Vehicle preload adjusting method and vehicle

Abstract

The invention provides a preload adjusting method of a vehicle and the vehicle, the method is applied to the field of vehicle control, and the method comprises the steps that under the condition that the current vehicle body posture of the vehicle is inconsistent with the preset vehicle body posture, whether the preset condition is met or not is determined; and under the condition that the preset condition is met, the electric hydraulic pump is controlled to work so as to drive the preload device to conduct preload adjustment till the current vehicle body posture of the vehicle is adjusted to the preset vehicle body posture. According to the method, under the condition that the current vehicle body posture of the vehicle is inconsistent with the preset vehicle body posture, manual operation of a driver is not needed, the preload of the vehicle is automatically adjusted through the electric hydraulic pump, the current vehicle body posture of the vehicle is adjusted to the preset vehicle body posture, the adjusting accuracy is high, and the driving experience of the driver is further improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control, and more specifically, to a preload adjustment method for a vehicle and a vehicle in the field of vehicle control. Background Technology

[0002] Currently, vehicles are typically equipped with preload devices to adjust the vehicle's preload to meet the driver's individual needs. In most cases, preload adjustment is done manually by the driver, a complex process that results in a fixed preload position each time, failing to fully address complex driving demands. Alternatively, the driver can control a motor-driven preload device via buttons for automatic preload adjustment, but this relies heavily on driver experience and has low accuracy. Summary of the Invention

[0003] In view of this, this application provides a vehicle preload adjustment method and a vehicle. The method can automatically adjust the vehicle preload by means of an electric hydraulic pump when the current body posture of the vehicle is inconsistent with the preset body posture, so that the current body posture of the vehicle is adjusted to the preset body posture. No manual operation by the driver is required, the adjustment accuracy is high, and the driving experience of the driver is further improved.

[0004] In a first aspect, a preload adjustment method for a vehicle is provided. The vehicle includes an electric hydraulic pump and a preload device. The method includes: determining whether a preset condition is met when the current body posture of the vehicle is inconsistent with a preset body posture; and controlling the electric hydraulic pump to operate when the preset condition is met, so as to drive the preload device to perform preload adjustment until the current body posture of the vehicle is adjusted to the preset body posture.

[0005] The above technical solution enables automatic adjustment of vehicle preload when the current vehicle posture is inconsistent with the preset vehicle posture and the preset conditions are met. This adjusts the current vehicle posture to the preset vehicle posture without manual operation by the driver, and the adjustment accuracy is high. This satisfies the driver's comfort and handling stability under different driving needs, and provides a better driving experience.

[0006] In conjunction with the first aspect, in some possible implementations, determining whether a preset condition is met includes: determining the road condition of the current road on which the vehicle is currently traveling and the current speed of the vehicle; if the road condition is a preset state and / or the current speed is equal to or greater than a first threshold, determining that the preset condition is met, the preset state being used to indicate that the length change rate of the shock absorber in the vehicle is less than a second threshold.

[0007] With the above technical solution, if the length change rate of the shock absorber in the vehicle is less than the second threshold, it indicates that the current driving road of the vehicle is relatively smooth. This allows the vehicle's preload adjustment to be achieved with minimal impact on the driver's perception, ensuring the driver's comfort. If the vehicle's current speed is equal to or greater than the first threshold, it is determined that the preset conditions are met, which can avoid frequent preload adjustments of the vehicle and reduce the impact on the driver's driving.

[0008] In conjunction with the first aspect, in some possible implementations, controlling the operation of the electro-hydraulic pump includes: determining the target rotational amount of the electro-hydraulic pump to be operated; determining the cumulative value of the corresponding rotational amount of the electro-hydraulic pump; and controlling the operation of the electro-hydraulic pump when the cumulative value of the rotational amount is less than the target rotational amount.

[0009] In conjunction with the first aspect, in some possible implementations, when the cumulative value of the rotation reaches the target rotation, it is determined that the current body posture of the vehicle has been adjusted to the preset body posture, and the electric hydraulic pump is controlled to stop working.

[0010] By using the above technical solution, the target rotation amount of the electric hydraulic pump to be operated is calculated in advance, and this target rotation amount is used as the control target. The timing for the electric hydraulic pump to stop working is determined by the relationship between the cumulative value of the actual rotation amount of the electric hydraulic pump and the target rotation amount. This ensures the accuracy of the preload adjustment amount when the electric hydraulic pump drives the preload device to perform preload adjustment.

[0011] In conjunction with the first aspect, in some possible implementations, determining the target rotation amount for the operation of the electro-hydraulic pump includes: determining the current actual length of the shock absorber in the vehicle and the preset length of the shock absorber, the preset length being the length of the shock absorber corresponding to the vehicle being in the preset body posture; obtaining the motor lead of the electro-hydraulic pump, the motor lead being used to indicate the adjustment amount by which the preload device is preloaded when the electro-hydraulic pump rotates by the preset rotation amount; and determining the target rotation amount for the operation of the electro-hydraulic pump based on the actual length, the preset length, and the motor lead.

[0012] In conjunction with the first aspect, in some possible implementations, determining the target rotation amount of the electric hydraulic pump to be operated based on the actual length, the preset length, and the motor lead includes: determining the length difference between the actual length and the preset length; determining the ratio between the absolute value of the length difference and the motor lead; and determining the ratio as the target rotation amount of the electric hydraulic pump to be operated.

[0013] In the above technical solution, the electric hydraulic pump, the shock absorber, and the preload device have a mechanical linkage relationship. There is a correlation between the length change of the shock absorber and the adjustment amount of the preload device for preload adjustment, and there is also a correlation between the rotation amount of the electric hydraulic pump and the adjustment amount of the preload device for preload adjustment. Therefore, it can be seen that there is a mapping relationship between the rotation amount of the electric hydraulic pump and the length change value of the shock absorber. Based on this, the target rotation amount of the electric hydraulic pump can be determined by the actual changes in the length change of the shock absorber and the motor lead, which is more accurate.

[0014] In conjunction with the first aspect, in some possible implementations, determining the cumulative value of the rotation amount corresponding to the electric hydraulic pump includes: determining the actual rotation amount of the electric hydraulic pump during its operation; and integrating the actual rotation amount of the electric hydraulic pump over time to obtain the cumulative value of the rotation amount corresponding to the electric hydraulic pump.

[0015] In the above technical solution, the actual rotation of the electric hydraulic pump in each time period is integrated. In this way, even if the rotation speed of the electric hydraulic pump is different at different times, the timing when the electric hydraulic pump stops working can be accurately determined based on the cumulative value of the integrated rotation, thereby accurately determining the timing when the vehicle's preload device stops preload adjustment.

[0016] In conjunction with the first aspect, in some possible implementations, the method further includes: determining the current actual length of the shock absorber in the vehicle and the preset length of the shock absorber; if the actual length is not equal to the preset length, determining that the current vehicle body posture and the preset vehicle body posture are inconsistent.

[0017] In the above technical solution, the change in the length of the shock absorber is closely related to the vehicle's body posture. By comparing the actual length of the shock absorber with the preset length, and in the case of this inconsistency in objective physical quantities, it can be determined that the current body posture of the vehicle is inconsistent with the preset body posture, which can improve the accuracy of the judgment on the body posture.

[0018] In conjunction with the first aspect, in some possible implementations, controlling the electric hydraulic pump to operate in order to drive the preload device to perform preload adjustment includes: when the actual length is greater than the preset length, controlling the electric hydraulic pump to rotate along a first rotation direction to drive the preload device to perform preload lowering adjustment; or, when the actual length is less than the preset length, controlling the electric hydraulic pump to rotate along a second rotation direction to drive the preload device to perform preload raising adjustment, wherein the first rotation direction is opposite to the second rotation direction.

[0019] In the above technical solution, the shock absorber and the preload device have a mechanical linkage relationship. Specifically, the direction of the length change of the shock absorber is positively correlated with the preload adjustment direction that the preload device needs to perform, and the preload adjustment direction that the preload device needs to perform is related to the rotation direction of the electric hydraulic pump. Based on this, by observing the relationship between the current actual length and the preset length of the shock absorber, the type of adjustment action that the preload device needs to perform can be intuitively reflected, thereby quickly determining the rotation direction of the electric hydraulic pump. After determining the rotation direction, the electric hydraulic pump is controlled to work in the determined rotation direction to drive the preload device to perform the corresponding preload adjustment action.

[0020] Secondly, a preload adjustment device for a vehicle is provided, the vehicle including an electric hydraulic pump and a preload device, the device including: a determining unit and a control unit;

[0021] The determining unit is used to determine whether the preset conditions are met when the current body posture of the vehicle is inconsistent with the preset body posture. The control unit is used to control the electric hydraulic pump to work when the preset conditions are met, so as to drive the preload device to perform preload adjustment until the current body posture of the vehicle is adjusted to the preset body posture.

[0022] In conjunction with the second aspect, in some possible implementations, the determining unit is specifically used to determine the road state of the current driving road of the vehicle and the current vehicle speed; when the road state is a preset state and / or the current vehicle speed is equal to or greater than a first threshold, it determines that a preset condition is met, the preset state being used to indicate that the length change rate of the shock absorber in the vehicle is less than a second threshold.

[0023] In conjunction with the second aspect, in some possible implementations, the control unit is specifically used to determine the target rotation amount to be performed by the electro-hydraulic pump; determine the cumulative value of the rotation amount corresponding to the electro-hydraulic pump; and control the electro-hydraulic pump to operate when the cumulative value of the rotation amount is less than the target rotation amount.

[0024] In conjunction with the second aspect, in some possible implementations, the control unit is also used to determine that the current body posture of the vehicle has been adjusted to the preset body posture when the cumulative value of the rotation reaches the target rotation, and to control the electric hydraulic pump to stop working.

[0025] In conjunction with the second aspect, in some possible implementations, the control unit is specifically used to determine the current actual length of the shock absorber in the vehicle, and the preset length of the shock absorber, the preset length being the length of the shock absorber corresponding to the vehicle being in the preset body posture; to obtain the motor lead of the electric hydraulic pump, the motor lead being used to indicate the adjustment amount by which the electric hydraulic pump drives the preload device to perform preload adjustment when rotating by a preset rotation amount; and to determine the target rotation amount by which the electric hydraulic pump is to operate based on the actual length, the preset length, and the motor lead.

[0026] In conjunction with the second aspect, in some possible implementations, the control unit is specifically used to determine the length difference between the actual length and the preset length; determine the ratio between the absolute value of the length difference and the motor lead; and determine the ratio as the target rotation amount for the electric hydraulic pump to perform its operation.

[0027] In conjunction with the second aspect, in some possible implementations, the control unit is specifically used to determine the actual rotation of the electric hydraulic pump during its operation; and to integrate the actual rotation of the electric hydraulic pump over time to obtain the cumulative value of the rotation corresponding to the electric hydraulic pump.

[0028] In conjunction with the second aspect, in some possible implementations, a determining unit is specifically used to determine the current actual length of the shock absorber in the vehicle and the preset length of the shock absorber; if the actual length is not equal to the preset length, it is determined that the current body posture of the vehicle is inconsistent with the preset body posture.

[0029] In conjunction with the second aspect, in some possible implementations, the control unit is specifically used to control the electric hydraulic pump to rotate in a first rotation direction when the actual length is greater than the preset length, so as to drive the preload device to perform preload lowering adjustment; and to control the electric hydraulic pump to rotate in a second rotation direction when the actual length is less than the preset length, so as to drive the preload device to perform preload raising adjustment, wherein the first rotation direction is opposite to the second rotation direction.

[0030] Thirdly, an electronic device is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the methods as described in the first aspect or any one of the first aspects.

[0031] Fourthly, a vehicle is provided, including electronic equipment as provided in the third aspect.

[0032] Fifthly, a computer program product is provided, comprising: computer program code, which, when run on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof.

[0033] In a sixth aspect, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof. Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the vehicle preload adjustment system provided in the embodiments of this application; Figure 2 This is a schematic flowchart of a vehicle preload adjustment method provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a vehicle preload adjustment device provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0036] Many specific details are set forth in the following description to provide a full understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of this application; therefore, this application is not limited to the specific embodiments disclosed below.

[0037] It should be noted that the terms "first," "second," "third," etc., in the claims, specification, and drawings of this application are used to distinguish similar objects and are not used to describe a specific order or sequence. Such data are interchangeable where appropriate so that the embodiments of this application described herein can be implemented in a sequence other than that shown or described herein. Furthermore, the terms "comprising," "having," and their variations are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or apparatuses.

[0038] It should be understood that in the embodiments of this application, "at least one" refers to one or more, "several" refers to one or more, and "more than" refers to two or more. "And / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship. "Contains A, B, and / or C" means containing any one, two, or three of A, B, and C.

[0039] It should be understood that in the embodiments of this application, "B corresponding to A", "B corresponding to A", "A corresponds to B" or "B corresponds to A" means that B is associated with A, and B can be determined based on A. Determining B based on A does not mean that B is determined solely based on A; B can also be determined based on A and / or other information.

[0040] As people's living standards improve, consumers are increasingly demanding higher standards for vehicle driving experience, especially in terms of ride comfort and handling stability. To meet these demands, vehicle preload adjustment mechanisms have emerged.

[0041] Preload refers to the amount of compression applied to the springs in a vehicle's suspension system, primarily affecting the vehicle's height. In other words, by adjusting the preload, the vehicle's height can be adjusted to modify its comfort and handling, allowing it to adapt to different driving needs and meet the driver's individual preferences.

[0042] For example, increasing preload raises the vehicle height, making the suspension system stiffer, suitable for heavy loads or high-speed driving; while reducing preload lowers the vehicle height, making the suspension system softer, suitable for light loads or comfort.

[0043] Currently, the preload adjustment process in most vehicles is a mechanical, manual adjustment by the driver, which involves using adjustment tools (such as wrenches) to rotate adjustment knobs or nuts to adjust the vehicle's preload. This process is complex, and the preload position is fixed each time, which cannot fully meet complex driving needs.

[0044] Alternatively, in some vehicles, the driver can control the start and stop of the motor by applying an operation to a preset button, thereby adjusting the preload by driving the preload device through the motor. In this method, the amount of vehicle preload adjustment depends on the driver's operation of the preset button, which is too dependent on the driver's experience and has low accuracy.

[0045] To address the aforementioned technical problems, this application provides a vehicle preload adjustment system, which can be specifically applied to the vehicle's electronic suspension to achieve height adjustment of the electronic suspension.

[0046] Reference Figure 1 , Figure 1 This is a schematic diagram of the vehicle preload adjustment system provided in an embodiment of this application. Figure 1 As shown, the preload adjustment system 100 includes: an electronic control unit (ECU) 101, an electric hydraulic pump 102, a preload device 103, an elastic element 104, a shock absorber 105, a height sensor 106, and a Hall sensor 107.

[0047] The electronic control unit 101 is used to receive sensor signals from the height sensor 106 and the Hall sensor 107, process and analyze these sensor signals, and then send corresponding control commands to the electric hydraulic pump according to a preset program, thereby adjusting the preload of the vehicle.

[0048] The electric hydraulic pump 102 is a core component of the hydraulic transmission system in a vehicle. It integrates a motor and a hydraulic pump, forming a combined unit. The motor serves as the power source, while the hydraulic pump converts the motor's mechanical energy into hydraulic energy to drive the preload device 103 to perform preload adjustment. In a specific implementation, a brushed motor can be used to control the hydraulic pump's speed. The control method employed is a closed-loop vector control based on Proportional-Integral-Derivative (PID) logic, i.e., a speed outer loop and a current inner loop control mode. Feedforward prediction is used for decoupling and optimization. This closed-loop control method effectively solves the problems of the electric hydraulic pump's actual speed following the target speed and motor runaway caused by speed instability. The PID control method will not be described in detail in this application.

[0049] The preload device 103 adjusts the amount of pre-compression of the elastic element 104 based on the power provided by the electric hydraulic pump 102, thereby realizing preload adjustment in the vehicle.

[0050] Elastic element 104 refers to the key component in the vehicle's suspension system that bears and transmits vertical loads. Its main function is to mitigate and suppress impacts caused by the road surface. Specifically, it can be a spring or elastic bushing, etc.

[0051] The shock absorber 105 refers to a damping device in a vehicle that absorbs and dissipates vibration energy to suppress the reciprocating vibration of the elastic element 104.

[0052] The height sensor 106 is used to monitor changes in the vehicle's body height in real time.

[0053] Hall sensor 107 is used to acquire the speed signal output by electric hydraulic pump 102.

[0054] Specifically, the electronic control unit 101 receives sensor signals collected by the height sensor 106, processes the sensor signals, and determines whether the current body posture of the motorcycle is consistent with the preset body posture based on the processed sensor signals. If the current body posture of the vehicle is inconsistent with the preset body posture, the electronic control unit 101 determines the road condition of the current driving road and the current vehicle speed. If the road condition is the preset state and / or the current vehicle speed is equal to or greater than a first threshold, the electronic control unit 101 determines that preload adjustment needs to be performed, and generates a control command based on the processed sensor signals. The control command is then sent to the electric hydraulic pump 102 to control the electric hydraulic pump 102 to work.

[0055] After receiving the control command, the electric hydraulic pump 102 starts working and drives the preload device 103 to perform preload increase adjustment or preload decrease adjustment. When the preload device 103 performs preload increase adjustment, it can cause the elastic element 104 to gradually shorten upward, thereby increasing the height of the vehicle's electronic suspension and making the vehicle's body height gradually increase. When the preload device 103 performs preload decrease adjustment, it reduces the initial compression applied to the elastic element 104, weakens the upward reaction force of the elastic element 104, and the vehicle body will press down due to its own weight, thereby reducing the height of the vehicle's electronic suspension and making the vehicle's body height gradually decrease.

[0056] The control command generated based on the processed sensor signals includes the target rotation amount for the electric hydraulic pump 102 to operate. Based on this, during the operation of the electric hydraulic pump 102 to drive the preload device 103 to perform preload increase or preload decrease adjustment, the motor speed of the electric hydraulic pump 102 is monitored in real time by the Hall sensor 107, and the cumulative value of the rotation amount corresponding to the electric hydraulic pump 102 is calculated based on the motor speed. When the cumulative value of the rotation amount reaches the target rotation amount, it is determined that the current body posture of the motorcycle has been adjusted to the preset body posture. At this time, the electronic control unit 101 can issue a stop operation command to the electric hydraulic pump 102, so that the electric hydraulic pump stops working based on the command.

[0057] Thus, based on the preload adjustment system 100, when the current vehicle body posture and the preset vehicle body posture are inconsistent, the electric hydraulic pump 102 can automatically adjust the vehicle's preload to adjust the current vehicle body posture to the preset vehicle body posture, without the need for manual operation by the driver. The adjustment accuracy is high, further improving the driver's driving experience.

[0058] The above Figure 1 The preload adjustment system 100 shown is merely an example, and this application does not limit its specific components or the specific functions of each component.

[0059] The following is through Figure 2 The methods of the embodiments of this application are described in detail.

[0060] Figure 2 This is a schematic flowchart illustrating a vehicle preload adjustment method according to an embodiment of this application. It should be noted that the steps shown may be performed in a logical order different from that shown in the flowchart. For example, the vehicle may include an electro-hydraulic pump and a preload device, such as... Figure 2 As shown, the preload adjustment method for this vehicle may include the steps shown in S210 to S220 below.

[0061] S210: If the current vehicle posture is inconsistent with the preset vehicle posture, determine whether the preset conditions are met.

[0062] In the embodiments provided in this application, the vehicle can be any type of vehicle to which the preload adjustment system is applicable. For example, the vehicle can be a two-wheeled motorcycle, a four-wheeled motorcycle, a car, a bus, etc. Preferably, the method is mainly applied to two-wheeled motorcycles. In the following description of the solution, the embodiment of this application will use a motorcycle as an example for the solution description.

[0063] Vehicle body attitude refers to the spatial position and geometric state of the vehicle body relative to the ground when the vehicle is stationary or in motion. Vehicle body attitude is typically defined by key parameters such as vehicle height, vehicle pitch angle, and / or vehicle roll angle. Furthermore, one or more of these key parameters can be used to determine whether the vehicle's current body attitude matches a preset body attitude.

[0064] In some possible implementations, the current vehicle body posture and the preset vehicle body posture can be determined through the steps shown in S211~S212 below.

[0065] S211, determine the current actual length of the shock absorber in the vehicle, as well as the preset length of the shock absorber.

[0066] The shock absorber in the aforementioned vehicle refers to a damping device that absorbs and dissipates vibration energy to suppress the reciprocating vibration of elastic elements (such as springs and elastic bushings). This shock absorber, together with springs and rocker arms in the vehicle's suspension, constitutes the core component of the vehicle's suspension system. Its core function is to rapidly attenuate vibrations between the vehicle body and wheels, suppress suspension bounce and sway, and achieve a smooth driving experience and stable handling performance.

[0067] The preset length of the shock absorber mentioned above refers to the length of the shock absorber when the vehicle is in a preset body posture. The preset body posture refers to a pre-designed standard body posture of the vehicle when it is stationary. When the vehicle's body posture is the standard body posture, the vehicle's body height is the pre-designed standard body height when the vehicle is stationary.

[0068] The actual length of the shock absorber in the aforementioned vehicle can be obtained using a height sensor.

[0069] For example, in the case of a motorcycle, a height sensor can be installed between the rear swingarm and the frame. The height sensor can be used to monitor the swingarm angle of the motorcycle's rear swingarm in real time. Furthermore, based on a preset kinematic model, the monitored swingarm angle is converted into the actual length of the shock absorber. The conversion relationship between the swingarm angle and the actual length of the shock absorber will not be explained in detail in this embodiment.

[0070] S212, when the actual length is not equal to the preset length, determine that the current body posture of the vehicle is inconsistent with the preset body posture.

[0071] As mentioned above Figure 1As described above, the preload device 103 can adjust the preload by gradually shortening the elastic element 104. The shock absorber 105 is used to suppress the reciprocating vibration of the elastic element 104. Therefore, the length of the shock absorber 105 changes with the length of the elastic element 104. Specifically, when the length of the elastic element 104 extends, the length of the shock absorber 105 extends accordingly, and when the length of the elastic element 104 shortens, the length of the shock absorber 105 shortens accordingly. Therefore, there is a correlation between the length of the shock absorber and the vehicle height. The change in the length of the shock absorber can intuitively reflect the change in the vehicle height.

[0072] For example, there is a positive correlation between the length of the shock absorber and the vehicle's height; that is, the longer the shock absorber, the higher the vehicle's height, and the shorter the shock absorber, the lower the vehicle's height. Therefore, in this possible implementation, if the actual length of the shock absorber is not equal to its corresponding preset length, it indicates that the vehicle's current height is inconsistent with the preset height, meaning that the vehicle's current body posture is inconsistent with its preset body posture.

[0073] Specifically, the actual length of the shock absorber and its corresponding preset length are not equal, including: the actual length of the shock absorber is greater than the preset length, and the actual length of the shock absorber is less than the preset length. Where the actual length of the shock absorber is greater than its corresponding preset length, it indicates that the current vehicle height is higher than the preset vehicle height, resulting in a discrepancy between the current vehicle posture and its corresponding preset vehicle posture; where the actual length of the shock absorber is less than its corresponding preset length, it indicates that the current vehicle height is lower than the preset vehicle height, resulting in a discrepancy between the current vehicle posture and its corresponding preset vehicle posture.

[0074] Alternatively, in some possible implementations, the relative height between the chassis and the wheels is detected by a height sensor, and the vehicle's current body posture is determined based on this relative height to determine whether it is consistent with the preset body posture. Specifically, if the current relative height between the chassis and the wheels is inconsistent with the preset height, it can be determined that the vehicle's current body posture is inconsistent with the preset body posture.

[0075] The aforementioned preset conditions refer to the pre-set start conditions for the electric hydraulic pump when the vehicle's current body posture is inconsistent with the preset body posture. That is, in the implementation provided in this application, even when the vehicle's current body posture is inconsistent with the preset body posture, the electric hydraulic pump still needs to be controlled to work after the start conditions of the electric hydraulic pump are met, so as to drive the preload device to perform preload adjustment.

[0076] In some possible implementations, it can be determined whether the preset conditions are met through the steps shown in S213~S214 below.

[0077] S213, determine the road condition of the current road on which the vehicle is currently traveling, and the vehicle's current speed.

[0078] In this possible implementation, the road condition of the vehicle's current driving route is used to represent the smoothness of the current driving route; for example, the road condition may include, but is not limited to, a smooth state and a bumpy state.

[0079] In some possible implementations, the road condition of the vehicle's current driving path can be determined by the speed of change of the shock absorber's length. Specifically, when the road condition is bumpy, the shock absorber needs to quickly adjust the vibration energy caused by the road bumps to suppress the reciprocating vibration of the elastic element; that is, the shock absorber's length change speed will be fast. When the road condition is smooth, the smooth road will not cause significant vibration to the vehicle; that is, the shock absorber does not need to adjust frequently, and its length change speed is slower. Therefore, by observing the speed of change of the shock absorber's length, the road condition of the vehicle's current driving path can be directly reflected, and judging the road condition based on the changes in the vehicle's own components makes the judgment of road condition more accurate.

[0080] The current speed of the aforementioned vehicles can be collected in real time based on speed sensors.

[0081] S214, if the road condition is a preset state and / or the current vehicle speed is equal to or greater than a first threshold, determine that the preset condition is met. The preset state is used to indicate that the length change rate of the shock absorber in the vehicle is less than a second threshold.

[0082] In step S214, the first threshold is a preset speed threshold, for example, the speed threshold can be 20km / h, 30km / h, etc.

[0083] When the vehicle's current speed is equal to or greater than the first threshold, it indicates that the vehicle is traveling at a high speed, the road conditions are good, and the vehicle is driving relatively stably. When the vehicle's current speed is less than the first threshold, it indicates that the vehicle is traveling at a low speed, the road conditions may be poor, the vehicle is driving relatively unstable, and sudden driving maneuvers such as braking are more likely. Based on this, a preset condition can be determined when the vehicle's current speed is equal to or greater than the first threshold.

[0084] The aforementioned second threshold is a pre-set critical value for the rate of change of the shock absorber's length. When the rate of change of the shock absorber's length is less than this second threshold, it indicates that the shock absorber's operating frequency is low, meaning the road the vehicle is currently traveling on is relatively smooth. When the rate of change of the shock absorber's length is equal to or greater than this second threshold, it indicates that the shock absorber's operating frequency is high, meaning the road the vehicle is currently traveling on is relatively bumpy. The aforementioned preset state refers to a smooth state, used to indicate that the road the vehicle is currently traveling on is relatively smooth.

[0085] In step S214, the preset condition can be determined to be met if the road state is a preset state; or, if the current vehicle speed is equal to or greater than a first threshold; or, if both the road state and the current vehicle speed are equal to or greater than the first threshold, the preset condition can be determined to be met. Of course, other specific conditions are also possible and are not restricted.

[0086] S220, under preset conditions, controls the electric hydraulic pump to work, so as to drive the preload device to perform preload adjustment until the current body posture of the vehicle is adjusted to the preset body posture.

[0087] Under preset conditions, the electric hydraulic pump is controlled to work, and the start-up timing of the electric hydraulic pump can be customized.

[0088] For example, if the vehicle's current speed is equal to or greater than a first threshold, the preset conditions are determined to be met, and the electric hydraulic pump is controlled to work. This can avoid frequent preload adjustments when the vehicle speed is slow and the driver has a clear perception of the vehicle's preload, thus avoiding an uncomfortable driving experience for the driver.

[0089] Alternatively, if the road conditions are preset, the preset conditions can be met, and the electric hydraulic pump can be controlled to operate. This can achieve the vehicle's preload conditions with minimal impact on the driver's perception, ensuring the driver's comfort.

[0090] Alternatively, if the road conditions are both at a preset level and the current vehicle speed is equal to or greater than a first threshold, the electric hydraulic pump can be activated to drive the preload device for preload adjustment. This reduces the frequency of preload adjustments while ensuring driver comfort and minimizing the impact of preload adjustments on driver perception.

[0091] Next, we will introduce the specific procedures for controlling the operation of the electric hydraulic pump.

[0092] In some possible implementations, the steps of “controlling the electric hydraulic pump to work so as to drive the preload device to perform preload adjustment” shown in S220 can be implemented through the following steps S221 to S222.

[0093] S221, when the actual length is greater than the preset length, control the electric hydraulic pump to rotate in the first rotation direction to drive the preload device to perform preload lowering adjustment; S222, when the actual length is less than the preset length, control the electric hydraulic pump to rotate in the second rotation direction to drive the preload device to perform preload lifting adjustment. The first rotation direction is opposite to the second rotation direction.

[0094] That is, in the steps shown in S221 to S222 above, the rotation direction of the electric hydraulic pump is determined based on the relationship between the actual length of the shock absorber and the preset length of the shock absorber, thereby determining the specific preload adjustment action of the preload device, that is, in which direction the preload device performs preload adjustment.

[0095] In this possible implementation, the electric hydraulic pump rotates in a first rotational direction, which can drive the preload device to perform preload lowering adjustment; the electric hydraulic pump rotates in a second rotational direction, which can drive the preload device to perform preload raising adjustment. The first and second rotational directions are opposite. For example, the first rotational direction can be the rotational direction corresponding to the electric hydraulic pump when energized in reverse, and the second rotational direction can be the rotational direction corresponding to the electric hydraulic pump when energized in forward.

[0096] Specifically, as mentioned above, when the actual length of the shock absorber is greater than its corresponding preset length, it indicates that the current vehicle height is higher than the preset vehicle height. In this case, it is necessary to drive the preload device to perform a preload lowering adjustment action to reduce the vehicle's preload and thereby adjust the vehicle's current vehicle height to the preset vehicle height, so as to adjust the vehicle's current body posture to the preset vehicle posture. That is, when the actual length of the shock absorber is greater than its corresponding preset length, it is necessary to control the electric hydraulic pump to rotate in the first rotation direction to drive the preload device to perform preload lowering adjustment.

[0097] When the actual length of the shock absorber is less than its corresponding preset length, it means that the current body height of the vehicle is lower than the preset body height. In this case, it is necessary to drive the preload device to perform a preload lifting adjustment action to increase the preload of the vehicle, thereby adjusting the current body height of the vehicle to the preset body height, so as to adjust the current body posture of the vehicle to its corresponding preset body posture. That is, when the actual length of the shock absorber is less than its corresponding preset length, it is necessary to control the electric hydraulic pump to rotate in the second rotation direction to drive the preload device to perform preload lifting adjustment.

[0098] In some possible implementations, the electric hydraulic pump can be controlled to operate through the steps shown in S223 to S225 below.

[0099] S223, Determine the target rotation amount of the electric hydraulic pump to be operated; In this possible implementation, the aforementioned target rotation amount refers to the total rotation amount required for the electric hydraulic pump to rotate in order to achieve the adjustment target of adjusting the current vehicle body posture to a preset vehicle body posture through preload adjustment.

[0100] Rotation amount can refer to the rotation angle, rotation arc, or number of rotations of an electric hydraulic pump.

[0101] In some possible specific implementations, the target rotation amount of the electric hydraulic pump to be operated can be determined by the following steps S2230~S2232.

[0102] S2230, determine the current actual length of the shock absorber in the vehicle, as well as the preset length of the shock absorber. The preset length is the length of the shock absorber when the vehicle is in a preset body posture.

[0103] The specific method for determining the actual length of the shock absorber can be referred to the previous description, which is to calculate it by converting the sensor signal output by the height sensor, and will not be repeated here.

[0104] S2231, obtain the motor lead of the electric hydraulic pump. The motor lead is used to indicate the adjustment amount by which the preload device is preloaded when the electric hydraulic pump rotates by a preset amount of rotation.

[0105] Motor lead refers to the linear distance (adjustment amount) by which the electric hydraulic pump drives its associated preload device to move axially during one complete motion (i.e., the preset rotation amount). This motor lead is a mechanical property of the electric hydraulic pump itself, and the electronic control unit can directly obtain the data pre-stored locally in the vehicle.

[0106] For example, the motor lead of the electric hydraulic pump can be: the electric hydraulic pump rotates one revolution (360° or...) The arc (of the arc) causes the preload device to rise or fall. .

[0107] S2232 determines the target rotation amount of the electric hydraulic pump to be operated based on the actual length, preset length, and motor lead.

[0108] As mentioned above Figure 1 The description states that there is an indirect mechanical linkage between the shock absorber and the electric hydraulic pump in the vehicle. Specifically, the electric hydraulic pump drives the preload device to move, the moving preload device drives the elastic element to move, and the moving elastic element drives the shock absorber to move.

[0109] Specifically, the length change of the damper corresponds to the target adjustment amount of the preload adjustment by the preload device. In the implementation provided in this application, the length of the damper changes synchronously and at equal intervals with the target adjustment amount of the preload adjustment by the preload device. For example, when the target adjustment amount of the preload adjustment by the preload device is 1 mm, the corresponding length change of the damper is 1 mm.

[0110] Therefore, by calculating the target adjustment amount of the preload device to be preloaded and the motor lead, the target rotation amount of the electric hydraulic pump to be operated can be accurately calculated.

[0111] For example, based on the mechanical properties of the electric hydraulic pump, one rotation of the electric hydraulic pump causes the preload device to rise (fall) by 0.01mm, and if the preload device rises (falls) by 0.01mm, the shock absorber will correspondingly extend (shorten) by 0.01mm. In short, one rotation of the electric hydraulic pump can cause the shock absorber to correspondingly extend (shorten) by 0.01mm.

[0112] Based on the above correspondence, in some possible specific implementations, the steps shown in S2232 can be implemented through the specific steps shown in S2232-1 to S2232-3.

[0113] S2232-1, Determine the length difference between the actual length and the preset length.

[0114] As described above, the length difference between the actual length and the preset length of the shock absorber can be used to describe the target adjustment amount of the preload device to be preloaded. Based on this, for example, when the actual length of the shock absorber is... (mm), preset length is (mm), then the formula for calculating the length difference between the actual length and the preset length of the shock absorber is shown in formula (1).

[0115] (1) in, This indicates the length difference between the actual length of the vibration damper and the preset length.

[0116] S2232-2, determine the ratio between the absolute value of the length difference and the motor lead.

[0117] S2232-3, the ratio is determined as the target rotation amount of the electric hydraulic pump to be operated.

[0118] The length difference calculated based on formula (1) From the relationship between the length difference of the shock absorber and the target adjustment amount of the preload device, it can be determined that the target adjustment amount of the preload device to be preloaded is... .

[0119] For example, the motor lead of the electric hydraulic pump is such that one revolution of the electric hydraulic pump drives the preload device to rise or fall. In the case of h, the ratio between the absolute value of the length difference and the motor lead can be determined by the following formula (2), which is the target rotation amount of the electric hydraulic pump to be operated.

[0120] (2) in, This indicates the target rotational speed of the electric hydraulic pump before it is to perform its operation. The absolute value of the length difference is given. Since the target rotation of the electric hydraulic pump is a scalar quantity, its sign is not considered during the calculation. The rotation direction of the electric hydraulic pump can be further determined by the method described above.

[0121] In the above technical solution, the target rotation of the electric hydraulic pump is determined by the actual changes in the length of the shock absorber and the motor lead, which is more accurate.

[0122] S224, determine the cumulative value of the rotational amount corresponding to the electric hydraulic pump.

[0123] The aforementioned cumulative rotation value refers to the cumulative value obtained by superimposing the actual rotation of the electric hydraulic pump during operation.

[0124] In some possible implementations, the steps shown in S224 above can be achieved through the steps shown in S2240 to S2241 below.

[0125] S2240 determines the actual rotation of the electric hydraulic pump during its operation.

[0126] In this optional implementation, the actual rotational speed of the electro-hydraulic pump can be determined by the actual output speed of the electro-hydraulic pump. Specifically, the actual output speed of the electro-hydraulic pump can be determined by... Figure 1The Hall sensor 107 shown collects data in real time.

[0127] For example, the output speed signal of the electric hydraulic pump acquired by the Hall sensor 107 is... (rad / min), meaning the actual rotation speed of the electric hydraulic pump is revolutions per minute. radian.

[0128] S2241, integrate the actual rotation of the electric hydraulic pump over time to obtain the cumulative value of the rotation of the electric hydraulic pump.

[0129] Integrating the actual rotation over time refers to summing up the actual rotation of the electric hydraulic pump for each preset time period. For example, the cumulative value of the rotation of the electric hydraulic pump can be determined by the following formula (3).

[0130] (3) in, This represents the cumulative rotation value of the electric hydraulic pump when it operates for a duration of t. In other words, it is the cumulative rotation value obtained by adding the actual rotation of the electric hydraulic pump per minute within the duration of t.

[0131] In some possible implementations, the actual output rotational speed acquired by the Hall sensor can be used. (rad / min) converted (rad / ms), which gives the rotational speed of the electric hydraulic pump per millisecond. (rad), and after the electric hydraulic pump starts working, the amount of rotation of the electric hydraulic pump per millisecond. The cumulative rotational speed (in rad) of the electric hydraulic pump is obtained by summing the values. This improves the accuracy of the calculation of the cumulative rotational speed of the electric hydraulic pump.

[0132] S225: When the cumulative rotation value is less than the target rotation value, the electric hydraulic pump is controlled to work.

[0133] After the electric hydraulic pump starts working, it can be determined in real time whether the cumulative rotation value has reached the target rotation value to determine whether it is necessary to control the electric hydraulic pump to stop working. Specifically, if the cumulative rotation value is less than the target rotation value, it means that the preload adjustment performed by the preload device has not yet reached the target adjustment value, and the current body posture of the vehicle has not yet been adjusted to the preset body posture, so the electric hydraulic pump continues to work; while if the cumulative rotation value reaches the target rotation value, it means that the preload adjustment performed by the preload device has reached the target adjustment value, and the steps shown in S226 below are executed.

[0134] S226, when the cumulative rotation value reaches the target rotation value, determine that the current body posture of the vehicle has been adjusted to the preset body posture, and control the electric hydraulic pump to stop working.

[0135] That is, by integrating the actual rotation of the electric hydraulic pump in each time cycle through the above technical solution, even if the rotation speed of the electric hydraulic pump is different at different times, the timing of stopping the electric hydraulic pump can be accurately determined based on the cumulative value of the integrated rotation. This allows for the precise determination of when the vehicle's preload device stops preload adjustment, ensuring the accuracy of the preload adjustment amount when the electric hydraulic pump drives the preload device to perform preload adjustment.

[0136] This concludes the description of the preload adjustment method for the vehicle provided in this application.

[0137] Reference Figure 3 , Figure 3 This is a schematic diagram of the structure of a vehicle preload adjustment device provided in an embodiment of this application.

[0138] For example, the vehicle includes an electro-hydraulic pump and a preload device, such as Figure 3 As shown, the device 300 includes a determining unit 301 and a control unit 302.

[0139] The determining unit 301 is used to determine whether the preset conditions are met when the current body posture of the vehicle is inconsistent with the preset body posture. The control unit 302 is used to control the electric hydraulic pump to work when the preset conditions are met, so as to drive the preload device to perform preload adjustment until the current body posture of the vehicle is adjusted to the preset body posture.

[0140] In some possible implementations, the determining unit 301 is specifically used to determine the road state of the current driving road of the vehicle and the current vehicle speed; when the road state is a preset state and / or the current vehicle speed is equal to or greater than a first threshold, it is determined that a preset condition is met, the preset state being used to indicate that the length change rate of the shock absorber in the vehicle is less than a second threshold.

[0141] In some possible implementations, the control unit 302 is specifically used to determine the target rotation amount to be operated by the electro-hydraulic pump; determine the cumulative value of the rotation amount corresponding to the electro-hydraulic pump; and control the electro-hydraulic pump to operate when the cumulative value of the rotation amount is less than the target rotation amount.

[0142] In some possible implementations, the control unit 302 is also configured to determine that the current body posture of the vehicle has been adjusted to the preset body posture when the cumulative rotation value reaches the target rotation value, and to control the electric hydraulic pump to stop working.

[0143] In some possible implementations, the control unit 302 is specifically configured to determine the current actual length of the shock absorber in the vehicle, and the preset length of the shock absorber, the preset length being the length of the shock absorber corresponding to the vehicle being in a preset body posture; acquire the motor lead of the electric hydraulic pump, the motor lead indicating the adjustment amount by which the electric hydraulic pump drives the preload device to perform preload adjustment when rotating by a preset rotation amount; and determine the target rotation amount by which the electric hydraulic pump is to perform its operation based on the actual length, the preset length, and the motor lead.

[0144] In some possible implementations, the control unit 302 is specifically configured to determine the length difference between the actual length and the preset length; determine the ratio between the absolute value of the length difference and the motor lead; and determine the ratio as the target rotation amount for the electro-hydraulic pump to perform its operation.

[0145] In some possible implementations, the control unit 302 is specifically used to determine the actual rotation of the electric hydraulic pump during its operation; and to integrate the actual rotation of the electric hydraulic pump over time to obtain the cumulative value of the rotation corresponding to the electric hydraulic pump.

[0146] In some possible implementations, the determining unit 302 is specifically used to determine the current actual length of the shock absorber in the vehicle and the preset length of the shock absorber; if the actual length is not equal to the preset length, it is determined that the current body posture of the vehicle is inconsistent with the preset body posture.

[0147] In some possible implementations, the control unit 302 is specifically used to control the electric hydraulic pump to rotate in a first rotation direction when the actual length is greater than the preset length, so as to drive the preload device to perform preload lowering adjustment; and to control the electric hydraulic pump to rotate in a second rotation direction when the actual length is less than the preset length, so as to drive the preload device to perform preload raising adjustment, wherein the first rotation direction is opposite to the second rotation direction.

[0148] It should be noted that the vehicle preload adjustment device provided in the above embodiments is only an example of the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the computer device can be divided into different functional modules to complete all or part of the functions described above.

[0149] The device embodiments described above are merely illustrative. For example, the division of modules or units is only a logical functional division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0150] In addition, the device provided in the embodiments of this application may specifically be a chip, component or module. The chip may include a connected processor and a memory. The memory is used to store instructions. When the processor calls and executes the instructions, the chip can execute a vehicle preload adjustment method provided in the above embodiments.

[0151] Furthermore, the vehicle preload adjustment device and the vehicle preload adjustment method provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here. It should be understood that the device provided in this embodiment is used to perform the above-described vehicle preload adjustment method, and therefore can achieve the same effect as the above-described implementation method.

[0152] This application also protects an electronic device that may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform a vehicle preload adjustment method provided in this application.

[0153] This application also protects a vehicle that may include the aforementioned electronic equipment. For example... Figure 4 As shown, Figure 4 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0154] For example, such as Figure 4 As shown, the vehicle 400 includes a memory 401 and a processor 402, wherein the memory 401 stores executable program code 403, and the processor 402 is used to call and execute the executable program code 403 to perform a vehicle preload adjustment method.

[0155] Those skilled in the art will understand that Figure 4 This is merely an example of vehicle 400 and does not constitute a limitation on vehicle 400. It may include more or fewer components than shown, or combine certain components, or different components. For example, vehicle 400 may also include input / output devices, network access devices, buses, etc.

[0156] The processor 402 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0157] The memory 401 can be an internal storage unit of the vehicle 400, such as a hard drive or RAM. The memory 401 can also be an external storage device of the vehicle 400, such as a plug-in hard drive, smart media card (SMC), secure digital card (SD), flash card, etc., installed on the vehicle 400. Furthermore, the memory 401 can include both internal and external storage units of the vehicle 400. The memory 401 is used to store the computer program and other programs and data required by the terminal device. The memory 401 can also be used to temporarily store data that has been output or will be output.

[0158] This embodiment also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the above-described related method steps to implement the vehicle preload adjustment method provided in the above embodiment.

[0159] The computer-readable storage medium can be volatile or non-volatile memory. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM) used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), and enhanced synchronous dynamic random access memory.

[0160] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement the vehicle preload adjustment method provided in the above embodiment.

[0161] In this embodiment, the apparatus, electronic device, computer-readable storage medium, computer program product or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can be referred to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0162] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method of adjusting a preload of a vehicle, characterized by, The vehicle comprises an electric hydraulic pump and a preloading device, and the method comprises: In a case where a current vehicle body posture of the vehicle and a preset vehicle body posture are inconsistent, it is determined whether a preset condition is met; In a case where the preset condition is met, the electric hydraulic pump is controlled to work to drive the preloading device to perform preloading adjustment until the current vehicle body posture of the vehicle is adjusted to the preset vehicle body posture.

2. The method of claim 1, wherein, The determination of whether the preset condition is met comprises: Determination of a road state of a current driving road of the vehicle and a current vehicle speed of the vehicle; In a case where the road state is a preset state and / or the current vehicle speed is equal to or greater than a first threshold value, it is determined that the preset condition is met, and the preset state is used to indicate that a length change speed of a shock absorber in the vehicle is less than a second threshold value.

3. The method according to claim 1 or 2, characterized in that, The control of the electric hydraulic pump to work comprises: Determination of a target rotation amount to be worked by the electric hydraulic pump; Determination of a rotation amount cumulative value corresponding to the electric hydraulic pump; In a case where the rotation amount cumulative value is less than the target rotation amount, the electric hydraulic pump is controlled to work.

4. The method of claim 3, wherein, The method further comprises: In a case where the rotation amount cumulative value reaches the target rotation amount, it is determined that the current vehicle body posture of the vehicle is adjusted to the preset vehicle body posture, and the electric hydraulic pump is controlled to stop working.

5. The method of claim 3, wherein, The determination of the target rotation amount to be worked by the electric hydraulic pump comprises: Determination of an actual length of a shock absorber in the vehicle and a preset length of the shock absorber, the preset length being a length corresponding to the shock absorber in a case where the vehicle is in the preset vehicle body posture; Obtaining a motor lead of the electric hydraulic pump, the motor lead being used to indicate an adjustment amount of preloading adjustment of the preloading device when the electric hydraulic pump rotates a preset rotation amount; Based on the actual length, the preset length and the motor lead, the target rotation amount to be worked by the electric hydraulic pump is determined.

6. The method of claim 5, wherein, The determination of the target rotation amount to be worked by the electric hydraulic pump based on the actual length, the preset length and the motor lead comprises: Determination of a length difference value between the actual length and the preset length; Determination of a ratio between an absolute value of the length difference value and the motor lead; The ratio is determined as the target rotation amount to be worked by the electric hydraulic pump.

7. The method of claim 3, wherein, The determination of the rotation amount cumulative value corresponding to the electric hydraulic pump comprises: Determination of an actual rotation amount of the electric hydraulic pump in a process in which the electric hydraulic pump works; Integration of the actual rotation amount of the electric hydraulic pump according to time to obtain the rotation amount cumulative value corresponding to the electric hydraulic pump.

8. The method of claim 1, wherein, The method further comprises: Determination of an actual length of a shock absorber in the vehicle and a preset length of the shock absorber; In a case where the actual length and the preset length are not equal, it is determined that the current vehicle body posture of the vehicle and the preset vehicle body posture are inconsistent.

9. The method of claim 8, wherein, The control of the electric hydraulic pump to work to drive the preloading device to perform preloading adjustment comprises: In the case that the actual length is greater than the preset length, the electric hydraulic pump is controlled to rotate in a first rotating direction to drive the preloading device to perform preloading lowering adjustment. In the case that the actual length is less than the preset length, the electric hydraulic pump is controlled to rotate in a second rotating direction to drive the preloading device to perform preloading rising adjustment, the first rotating direction being opposite to the second rotating direction.

10. A vehicle characterized by comprising: The vehicle comprises a memory and a processor; The memory is configured to store executable program code; The processor is configured to call and run the executable program code from the memory, so that the vehicle performs the method according to any one of claims 1 to 9.

Images