely matching the combination of deviation directions, and a targeted lifting adjustment direction is set. This can quickly offset the double tilt deviations in the lateral and longitudinal directions, achieving efficient and precise leveling of the vehicle body's complex attitude, while avoiding the redundant operation of full spring adjustment.

[0067] This embodiment compares the vehicle pitch angle and the vehicle roll angle with corresponding preset angle ranges. When the vehicle pitch angle and / or the vehicle roll angle are not within the corresponding preset angle ranges, the target air spring requiring adjustment and its corresponding adjustment direction are determined based on the deviation direction of the vehicle pitch angle and / or the vehicle roll angle relative to the preset values. By independently comparing the vehicle pitch angle and roll angle with their corresponding preset angle ranges, abnormal vehicle posture conditions are accurately determined. Based on the mechanical correlation logic between the deviation direction and posture adjustment, the target air spring and its adjustment direction are determined, providing a precise and reliable basis for subsequent vehicle leveling operations. This effectively improves the targeting and efficiency of vehicle posture adjustment in camping mode.

[0068] Based on any one or more embodiments of this application, in the third embodiment of this application, the content that is the same as or similar to the above embodiments can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 5 The method, step 220, may include steps 410-420: Step 410: Adjust the height of the target air spring according to the target step length and the adjustment direction.

[0069] Step 420: If the current adjustment task ends and the vehicle body posture angle is not within the preset angle range, return to the step of determining the target air spring in the air suspension to be adjusted and its corresponding adjustment direction based on the deviation direction of the vehicle body posture angle relative to the preset value, until the vehicle body posture angle is within the preset angle range or the spring state data of the target air spring does not meet the attribute constraint conditions.

[0070] The current adjustment task refers to the operation cycle of adjusting the height of the target air spring in a single operation according to the target step size and adjustment direction. Optionally, after determining the target air spring, adjustment direction, and target step size, the vehicle controller sends an adjustment command to the air suspension system's inflation / deflation control device. According to the command, the control device performs a height adjustment operation on the target air spring in the corresponding adjustment direction according to the target step size: If the adjustment direction is to raise the air spring, the inflation device is controlled to inflate a fixed amount of gas into the target air spring, increasing the spring height by one target step size; if the adjustment direction is to lower the air spring, the deflation device is controlled to release a fixed amount of gas from the target air spring, decreasing the spring height by one target step size, thus completing a single step-level height adjustment.

[0071] After the current adjustment task is completed, the vehicle controller first collects the adjusted vehicle body attitude angle and determines whether it is within the corresponding preset angle range. If the vehicle body attitude angle is still not within the preset angle range, the control flow returns to the step of determining the target air spring and its adjustment direction based on the deviation direction of the vehicle body attitude angle relative to the preset value. The target air spring and adjustment direction for the new round of adjustment are then determined, and the step-level adjustment in steps 410-420 is executed again. The above cyclic adjustment process continues until either of the following stopping conditions is met: 1) The vehicle body attitude angle is within the preset angle range; 2) The spring state data of the target air spring does not meet the attribute constraint conditions.

[0072] In one feasible implementation, step 220: adjusting the height of the target air spring according to the target step size and the adjustment direction may include steps E11-E12: Step E11: In the presence of multiple target air springs, determine the priority order of height adjustment based on the position of each target air spring and the direction of deviation of the vehicle body attitude angle from the preset value.

[0073] Step E12: According to the priority order, adjust the height of each target air spring in sequence according to the target step size and the adjustment direction of each target air spring.

[0074] The priority order of height adjustment refers to the order in which multiple target air springs perform height adjustment operations. This order is based on the matching degree between the installation position of the target air spring and the direction of the vehicle body attitude deviation. Optionally, the determination of the priority order needs to meet the constraint requirement that the vehicle is in a diving posture during the adjustment process, so as to avoid the risk of the vehicle body being excessively raised or overturned during the adjustment process, and to ensure the stability and safety of attitude adjustment.

[0075] After determining the presence of multiple target air springs, the vehicle controller first obtains the specific installation location of each target air spring (e.g., left / right end of the front axle, left / right end of the rear axle). Then, considering the deviation direction of the vehicle's attitude angle from a preset value, it determines the priority order of height adjustment. The vehicle controller performs height adjustment operations on each target air spring sequentially according to the priority order. For a single target air spring, it strictly follows its corresponding adjustment direction (raising or lowering) and completes a single height adjustment action according to the preset target step size. The adjustment process for the next priority target air spring is only initiated after the adjustment of the previous priority target air spring is completed. This avoids vehicle attitude fluctuations caused by simultaneous adjustment of multiple springs, ensuring the stability and accuracy of the adjustment process.

[0076] In this embodiment, for the adjustment scenario of multiple target air springs, the priority order is determined and the single adjustment of the target step size is performed sequentially, which avoids the vehicle body attitude fluctuation caused by the simultaneous adjustment of multiple air springs and ensures the stability, safety and accuracy of attitude adjustment.

[0077] Optionally, for ease of understanding, the leveling process in camping mode is illustrated with an example, in which... Figure 6 This is a leveling process for situations where both the vehicle body roll angle and pitch angle are not within the corresponding preset angle range. Figure 7 This is only a leveling process for when the vehicle body roll angle is not within the corresponding preset angle range. Figure 8 The leveling process is only for situations where the vehicle's pitch angle is not within the corresponding preset angle range: The vehicle controller detects that camping mode is activated and, upon receiving a vehicle leveling command while the mode is active, determines whether there is a deviation in the vehicle's posture. If both the pitch angle and roll angle are within the preset range, the leveling process terminates directly; if a deviation is detected, the corresponding deviation control branch is entered. In the following process description, air springs will be referred to simply as air springs.

[0078] For example: when both the vehicle roll angle and the vehicle pitch angle are not within the corresponding preset angle range, the system will enter the following multiple branches, such as... Figure 6 As shown, specifically branches 1-4: Branch 1: If both the vehicle pitch angle and the vehicle roll angle are greater than zero (i.e., the deviations of both relative to the preset values ​​are positive), then the left rear axle air spring and the right front axle air spring are determined as the target air springs. The adjustment direction of the left rear axle air spring is to decrease, and the adjustment direction of the right front axle air spring is to increase. The priority order of the two is: the left rear axle air spring has a higher priority than the right front axle air spring. During adjustment, first decrease the left rear axle air spring by X mm according to the target step size. After completing a single adjustment of the left rear axle air spring, increase the right front axle air spring by X mm according to the same target step size. After completing a single adjustment of the right front axle air spring, enter the next adjustment cycle. The cycle logic is: first decrease the left rear axle air spring by X mm, then increase the right front axle air spring by X mm.

[0079] Throughout the leveling process, two things are monitored in real time: first, whether the vehicle roll angle and vehicle pitch angle are both within their respective preset angle ranges; and second, whether each target air spring is in an unadjustable state (i.e., its spring state data does not meet the attribute constraints). If either of the above conditions is met, the current adjustment process is immediately terminated; if the monitoring result shows that either the vehicle roll angle or the vehicle pitch angle is not within its corresponding preset angle range, or both are not within their corresponding preset angle ranges, the system will switch to a leveling process that matches the current angle state and continue execution.

[0080] Branch 2: If the vehicle pitch angle is greater than zero and the vehicle roll angle is less than zero, then the right rear axle air spring and the left front axle air spring are identified as the target air springs. The adjustment direction of the right rear axle air spring is to lower it, and the adjustment direction of the left front axle air spring is to raise it. The priority order of the two is: the right rear axle air spring has a higher priority than the left front axle air spring. The logic in the leveling process is the same as the processing logic of Branch 1 above.

[0081] Branch 3: If both the vehicle pitch angle and the vehicle roll angle are less than zero, then the left rear axle air spring and the right front axle air spring are identified as the target air springs. The adjustment direction of the left rear axle air spring is to raise it, and the adjustment direction of the right front axle air spring is to lower it. The priority order of the two is: the right front axle air spring has a higher priority than the left rear axle air spring. The logic in the leveling process is the same as the processing logic in Branch 1 above.

[0082] Branch 4: If the vehicle pitch angle is less than zero and the vehicle roll angle is greater than zero, then the right rear axle air spring and the left front axle air spring are identified as the target air springs. The adjustment direction of the right rear axle air spring is to raise it, and the adjustment direction of the left front axle air spring is to lower it. The priority order of the two is: the left front axle air spring has a higher priority than the right rear axle air spring. The logic in the leveling process is the same as the processing logic in Branch 1 above.

[0083] For example: If only the vehicle body roll angle is not within the corresponding preset angle range, the system will enter the following multiple branches, such as... Figure 7 As shown, specifically branches 5-6: Branch 5: If the body roll angle is greater than zero, then all air springs included in the air suspension are determined to be target air springs. The adjustment direction of the right air spring at the front axle and the right air spring at the rear axle is to raise, and the adjustment direction of the left air spring at the front axle and the left air spring at the rear axle is to lower. The priority order is as follows: the left air spring at the front axle and the left air spring at the rear axle have the same priority, the right air spring at the front axle and the right air spring at the rear axle have the same priority, and the left air spring at the front axle and the left air spring at the rear axle have a higher priority than the right air spring at the front axle and the right air spring at the rear axle. The logic in the leveling process is the same as the processing logic in branch 1 above.

[0084] Branch 6: If the vehicle body roll angle is less than zero, then all air springs included in the air suspension are determined to be target air springs. The adjustment direction of the right air spring at the front axle and the right air spring at the rear axle is to lower, and the adjustment direction of the left air spring at the front axle and the left air spring at the rear axle is to raise. The priority order is as follows: the right air spring at the front axle and the right air spring at the rear axle have the same priority, the left air spring at the front axle and the left air spring at the rear axle have the same priority, and the right air spring at the front axle and the right air spring at the rear axle have a higher priority than the left air spring at the front axle and the left air spring at the rear axle. The logic in the leveling process is the same as the processing logic in Branch 1 above.

[0085] For example: When the vehicle body pitch angle is not within the corresponding preset angle range, the system enters the following multiple branches, such as... Figure 8 As shown, specifically branches 7-8: Branch 7: If the vehicle pitch angle is greater than zero, then all air springs included in the air suspension are determined to be target air springs. The adjustment direction of the front axle left end air spring and the front axle right end air spring is to raise, and the adjustment direction of the rear axle left end air spring and the rear axle right end air spring is to lower. The priority order is as follows: the rear axle left end air spring and the rear axle right end air spring have the same priority, the front axle left end air spring and the front axle right end air spring have the same priority, and the rear axle left end air spring and the rear axle right end air spring have a higher priority than the front axle left end air spring and the front axle right end air spring. The logic in the leveling process is the same as the processing logic of the above branch 1.

[0086] Branch 8: If the vehicle pitch angle is less than zero, then all air springs included in the air suspension are determined to be target air springs. The adjustment direction of the front axle left end air spring and the front axle right end air spring is to lower, and the adjustment direction of the rear axle left end air spring and the rear axle right end air spring is to raise. The priority order is as follows: the rear axle left end air spring and the rear axle right end air spring have the same priority, the front axle left end air spring and the front axle right end air spring have the same priority, and the front axle left end air spring and the front axle right end air spring have a higher priority than the rear axle left end air spring and the rear axle right end air spring. The logic in the leveling process is the same as the processing logic in Branch 1 above.

[0087] This embodiment adjusts the height of the target air spring according to the target step size and the adjustment direction. If the current adjustment task ends and the vehicle body posture angle is not within the preset angle range, the process returns to the step of determining the target air spring in the air suspension to be adjusted and its corresponding adjustment direction based on the deviation direction of the vehicle body posture angle relative to the preset value. This process continues until the vehicle body posture angle is within the preset angle range or the spring state data of the target air spring does not meet the attribute constraints. By precisely executing the directional adjustment of the target air spring according to the target step size and continuously correcting the posture using a cyclic adjustment mechanism until the vehicle body posture meets the standard or triggers safety constraints, the accuracy and thoroughness of vehicle body leveling are ensured. Furthermore, safety boundary control prevents component damage caused by over-adjustment, effectively improving the reliability, safety, and stability of the vehicle body posture adjustment process.

[0088] like Figure 9 As shown, this application embodiment provides a vehicle control device 200, which may include a processing module 201 and an adjustment module 202; The processing module 201 is used to determine the target air spring in the air suspension that needs to be adjusted and its corresponding adjustment direction based on the deviation direction of the vehicle body posture angle from the preset angle when the vehicle body posture angle is not within the preset angle range; the target air spring is the air spring included in the vehicle air suspension.

[0089] The adjustment module 202 is used to adjust the height of the target air spring according to the target step size and the adjustment direction until the vehicle body posture angle is within the preset angle range or the spring state data of the target air spring does not meet the attribute constraint conditions.

[0090] Optionally, the processing module 201 is further configured to: The vehicle pitch angle and vehicle roll angle are compared with their respective preset angle ranges; If the vehicle pitch angle and / or the vehicle roll angle are not within the corresponding preset angle range, the target air spring in the air suspension to be adjusted and its corresponding adjustment direction are determined according to the deviation direction of the vehicle pitch angle and / or the vehicle roll angle relative to the preset value.

[0091] Optionally, the processing module 201 is further configured to: If the vehicle pitch angle is not within the corresponding preset angle range, it is determined that all the multiple air springs included in the air suspension are target air springs that need to be height adjusted. When the deviation direction of the vehicle pitch angle relative to the preset value is a positive deviation, it is determined that the adjustment direction of the air springs located at both ends of the front axle of the vehicle is to raise, and the adjustment direction of the air springs located at both ends of the rear axle of the vehicle is to lower. When the deviation direction of the vehicle pitch angle relative to the preset value is negative, the adjustment direction of the air springs located at both ends of the front axle is determined to be downward adjustment, and the adjustment direction of the air springs located at both ends of the rear axle is determined to be upward adjustment.

[0092] Optionally, the processing module 201 is further configured to: If the vehicle body roll angle is not within the corresponding preset angle range, it is determined that all the multiple air springs included in the air suspension are target air springs that need to be height adjusted. When the deviation direction of the vehicle body roll angle relative to the preset value is a positive deviation, the adjustment direction of the air spring located at the left end of the front axle and the air spring located at the left end of the rear axle is determined to be a downward adjustment, and the adjustment direction of the air spring located at the right end of the front axle and the air spring located at the right end of the rear axle is determined to be a upward adjustment; the left end and the right end are determined with the longitudinal center plane of the vehicle as a reference. When the deviation direction of the vehicle body roll angle relative to the preset value is negative, it is determined that the adjustment direction of the air spring located at the left end of the front axle and the air spring located at the left end of the rear axle is both upward adjustment, and it is determined that the adjustment direction of the air spring located at the right end of the front axle and the air spring located at the right end of the rear axle is both downward adjustment.

[0093] Optionally, the processing module 201 is further configured to: When both the vehicle roll angle and the vehicle pitch angle are not within the corresponding preset angle range, and the deviation direction of the vehicle roll angle relative to the preset value is a positive deviation, and the deviation direction of the vehicle pitch angle relative to the preset value is a positive deviation, the air spring located at the left end of the rear axle and the air spring located at the right end of the front axle are determined as target air springs. The adjustment direction of the air spring at the left end of the rear axle is determined to be a lowering adjustment, and the adjustment direction of the air spring at the right end of the front axle is determined to be a raising adjustment. The left end and the right end are determined with the longitudinal center plane of the vehicle as a reference. When both the vehicle body roll angle and the vehicle body pitch angle are not within the corresponding preset angle range, and the deviation direction of the vehicle body roll angle relative to the preset value is negative and the deviation direction of the vehicle body pitch angle relative to the preset value is positive, the air spring located at the right end of the rear axle and the air spring located at the left end of the front axle are determined as target air springs. The adjustment direction of the air spring at the right end of the rear axle is determined to be lowering adjustment, and the adjustment direction of the air spring at the left end of the front axle is determined to be raising adjustment. When both the vehicle body roll angle and the vehicle body pitch angle are not within the corresponding preset angle range, and the deviation direction of the vehicle body roll angle relative to the preset value is negative and the deviation direction of the vehicle body pitch angle relative to the preset value is negative, the air spring located at the left end of the rear axle and the air spring located at the right end of the front axle are determined as target air springs, the adjustment direction of the air spring at the left end of the rear axle is determined to be lifting adjustment, and the adjustment direction of the air spring at the right end of the front axle is determined to be lowering adjustment. When both the vehicle roll angle and the vehicle pitch angle are not within the corresponding preset angle range, and the deviation direction of the vehicle roll angle relative to the preset value is a positive deviation and the deviation direction of the vehicle pitch angle relative to the preset value is a negative deviation, the air spring located at the right end of the rear axle and the air spring located at the left end of the front axle are determined as target air springs. The adjustment direction of the air spring at the right end of the rear axle is determined to be a raise adjustment, and the adjustment direction of the air spring at the left end of the front axle is determined to be a lower adjustment.

[0094] Optionally, the adjustment module 202 is further configured to: The height of the target air spring is adjusted according to the target step size and the adjustment direction; If the current adjustment task ends and the vehicle body posture angle is not within the preset angle range, return to the step of determining the target air spring in the air suspension to be adjusted and its corresponding adjustment direction based on the deviation direction of the vehicle body posture angle relative to the preset value, until the vehicle body posture angle is within the preset angle range or the spring state data of the target air spring does not meet the attribute constraint conditions.

[0095] Optionally, the adjustment module 202 is further configured to: In the presence of multiple target air springs, the priority order of height adjustment is determined based on the location of each target air spring and the direction of deviation of the vehicle body attitude angle from the preset value. According to the priority order, the height of each target air spring is adjusted sequentially according to the target step size and the adjustment direction of each target air spring.

[0096] Optionally, the processing module 201 is further configured to: In response to the vehicle's body leveling command in camping mode, the original attitude angle signal of the vehicle is acquired. The original attitude angle signal is filtered to obtain the vehicle body attitude angle.

[0097] Figure 10 A schematic diagram of the hardware structure of the vehicle provided in an embodiment of this application is shown.

[0098] The vehicle may include a processor 301 and a memory 302 storing computer program instructions.

[0099] Specifically, the processor 301 may include a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0100] Memory 302 may include mass storage for data or instructions. For example, and not limitingly, memory 302 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. In one instance, memory 302 may include removable or non-removable (or fixed) media, or memory 302 may be non-volatile solid-state memory. Memory 302 may be internal or external to the integrated gateway disaster recovery device.

[0101] In one instance, memory 302 may be read-only memory (ROM). In one instance, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0102] Memory 302 may include read-only memory (ROM), random access memory (RAM), disk storage media device, optical storage media device, flash memory device, electrical, optical, or other physical / tangible memory storage device. Therefore, generally, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of this disclosure.

[0103] The processor 301 reads and executes computer program instructions stored in the memory 302 to achieve... Figure 1 The vehicle control method in the illustrated embodiment.

[0104] In one example, the vehicle may also include a communication interface 303 and a bus 304. Wherein, for example... Figure 10 As shown, the processor 301, memory 302, and communication interface 303 are connected through bus 304 and complete communication with each other.

[0105] The communication interface 303 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0106] Bus 304 includes hardware, software, or both, that couples vehicle components together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 304 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0107] This vehicle can achieve a combination based on vehicle control methods. Figures 1-8 The method of vehicle control described.

[0108] Furthermore, in conjunction with the vehicle control methods in the above embodiments, this application embodiment can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the vehicle control methods in the above embodiments.

[0109] This application also provides a computer program product, including a computer program that, when executed by a processor, implements any of the vehicle control methods described in the above embodiments.

[0110] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0111] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, read-only memory (ROM), flash memory, erasable read-only memory (EROM), floppy disks, compact disc read-only memory (CD-ROM), optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0112] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0113] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0114] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A vehicle control method, characterized in that, The method includes: When the vehicle body posture angle is not within the preset angle range, the target air spring in the air suspension that needs to be adjusted and its corresponding adjustment direction are determined according to the deviation direction of the vehicle body posture angle relative to the preset value. The height of the target air spring is adjusted according to the target step size and the adjustment direction until the vehicle body posture angle is within the preset angle range or the spring state data of the target air spring does not meet the attribute constraint conditions.

2. The method according to claim 1, characterized in that, The vehicle body attitude angles include the vehicle pitch angle and the vehicle roll angle; the step of determining the target air spring in the air suspension to be adjusted and its corresponding adjustment direction based on the deviation direction of the vehicle body attitude angle from the preset value when the vehicle body attitude angle is not within the preset angle range includes: The vehicle pitch angle and vehicle roll angle are compared with their respective preset angle ranges; If the vehicle pitch angle and / or the vehicle roll angle are not within the corresponding preset angle range, the target air spring in the air suspension to be adjusted and its corresponding adjustment direction are determined according to the deviation direction of the vehicle pitch angle and / or the vehicle roll angle relative to the preset value.

3. The method according to claim 2, characterized in that, The step of determining the target air spring in the air suspension to be adjusted and its corresponding adjustment direction based on the deviation direction of the vehicle pitch angle and / or the vehicle roll angle from the preset angle when the vehicle pitch angle and / or the vehicle roll angle are not within the corresponding preset angle range includes: If the vehicle pitch angle is not within the corresponding preset angle range, it is determined that all the multiple air springs included in the air suspension are target air springs that need to be height adjusted. When the deviation direction of the vehicle pitch angle relative to the preset value is a positive deviation, it is determined that the adjustment direction of the air springs located at both ends of the front axle of the vehicle is to raise, and the adjustment direction of the air springs located at both ends of the rear axle of the vehicle is to lower. When the deviation direction of the vehicle pitch angle relative to the preset value is negative, the adjustment direction of the air springs located at both ends of the front axle is determined to be downward adjustment, and the adjustment direction of the air springs located at both ends of the rear axle is determined to be upward adjustment.

4. The method according to claim 2, characterized in that, The step of determining the target air spring in the air suspension to be adjusted and its corresponding adjustment direction based on the deviation direction of the vehicle pitch angle and / or the vehicle roll angle from the preset angle when the vehicle pitch angle and / or the vehicle roll angle are not within the corresponding preset angle range includes: If the vehicle body roll angle is not within the corresponding preset angle range, it is determined that all the multiple air springs included in the air suspension are target air springs that need to be height adjusted. When the deviation direction of the vehicle body roll angle relative to the preset value is a positive deviation, the adjustment direction of the air spring located at the left end of the front axle and the air spring located at the left end of the rear axle is determined to be a downward adjustment, and the adjustment direction of the air spring located at the right end of the front axle and the air spring located at the right end of the rear axle is determined to be a upward adjustment; the left end and the right end are determined with the longitudinal center plane of the vehicle as a reference. When the deviation direction of the vehicle body roll angle relative to the preset value is negative, it is determined that the adjustment direction of the air spring located at the left end of the front axle and the air spring located at the left end of the rear axle is both upward adjustment, and it is determined that the adjustment direction of the air spring located at the right end of the front axle and the air spring located at the right end of the rear axle is both downward adjustment.

5. The method according to claim 2, characterized in that, The step of determining the target air spring in the air suspension to be adjusted and its corresponding adjustment direction based on the deviation direction of the vehicle pitch angle and / or the vehicle roll angle from the preset angle when the vehicle pitch angle and / or the vehicle roll angle are not within the corresponding preset angle range includes: When both the vehicle roll angle and the vehicle pitch angle are not within the corresponding preset angle range, and the deviation direction of the vehicle roll angle relative to the preset value is a positive deviation, and the deviation direction of the vehicle pitch angle relative to the preset value is a positive deviation, the air spring located at the left end of the rear axle and the air spring located at the right end of the front axle are determined as target air springs. The adjustment direction of the air spring at the left end of the rear axle is determined to be a lowering adjustment, and the adjustment direction of the air spring at the right end of the front axle is determined to be a raising adjustment. The left end and the right end are determined with the longitudinal center plane of the vehicle as a reference. When both the vehicle body roll angle and the vehicle body pitch angle are not within the corresponding preset angle range, and the deviation direction of the vehicle body roll angle relative to the preset value is negative and the deviation direction of the vehicle body pitch angle relative to the preset value is positive, the air spring located at the right end of the rear axle and the air spring located at the left end of the front axle are determined as target air springs. The adjustment direction of the air spring at the right end of the rear axle is determined to be lowering adjustment, and the adjustment direction of the air spring at the left end of the front axle is determined to be raising adjustment. When both the vehicle body roll angle and the vehicle body pitch angle are not within the corresponding preset angle range, and the deviation direction of the vehicle body roll angle relative to the preset value is negative and the deviation direction of the vehicle body pitch angle relative to the preset value is negative, the air spring located at the left end of the rear axle and the air spring located at the right end of the front axle are determined as target air springs, the adjustment direction of the air spring at the left end of the rear axle is determined to be lifting adjustment, and the adjustment direction of the air spring at the right end of the front axle is determined to be lowering adjustment. When both the vehicle roll angle and the vehicle pitch angle are not within the corresponding preset angle range, and the deviation direction of the vehicle roll angle relative to the preset value is a positive deviation and the deviation direction of the vehicle pitch angle relative to the preset value is a negative deviation, the air spring located at the right end of the rear axle and the air spring located at the left end of the front axle are determined as target air springs. The adjustment direction of the air spring at the right end of the rear axle is determined to be a raise adjustment, and the adjustment direction of the air spring at the left end of the front axle is determined to be a lower adjustment.

6. The method according to claim 1, characterized in that, The step of adjusting the height of the target air spring according to the target step size and the adjustment direction until the vehicle body posture angle is within the preset angle range or the spring state data of the target air spring does not meet the attribute constraint conditions includes: The height of the target air spring is adjusted according to the target step size and the adjustment direction; If the current adjustment task ends and the vehicle body posture angle is not within the preset angle range, return to the step of determining the target air spring in the air suspension to be adjusted and its corresponding adjustment direction based on the deviation direction of the vehicle body posture angle relative to the preset value, until the vehicle body posture angle is within the preset angle range or the spring state data of the target air spring does not meet the attribute constraint conditions.

7. The method according to claim 1, characterized in that, The step of adjusting the height of the target air spring according to the target step size and the adjustment direction includes: In the presence of multiple target air springs, the priority order of height adjustment is determined based on the mechanical position of each target air spring and the direction of deviation of the vehicle body posture angle from a preset value. According to the priority order, the height of each target air spring is adjusted sequentially according to the target step size and the adjustment direction of each target air spring.

8. The method according to any one of claims 1 to 7, characterized in that, The attribute constraints include at least one of the following: The spring height is within the preset height range; The air pressure inside the air spring is within the preset air pressure range.

9. The method according to any one of claims 1 to 7, characterized in that, When the vehicle body posture angle is not within the preset angle range, the target air spring in the air suspension that needs to be adjusted and its corresponding adjustment direction are determined according to the deviation direction of the vehicle body posture angle relative to the preset value. Before the step of specifying the target air spring as an air spring included in the vehicle's air suspension, the method further includes: In response to the vehicle's body leveling command in camping mode, the original attitude angle signal of the vehicle is acquired. The original attitude angle signal is filtered to obtain the vehicle body attitude angle.

10. A vehicle control device, characterized in that, The device includes: The processing module is used to determine the target air spring in the air suspension that needs to be adjusted and its corresponding adjustment direction based on the deviation direction of the vehicle body posture angle from the preset value when the vehicle body posture angle is not within the preset angle range. The adjustment module is used to adjust the height of the target air spring according to the target step size and the adjustment direction until the vehicle body posture angle is within the preset angle range or the spring state data of the target air spring does not meet the attribute constraint conditions.

11. A vehicle, characterized in that, The vehicle includes: a processor and a memory storing computer program instructions; the processor reads and executes the computer program instructions to implement the vehicle control method as described in any one of claims 1-9.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions that, when executed by a processor, implement the vehicle control method as described in any one of claims 1-9.

13. A computer program product, characterized in that, When the instructions in the computer program product are executed by the processor of the electronic device, the electronic device causes the electronic device to perform the vehicle control method as described in any one of claims 1-9.

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