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

Abstract

The invention relates to a vehicle control method, a storage medium, a program product, an electronic device and a vehicle, and the vehicle control method comprises the step of continuously adjusting the actuating force of a vehicle suspension within a target time period before a target object is reached so as to adjust the height of the vehicle. According to the embodiment of the invention, the acting force of the vehicle suspension is continuously adjusted within the target time period before the vehicle reaches the target object, namely, the height adjustment of the vehicle is continuous and smooth adjustment within a period of time, so that the height of the vehicle is effectively prevented from being sharply changed.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more particularly to a vehicle control method, storage medium, program product, electronic device, and vehicle. Background Technology

[0002] When a vehicle detects an obstacle ahead, it can adjust its height via its suspension to avoid a collision. Typically, the vehicle adjusts its height abruptly at a fixed moment before reaching the obstacle. This adjustment is rather abrupt and can cause sudden changes in vehicle height, compromising driving safety. Summary of the Invention

[0003] This application provides a vehicle control method, storage medium, program product, electronic device, and vehicle that continuously and smoothly adjusts the vehicle height over a period of time, effectively avoiding drastic changes in vehicle height, thereby at least partially solving the aforementioned technical problems.

[0004] To achieve the above objectives, according to a first aspect of this application, a vehicle control method is provided, comprising: continuously adjusting the action force of the vehicle suspension during a target time period before reaching a target object, so as to adjust the vehicle height during the target time period.

[0005] Optionally, the vehicle includes a first vehicle suspension and a second vehicle suspension; the initial operating force of the first vehicle suspension is equal to the initial operating force of the second vehicle suspension; wherein the first vehicle suspension and the second vehicle suspension are mounted on different wheels and have different parameters.

[0006] Optionally, the step of continuously adjusting the vehicle suspension's operating force to adjust the vehicle's height during the target time period before reaching the target object includes: continuously increasing the vehicle suspension's operating force to raise the vehicle's height during the target time period before reaching the target object.

[0007] Optionally, within the target time period, the minimum value of the working force of the first vehicle suspension is equal to the minimum value of the working force of the second vehicle suspension, and the maximum value of the working force of the first vehicle suspension is greater than the maximum value of the working force of the second vehicle suspension; wherein, the ratio of the stiffness to the lever ratio of the first vehicle suspension is greater than the ratio of the stiffness to the lever ratio of the second vehicle suspension.

[0008] Optionally, at each moment of the target time period, the operating force of the first vehicle suspension is greater than the operating force of the second vehicle suspension.

[0009] Optionally, the step of continuously adjusting the vehicle suspension's operating force to adjust the vehicle's height during the target time period before reaching the target object includes: continuously reducing the vehicle suspension's operating force to lower the vehicle's height during the target time period before reaching the target object.

[0010] Optionally, within the target time period, the maximum value of the operating force of the first vehicle suspension is equal to the maximum value of the operating force of the second vehicle suspension; the minimum value of the operating force of the first vehicle suspension is less than the minimum value of the operating force of the second vehicle suspension.

[0011] The ratio of stiffness to leverage of the first vehicle suspension is greater than the ratio of stiffness to leverage of the second vehicle suspension.

[0012] Optionally, at each moment of the target time period, the operating force of the first vehicle suspension is less than the operating force of the second vehicle suspension.

[0013] Optionally, the target time period includes a first time period in which the start time is located; during the first time period, the adjustment speed of the action force of the vehicle suspension gradually increases.

[0014] Optionally, the target time period includes a second time period in which the end time is located; during the second time period, the adjustment speed of the action force of the vehicle suspension gradually decreases.

[0015] Optionally, at each moment of the target time period, the adjustment speed of the action force of the first vehicle suspension is greater than the adjustment speed of the action force of the second vehicle suspension; wherein, the ratio of the stiffness to the lever ratio of the first vehicle suspension is greater than the ratio of the stiffness to the lever ratio of the second vehicle suspension.

[0016] Optionally, the step of continuously adjusting the vehicle suspension's operating force to adjust the vehicle's height during the target time period before reaching the target object includes: based on the first height data of the target object and the second height data of the vehicle, continuously adjusting the vehicle suspension's operating force to adjust the vehicle's height during the target time period before reaching the target object.

[0017] Optionally, adjusting the vehicle suspension's operating force to adjust the vehicle's height during a target time period before reaching the target object, based on the first height data of the target object and the second height data of the vehicle, includes: continuously increasing the vehicle suspension's operating force to raise the vehicle's height during a target time period before reaching the target object, based on the target object's maximum height and the vehicle's ground clearance.

[0018] Optionally, the step of continuously increasing the operating force of the vehicle suspension to raise the height of the vehicle during a target time period before reaching the target object, based on the maximum height of the target object and the ground clearance of the vehicle, includes: if the maximum height of the target object is greater than the current ground clearance of the vehicle and less than the maximum ground clearance of the vehicle, then during the target time period before reaching the target object, continuously increasing the operating force of the vehicle suspension to raise the height of the vehicle.

[0019] Optionally, adjusting the vehicle suspension's operating force to adjust the vehicle's height during a target time period before reaching the target object, based on the target object's first height data and the vehicle's second height data, includes: continuously reducing the vehicle suspension's operating force to lower the vehicle's height during a target time period before reaching the target object, based on the target object's minimum height and the vehicle's body height.

[0020] Optionally, the step of continuously reducing the vehicle suspension's operating force to lower the vehicle's height during a target time period before reaching the target object, based on the target object's minimum height and the vehicle's body height, includes: if the target object's minimum height is less than the vehicle's current body height but greater than the vehicle's minimum body height, then continuously reducing the vehicle suspension's operating force to lower the vehicle's height during the target time period before reaching the target object.

[0021] Optionally, the step of continuously adjusting the vehicle suspension's operating force to adjust the vehicle's height during the target time period before reaching the target object includes: determining a target displacement based on first height data of the target object and second height data of the vehicle; and continuously adjusting the vehicle suspension's operating force to adjust the vehicle's height to the target displacement during the target time period before reaching the target object.

[0022] Optionally, determining the target displacement based on the first height data of the target object and the second height data of the vehicle includes: determining the target displacement based on the minimum height of the target object and the current vehicle height.

[0023] Optionally, determining the target displacement based on the first height data of the target object and the second height data of the vehicle includes: determining the target displacement based on the maximum height of the target object and the current ground clearance of the vehicle.

[0024] Optionally, the step of continuously adjusting the driving force of the vehicle suspension during the target time period before reaching the target object to adjust the height of the vehicle to the target displacement includes: determining the displacement at each moment during the target time period before reaching the target object based on the target displacement; determining the driving force at each moment based on the displacement at each moment; and controlling the vehicle suspension based on the driving force at each moment.

[0025] Optionally, determining the displacement at each moment within a target time period before reaching the target object based on the target displacement includes: determining the parameters of a displacement function based on the target displacement; and determining the displacement at each moment within a target time period before reaching the target object based on the displacement function.

[0026] The displacement function is a nonlinear function that describes the change of displacement over time.

[0027] Optionally, determining the parameters of the displacement function based on the target displacement includes: determining the parameters of the displacement function based on the target displacement, the starting and ending velocities, and the starting and ending accelerations; wherein the starting and ending velocities and the starting and ending accelerations are both zero.

[0028] Optionally, determining the action force at each moment based on the displacement at each moment includes: determining the action force at each moment based on the displacement at each moment, the stiffness of the vehicle suspension, and the leverage ratio of the vehicle suspension.

[0029] Optionally, the vehicle suspension includes at least one of the following: electromagnetic suspension, hydraulic suspension, rack and pinion suspension, and ball screw suspension.

[0030] Optionally, the vehicle suspension is an electromagnetic suspension, wherein the direction of the electromagnetic suspension's operating force is consistent with the direction of its lifting and lowering.

[0031] According to a second aspect of this application, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the above-described vehicle control method.

[0032] According to a third aspect of this application, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the above-described vehicle control method.

[0033] According to a fourth aspect of this application, an electronic device is provided, comprising: a memory having a computer program stored thereon; and a processor for executing the computer program in the memory to implement the vehicle control method described above.

[0034] According to a fifth aspect of this application, a vehicle is provided, including the aforementioned electronic equipment.

[0035] The vehicle control method provided in this application continuously adjusts the vehicle suspension's operating force during a target time period before reaching the target object to adjust the vehicle's height. This allows the adjusted vehicle height to avoid obstacles, preventing collisions and ensuring driving safety. Furthermore, in this application embodiment, the vehicle height adjustment during the target time period before reaching the target object is a continuous and smooth adjustment over a period of time, effectively avoiding abrupt changes in vehicle height. The height adjustment in this application embodiment is relatively gradual, further improving driving safety.

[0036] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments 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.

[0038] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0039] Figure 1 This is a flowchart of a vehicle control method provided in an embodiment of this application;

[0040] Figure 2 This is a schematic diagram of a dynamic curve provided in an embodiment of this application;

[0041] Figure 3 This is a schematic diagram of another dynamic curve provided in an embodiment of this application;

[0042] Figure 4 This is a schematic diagram of a vehicle provided in an embodiment of this application;

[0043] Figure 5 This is a schematic diagram illustrating target object identification provided in an embodiment of this application;

[0044] Figure 6 This is a schematic diagram of a vehicle control process provided in an embodiment of this application;

[0045] Figure 7 This is a schematic diagram of a method for determining action force provided in an embodiment of this application;

[0046] Figure 8 This is a schematic diagram of another vehicle provided in an embodiment of this application. Detailed Implementation

[0047] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0048] According to a first aspect of this application, embodiments of this application provide a vehicle control method.

[0049] Please see Figure 1 , Figure 1 This is a flowchart of a vehicle control method provided in an embodiment of this application. The vehicle control method may include the following step S100:

[0050] Step S100: During the target time period before reaching the target object, continuously adjust the operating force of the vehicle suspension to adjust the vehicle height.

[0051] The target object can be an obstacle; it can also be a traffic sign, such as a height restriction pole or a road construction sign. This application does not limit the type of target object. For example, the target object can also be a mud pile or sand pile protruding from the road surface.

[0052] This application embodiment adjusts the vehicle's height by continuously adjusting the vehicle's suspension force during a target time period before reaching the target object, thereby preventing a collision. It should be noted that the vehicle's suspension force is adjusted continuously and smoothly within the target time period. This is achieved by gradually increasing or decreasing the suspension force to smoothly adjust the vehicle's height, avoiding a sudden drop or rise in height due to a fixed suspension force, which would cause abrupt changes in vehicle height and ensure driving safety. The target time period can be the period from when the vehicle detects an obstacle ahead to when it reaches the obstacle, or it can be a preset time period. For example, the target time period can start 1 second after the obstacle is detected and last for 5 seconds. Alternatively, the target time period can be a period determined in real-time based on current driving data. For example, the time to reach the target can be determined based on the current vehicle speed and acceleration, and the target time period can end 2 seconds before reaching the target, with a duration one-third of the time to reach the target. This application embodiment does not limit the specific content or determination method of the target time period.

[0053] In summary, the vehicle control method provided in this application continuously adjusts the vehicle suspension's operating force during a target time period before reaching the target object to adjust the vehicle's height. This allows the adjusted vehicle height to avoid obstacles, preventing collisions and ensuring driving safety. Furthermore, in this application embodiment, the vehicle height adjustment during the target time period before reaching the target object is a continuous and smooth adjustment over a period of time, effectively avoiding abrupt changes in vehicle height. The height adjustment in this application embodiment is relatively gradual, further improving driving safety.

[0054] In some embodiments, the vehicle includes a first vehicle suspension and a second vehicle suspension; the initial operating force of the first vehicle suspension is equal to the initial operating force of the second vehicle suspension; wherein the first vehicle suspension and the second vehicle suspension are mounted on different wheels and have different parameters.

[0055] In this embodiment, the first vehicle suspension may correspond to two wheels, such as a suspension installed on the two front wheels, a suspension installed on the two rear wheels, a suspension on the two left wheels, or a suspension on the two right wheels; the second vehicle suspension is the suspension corresponding to the other two wheels on the vehicle besides the first vehicle suspension. The parameters of the vehicle suspension may include at least one of stiffness and leverage ratio.

[0056] In some embodiments, step S100 may include the following steps:

[0057] Step S100A: During the target time period before reaching the target object, continuously increase the operating force of the vehicle suspension to raise the vehicle height.

[0058] For ground targets, such as mud piles or sand piles on the road, embodiments of this application can, based on the maximum height of the target and the vehicle's ground clearance, raise the vehicle's height to the target height within a target time period before reaching the target. This increases the vehicle's ground clearance, potentially to a level greater than the maximum height of the target, thus avoiding it.

[0059] Figure 2 This is a schematic diagram of a dynamic curve provided in an embodiment of this application. (Refer to...) Figure 2 As shown, in some embodiments, within a target time period, the minimum value of the working force of the first vehicle suspension is equal to the minimum value of the working force of the second vehicle suspension, and the maximum value of the working force of the first vehicle suspension is greater than the maximum value of the working force of the second vehicle suspension; wherein, the ratio of the stiffness to the lever ratio of the first vehicle suspension is greater than the ratio of the stiffness to the lever ratio of the second vehicle suspension.

[0060] Figure 2The diagram illustrates the action force curves when raising the vehicle's height, specifically the suspension height, to avoid an object. The horizontal axis represents time, and the vertical axis represents action force. The orange curve represents the real-time action force of the first vehicle's suspension (taking the suspension corresponding to the two rear wheels as an example), and the blue curve represents the real-time action force of the second vehicle's suspension (taking the suspension corresponding to the two front wheels as an example). Figure 2 As can be seen, through the method of this application embodiment, the operating force of the front and rear electromagnetic suspensions increases continuously and smoothly over a period of time, thereby making the vehicle height increase gradually and avoiding drastic changes in vehicle height.

[0061] Since the ratio of stiffness to lever ratio of the first vehicle's suspension is greater than that of the second vehicle's suspension, the amount of force required to achieve the same displacement and the speed at which the force is adjusted will differ between the two. The specific derivation formulas will be explained in detail later.

[0062] Continue to refer to Figure 2 As shown, at every moment during the target time period, the operating force of the first vehicle's suspension is greater than that of the second vehicle's suspension. At every moment during the target time period, the adjustment speed of the operating force of the first vehicle's suspension is greater than that of the second vehicle's suspension.

[0063] Continue to refer to Figure 2 As shown, in some embodiments, the target time period can be divided into a first time period and a second time period, wherein the first time period includes a start time and the second time period includes an end time. During the first time period, the adjustment speed of the vehicle suspension's operating force gradually increases, and during the second time period, the adjustment speed of the vehicle suspension's operating force gradually decreases.

[0064] In some embodiments, step S100 may include the following steps:

[0065] Step S100B: During the target time period before reaching the target object, continuously reduce the operating force of the vehicle suspension to lower the vehicle height.

[0066] For suspended targets, such as height restriction bars, embodiments of this application can, based on the minimum height of the target and the vehicle's height, reduce the vehicle's height to the target height within a target time period before reaching the target. Thus, the vehicle's height is reduced, for example, to less than the minimum height of the target, to avoid the target.

[0067] Figure 3 This is a schematic diagram of another dynamic curve provided in an embodiment of this application. (Refer to...) Figure 3As shown, in some embodiments, within a target time period, the maximum value of the working force of the first vehicle suspension is equal to the maximum value of the working force of the second vehicle suspension, and the minimum value of the working force of the first vehicle suspension is less than the minimum value of the working force of the second vehicle suspension; wherein, the ratio of the stiffness to the lever ratio of the first vehicle suspension is greater than the ratio of the stiffness to the lever ratio of the second vehicle suspension.

[0068] Figure 3 The diagram illustrates the action force curves when lowering the vehicle's height, specifically the suspension height, to avoid an object. The horizontal axis represents time, and the vertical axis represents action force. The orange curve represents the real-time action force of the first vehicle's suspension (taking the suspension corresponding to the two rear wheels as an example), and the blue curve represents the real-time action force of the second vehicle's suspension (taking the suspension corresponding to the two front wheels as an example). Figure 3 As can be seen, through the method of this application embodiment, the operating force of the front and rear electromagnetic suspensions decreases continuously and smoothly over a period of time, thereby causing the vehicle height to decrease gradually and avoiding abrupt changes in vehicle height.

[0069] Since the ratio of stiffness to lever ratio of the first vehicle's suspension is greater than that of the second vehicle's suspension, the amount of force required to achieve the same displacement and the speed at which the force is adjusted will differ between the two. The specific derivation formulas will be explained in detail later.

[0070] Continue to refer to Figure 3 As shown, at every moment during the target time period, the operating force of the first vehicle suspension is less than that of the second vehicle suspension. At every moment during the target time period, the adjustment speed of the operating force of the first vehicle suspension is greater than that of the second vehicle suspension.

[0071] Continue to refer to Figure 3 As shown, in some embodiments, the target time period can be divided into a first time period and a second time period, wherein the first time period includes a start time and the second time period includes an end time. During the first time period, the adjustment speed of the vehicle suspension's operating force gradually increases, and during the second time period, the adjustment speed of the vehicle suspension's operating force gradually decreases.

[0072] In some embodiments, step S100 may include the following steps:

[0073] S100C: Based on the first height data of the target object and the second height data of the vehicle, the vehicle suspension is continuously adjusted during the target time period before reaching the target object to adjust the vehicle height.

[0074] This application embodiment adjusts the vehicle's height to the target height based on a first height data of the target object and a second height data of the vehicle. For example, the vehicle's height is raised to the target height based on the first height data of the target object and the second height data of the vehicle; or, the vehicle's height is lowered to the target height based on the first height data of the target object and the second height data of the vehicle. Optionally, the first height data of the target object can be the target object's minimum height, maximum height, or center height, etc., and this application embodiment does not limit this. The second height data of the vehicle can be the vehicle's ground clearance, that is, the distance between the lowest point of the vehicle chassis (bottom of the vehicle) and the ground; or, the second height data of the vehicle can also be the vehicle's body height, that is, the distance between the highest point of the vehicle top (roof) and the ground; this application embodiment does not limit this.

[0075] In some embodiments, step S100C above may include the following steps:

[0076] S100C1: Based on the maximum height of the target object and the ground clearance of the vehicle, during the target time period before reaching the target object, the operating force of the vehicle suspension is continuously increased to raise the height of the vehicle.

[0077] In this embodiment, before adjusting the vehicle height, it can be determined whether the vehicle can avoid the target object by adjusting its height to avoid ineffective adjustments. Therefore, in some embodiments, step S100C1 may include: if the maximum height of the target object is greater than the vehicle's current ground clearance but less than the vehicle's maximum ground clearance, then during the target time period before reaching the target object, the operating force of the vehicle suspension is continuously increased to raise the vehicle's height. That is, if the maximum height of the target object is between the vehicle's current ground clearance and maximum ground clearance, the vehicle can avoid the target object by adjusting its height. If the maximum height of the target object is greater than the vehicle's maximum ground clearance, then even raising the vehicle's height will not avoid the target object. In this case, other methods can be used to avoid the obstacle, such as prompting the driver to change lanes. It should be understood that if the maximum height of the target object is less than the vehicle's current ground clearance, the vehicle can directly avoid the target object in its current state without needing to adjust its height.

[0078] In some embodiments, step S100C above may include the following steps:

[0079] S100C2: Based on the minimum height of the target object and the vehicle's body height, continuously reduce the operating force of the vehicle's suspension during the target time period before reaching the target object, in order to lower the vehicle's height.

[0080] In this embodiment, before adjusting the vehicle height, it can be determined whether the vehicle can avoid the target object by adjusting its height to avoid ineffective adjustments. Therefore, in some embodiments, step S100C2 may include: if the minimum height of the target object is less than the vehicle's current height but greater than the vehicle's minimum height, then during the target time period before reaching the target object, the vehicle suspension's operating force is continuously reduced to lower the vehicle's height. That is, if the minimum height of the target object is between the vehicle's current height and minimum height, the vehicle can avoid the target object by adjusting its height. If the minimum height of the target object is less than the vehicle's minimum height, then even lowering the vehicle's height cannot avoid the target object. In this case, other methods can be used to avoid the obstacle, such as prompting the driver to change lanes. It should be understood that if the minimum height of the target object is greater than the vehicle's current height, the vehicle can directly avoid the target object in its current state without needing to adjust its height.

[0081] In summary, the vehicle control method provided in this application, for suspended targets, lowers the vehicle height to a target height based on the target's minimum height and the vehicle's body height to reduce the vehicle's height and ensure the vehicle avoids the suspended target; for ground targets, raises the vehicle height to a target height based on the target's maximum height and the vehicle's ground clearance to increase the vehicle's ground clearance and ensure the vehicle avoids the ground target. Furthermore, this application embodiment can first determine whether the vehicle can avoid the target through height adjustment based on the target's minimum / maximum height and the vehicle's body height / ground clearance to avoid ineffective adjustments.

[0082] In some embodiments, step S100 may include the following steps:

[0083] Step S110: Determine the target displacement based on the first height data of the target object and the second height data of the vehicle;

[0084] Step S120: During the target time period before reaching the target object, continuously adjust the action force of the vehicle suspension to adjust the vehicle height to the target displacement.

[0085] This application embodiment achieves vehicle height adjustment through suspension height adjustment. The vehicle suspension is installed between the vehicle body and the wheels; therefore, increasing the suspension height raises the vehicle height, and decreasing the suspension height lowers the vehicle height. By adjusting the vehicle suspension to a target displacement—that is, by adjusting the adjustable suspension components, such as springs—to a target displacement, the vehicle height is adjusted to the target height. This application embodiment does not limit the specific type of vehicle suspension. In some embodiments, the vehicle suspension includes at least one of the following: electromagnetic suspension, hydraulic suspension, rack and pinion suspension, and ball screw suspension.

[0086] In some embodiments, the vehicle suspension is an electromagnetic suspension, and the direction of the electromagnetic suspension's force application is consistent with the direction of its lifting and lowering, which is also consistent with the vehicle's lifting and lowering direction. This reduces energy loss during force transmission, improves the efficiency of the electromagnetic motor, and makes the suspension response faster.

[0087] In step S110, the target displacement required for the adjustable component of the vehicle suspension is determined based on the first height data of the target object and the second height data of the vehicle.

[0088] For a suspended target, in some embodiments, step S110 may include determining the target displacement based on the target's lowest height and the vehicle's current height. For example, for a suspended target, the target displacement can be determined by calculating the difference between the target's lowest height and the vehicle's current height. The absolute value of the target displacement may be greater than or equal to the absolute value of the difference between the target's lowest height and the vehicle's current height.

[0089] For ground targets, in some embodiments, step S110 may include determining the target displacement based on the target's maximum height and the vehicle's current ground clearance. For example, for a ground target, the target displacement can be determined by subtracting the target's maximum height from the vehicle's current ground clearance. The absolute value of the target displacement may be greater than or equal to the absolute value of the difference between the target's maximum height and the vehicle's current ground clearance.

[0090] It should be understood that in the embodiments of this application, the target displacement can be a directional vector. For example, if the direction of increasing suspension height of the vehicle suspension is positive and the direction of decreasing suspension height of the vehicle suspension is negative, then for a suspended target, the target displacement is negative; for a ground target, the target displacement is positive.

[0091] To achieve continuous and smooth adjustment of the vehicle's height within a target time period between arrivals at the target object, in some embodiments, step S120 may include the following steps:

[0092] Step S121: Based on the target displacement, determine the displacement of the vehicle suspension at each moment within the target time period before reaching the target object.

[0093] Step S122: Determine the action force at each moment based on the displacement at each moment;

[0094] Step S123: Control the vehicle suspension according to the action force at each moment.

[0095] Vehicle suspension adjusts suspension height by applying force, which is determined based on the displacement of the vehicle suspension. Therefore, for each moment within a target time period, the displacement of the vehicle suspension at that moment can be determined first, and then the applying force for the vehicle suspension at that moment can be determined based on this displacement. The vehicle suspension is then controlled according to the applying force at each moment. The displacement at each moment can also be called the real-time displacement, and the applying force at each moment can also be called the real-time applying force.

[0096] The displacement of the vehicle suspension can change linearly or non-linearly over time, and this application embodiment does not limit this. In some embodiments, based on the trajectory planning method, step S121 above may include the following steps:

[0097] Step S1211: Determine the parameters of the displacement function based on the target displacement;

[0098] Step S1212: During the target time period before reaching the target object, determine the displacement of the vehicle suspension at each moment according to the displacement function.

[0099] The displacement function is a nonlinear function that describes the change of displacement over time. The parameters of the displacement function are its coefficients. The displacement function can be pre-established, and then the coefficients can be determined based on the target displacement and initial displacement of the vehicle suspension. Thus, for each moment in the target time period, substituting that moment into the displacement function determines the displacement at that moment. The initial displacement of the vehicle suspension refers to the displacement of the vehicle suspension relative to its original, uncontrolled state before step S123 controls the vehicle suspension.

[0100] In some embodiments, to make the adjustment process smoother and generate less impact, step S1211 may include: determining the parameters of the displacement function based on the target displacement, the starting and ending moving speeds, and the starting and ending moving accelerations; wherein the starting and ending moving speeds and the starting and ending moving accelerations are both zero. The starting and ending moving speeds include the starting moving speed and the ending moving speed; the starting and ending moving accelerations include the starting moving acceleration and the ending moving acceleration.

[0101] For example, the displacement function (POS) can be used for fifth-order polynomial trajectory planning, as shown below:

[0102] Formula 1: POS=c_5*t^5+c_4*t^4+c_3*t^3+c_2*t^2+c_1*t+c_0

[0103] Simultaneously establish the velocity function (v) and acceleration function (a), as shown below:

[0104] Formula 2: v=5*c_5*t^4+4*c_4*t^3+3*c_3*t^2+2*c_2*t+c_1

[0105] Formula 3: a=20*c_5*t^3+12*c_4*t^2+6*c_3*t+2*c_2

[0106] The three formulas above contain a total of 6 coefficients, requiring the solution of 6 simultaneous equations, as shown below:

[0107] Formula 4: POS(0)=s1

[0108] Formula 5: POS(T)=s2

[0109] Formula 6: v(0) = 0

[0110] Formula 7: v(T) = 0

[0111] Formula 8: a(0)=0

[0112] Formula 9: a(T)=0

[0113] Where POS(0) refers to the initial displacement of the vehicle suspension, and POS(T) refers to the target displacement of the vehicle suspension; v(0) refers to the initial moving speed of the vehicle suspension, and v(T) refers to the final moving speed of the vehicle suspension; a(0) refers to the initial moving acceleration of the vehicle suspension, and a(T) refers to the final moving acceleration of the vehicle suspension. v(0), v(T), a(0), and a(T) are all zero, i.e., zero-speed start and stop, zero-acceleration start and stop, to make the adjustment process smoother and generate less impact.

[0114] The parameters of the displacement function, namely the coefficients c_5 to c_1 in Formula 1, can be determined using formulas 1 to 9 above. Then, by substituting these values ​​into the displacement function for each time step, the displacement at that time step can be determined.

[0115] In some embodiments, step S122 may include: determining the action force of the vehicle suspension at each moment based on the displacement at each moment, the suspension stiffness of the vehicle suspension, and the lever ratio of the vehicle suspension.

[0116] For example, the force at each moment can be determined by the following formula:

[0117] Formula 10:

[0118] Formula 11:

[0119] Wherein, TarF_Front refers to the real-time action force of the front wheel corresponding to the vehicle suspension, TarF_Rear refers to the real-time action force of the rear wheel corresponding to the vehicle suspension; kf refers to the suspension stiffness of the front wheel corresponding to the vehicle suspension, kr refers to the suspension stiffness of the rear wheel corresponding to the vehicle suspension; if refers to the lever ratio of the front wheel corresponding to the vehicle suspension, ir refers to the lever ratio of the rear wheel corresponding to the vehicle suspension; and x refers to the real-time displacement.

[0120] In summary, the vehicle control method provided in this application adjusts the vehicle suspension height by adjusting the displacement of the suspension, thereby achieving vehicle height adjustment. Specifically, the displacement at each moment within a target time period is determined by the target displacement of the vehicle suspension, and the action force at each moment is determined based on the real-time displacement. The vehicle suspension is then controlled according to the action force at each moment, thus achieving vehicle suspension displacement adjustment. This application embodiment determines the displacement function through trajectory planning to obtain the displacement at each moment. When determining the parameters of the displacement function, the starting and ending velocities and accelerations of the vehicle suspension are preset to be zero, enabling a smoother adjustment process and effectively reducing the impact generated during height adjustment.

[0121] The following describes the vehicle control method provided in this application embodiment, taking electromagnetic suspension as an example.

[0122] Please see Figure 4 , Figure 4 This is a schematic diagram of a vehicle provided in an embodiment of this application. The vehicle includes a body 1, an electromagnetic actuator 2, wheels 3, springs 4, and a pre-aiming device 5.

[0123] The pre-aiming device 5 is used to collect target data in real time, identifying data such as the target's size, shape, and position. The data collected by the pre-aiming device 5 can be transmitted to the chassis motion controller, providing data support for subsequent adjustment decisions. The pre-aiming device can be a stereo camera or a stereo camera and LiDAR. The type of vehicle pre-aiming device can be provided through configuration characters; for example, configuration character 01 indicates a stereo camera, while configuration character 02 indicates a stereo camera and LiDAR. Figure 5 As shown, when the aiming device is a stereo camera, the point cloud computing module 320 and the fusion computing module 330 are turned off, and the aiming device outputs the target detection data obtained by the vision computing module 310; when the aiming device is a stereo camera and a lidar, the fusion computing module 330 fuses the calculation results of the vision computing module 310 and the point cloud computing module 320 and outputs the target detection data, etc.

[0124] like Figure 6 As shown, during vehicle operation, the aiming device 5 detects targets ahead and sends the target detection data (such as coordinate position and size based on the vehicle's coordinate system) to the chassis motion controller 6. The chassis motion controller 6 processes the data from the aiming device 5 to determine the characteristics of the target, such as whether it is a suspended target or a ground target. Based on the target detection data, vehicle speed, steering wheel angle data, and information such as the initial displacement and actual working force fed back by the electromagnetic suspension controller 7, the real-time working force of the electromagnetic actuator 2 can be determined. The electromagnetic suspension controller calculates the real-time drive current based on the real-time working force and drives the electromagnetic actuator to output the working force. Under the action of the electromagnetic actuator, the vehicle's suspension height changes, and the vehicle's height also changes accordingly, achieving the effect of avoiding the target.

[0125] For real-time dynamic calculations under different target object types, such as Figure 7 As shown, it may include the following steps:

[0126] Step S501: Obtain the initial displacement and real-time action of the electromagnetic suspension;

[0127] Step S502: Determine the current vehicle height and current ground clearance; wherein, the current vehicle height and current ground clearance are determined based on the data obtained in step S501, etc.

[0128] Step S503: Obtain the detection information of the target object; wherein, step S503 can be executed simultaneously with step S501;

[0129] Step S504: Determine whether the target object is a suspended target object; wherein, the target object is determined based on the detection information of the target object obtained in step S503; if the target object is a suspended target object, then the execution starts from step S505 below, otherwise the execution starts from step S509 below.

[0130] Step S505: Based on the minimum height of the target object and the current vehicle height, determine whether to adjust the electromagnetic suspension; if yes, proceed to step S506 below; otherwise, end.

[0131] Step S506: Determine the target displacement of the electromagnetic suspension based on the minimum height of the target object and the current vehicle height;

[0132] Step S507: Determine the real-time displacement based on the target displacement;

[0133] Step S508: Determine the real-time driving force based on the real-time displacement;

[0134] Step S509: Based on the maximum height of the target object and the current ground clearance of the vehicle, determine whether to adjust the electromagnetic suspension; if yes, proceed from step S510 below; otherwise, end.

[0135] Step S510: Determine the target displacement of the electromagnetic suspension based on the maximum height of the target object and the current ground clearance of the vehicle; after step S510, execution begins from step S507.

[0136] related Figure 7 For details on the specific content and beneficial effects of each step in the embodiments, please refer to the above embodiments, which will not be repeated here.

[0137] According to a second aspect of this application, embodiments of this application also provide a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle control method described above. This non-transitory computer-readable storage medium possesses all the beneficial effects of the vehicle control method described above, which will not be elaborated further here.

[0138] According to a third aspect of this application, embodiments of this application also provide an electronic device, including: a memory and a processor, wherein a computer program is stored in the memory; the processor is configured to execute the computer program in the memory to implement the steps of the vehicle control method described above. This electronic device possesses all the beneficial effects of the vehicle control method described above, which will not be elaborated upon further herein.

[0139] Computer-readable storage media can be, for example, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof, without particular limitation herein. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0140] In some embodiments of this application, a computer-readable storage medium may be any tangible medium that contains or stores a program that may be used or combined with an instruction execution system, apparatus, or device.

[0141] The aforementioned computer-readable storage medium may be included in the aforementioned electronic device, or it may exist independently and not assembled into the electronic device. The aforementioned computer-readable storage medium carries one or more programs that, when executed by the electronic device, cause the electronic device to:

[0142] During the target time period before reaching the target object, continuously adjust the operating force of the vehicle suspension to adjust the vehicle height.

[0143] Computer program code for performing operations of some embodiments of this application can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network (including a local area network (LAN) or a wide area network (WAN)), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0144] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function.

[0145] It should also be noted that in some alternative implementations, the functions marked in the box may occur in a different order than those marked in the attached figures.

[0146] For example, two consecutively represented blocks can actually be executed in substantially parallel order, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, as well as combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified functions or operations, or using a combination of dedicated hardware and computer instructions.

[0147] The units described in some embodiments of this application can be implemented in software or hardware. The described units can also be housed in a processor; for example, a processor may be described as including a height adjustment module. The names of these units do not necessarily limit the unit itself; for example, a height adjustment module may also be described as "a unit for continuously adjusting the action force of the vehicle suspension to adjust the vehicle's height during a target time period before reaching the target object."

[0148] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application Standard Products (ASSPs), System-on-Chip (SoCs), Complex Programmable Logic Devices (CPLDs), and so on.

[0149] According to the fifth aspect of this application, such as Figure 8 As shown in the illustration, this application also provides a vehicle 10, which includes the aforementioned electronic equipment. This vehicle possesses all the beneficial effects of the aforementioned electronic equipment, etc., which will not be elaborated upon further herein.

[0150] The vehicle may be a gasoline-powered vehicle, a plug-in hybrid electric vehicle, or a new energy vehicle, etc., and this application does not make any specific restrictions.

[0151] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0152] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0153] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0154] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Although the descriptions of each embodiment in this application have different focuses, and parts not described in detail in a certain embodiment can be referred to the relevant descriptions of other embodiments, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of this application without departing from the content of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A vehicle control method characterized by, The method comprises: continuously adjusting the actuation force of the vehicle suspensions to adjust the height of the vehicle within a target time period before reaching the target object.

2. The method of claim 1, wherein, The vehicle comprises a first vehicle suspension and a second vehicle suspension; the initial actuation force of the first vehicle suspension is equal to the initial actuation force of the second vehicle suspension; wherein the first vehicle suspension and the second vehicle suspension are arranged at different wheels and have different parameters.

3. The method of claim 2, wherein, The method of continuously adjusting the actuation force of the vehicle suspensions to adjust the height of the vehicle within a target time period before reaching the target object comprises: continuously increasing the actuation force of the vehicle suspensions to raise the height of the vehicle within a target time period before reaching the target object.

4. The method of claim 3, wherein: the minimum value of the actuation force of the first vehicle suspension is equal to the minimum value of the actuation force of the second vehicle suspension, and the maximum value of the actuation force of the first vehicle suspension is greater than the maximum value of the actuation force of the second vehicle suspension within the target time period; wherein the ratio of the stiffness to the leverage ratio of the first vehicle suspension is greater than the ratio of the stiffness to the leverage ratio of the second vehicle suspension.

5. The method of claim 3, wherein, The actuation force of the first vehicle suspension is greater than the actuation force of the second vehicle suspension at each time point within the target time period.

6. The method of claim 2, wherein, The method of continuously adjusting the actuation force of the vehicle suspensions to adjust the height of the vehicle within a target time period before reaching the target object comprises: continuously decreasing the actuation force of the vehicle suspensions to lower the height of the vehicle within a target time period before reaching the target object.

7. The method of claim 6, wherein: the maximum value of the actuation force of the first vehicle suspension is equal to the maximum value of the actuation force of the second vehicle suspension, and the minimum value of the actuation force of the first vehicle suspension is less than the minimum value of the actuation force of the second vehicle suspension within the target time period; wherein the ratio of the stiffness to the leverage ratio of the first vehicle suspension is greater than the ratio of the stiffness to the leverage ratio of the second vehicle suspension.

8. The method of claim 6, wherein, The actuation force of the first vehicle suspension is less than the actuation force of the second vehicle suspension at each time point within the target time period.

9. The method of claim 1, wherein, The target time period comprises a first time period in which a starting time point is located; the adjustment speed of the actuation force of the vehicle suspensions gradually increases within the first time period.

10. The method of claim 1, wherein, The target time period comprises a second time period in which an ending time point is located; the adjustment speed of the actuation force of the vehicle suspensions gradually decreases within the second time period.

11. The method of claim 1, wherein, The adjustment speed of the actuation force of the first vehicle suspension is greater than the adjustment speed of the actuation force of the second vehicle suspension at each time point within the target time period; wherein the ratio of the stiffness to the leverage ratio of the first vehicle suspension is greater than the ratio of the stiffness to the leverage ratio of the second vehicle suspension.

12. The method of claim 1, wherein, The method of continuously adjusting the actuation force of the vehicle suspensions to adjust the height of the vehicle within a target time period before reaching the target object comprises: continuously adjusting the actuation force of the vehicle suspensions to adjust the height of the vehicle within a target time period before reaching the target object according to first height data of the target object and second height data of the vehicle.

13. The method of claim 12, wherein, The method for continuously adjusting the actuating force of the vehicle suspension to adjust the height of the vehicle within a target time period before reaching the target object according to the first height data of the target object and the second height data of the vehicle comprises: The method for continuously increasing the actuating force of the vehicle suspension to raise the height of the vehicle within a target time period before reaching the target object according to the maximum height of the target object and the ground clearance of the vehicle comprises:

14. The method of claim 13, wherein, The method for continuously increasing the actuating force of the vehicle suspension to raise the height of the vehicle within a target time period before reaching the target object according to the maximum height of the target object and the ground clearance of the vehicle comprises: If the maximum height of the target object is greater than the current ground clearance of the vehicle and less than the maximum ground clearance of the vehicle, the method for continuously increasing the actuating force of the vehicle suspension to raise the height of the vehicle within a target time period before reaching the target object comprises:

15. The method of claim 12, wherein, The method for continuously adjusting the actuating force of the vehicle suspension to adjust the height of the vehicle within a target time period before reaching the target object according to the first height data of the target object and the second height data of the vehicle comprises: The method for continuously decreasing the actuating force of the vehicle suspension to lower the height of the vehicle within a target time period before reaching the target object according to the minimum height of the target object and the body height of the vehicle comprises:

16. The method of claim 15, wherein, The method for continuously decreasing the actuating force of the vehicle suspension to lower the height of the vehicle within a target time period before reaching the target object according to the minimum height of the target object and the body height of the vehicle comprises: If the minimum height of the target object is less than the current body height of the vehicle and greater than the minimum body height of the vehicle, the method for continuously decreasing the actuating force of the vehicle suspension to lower the height of the vehicle within a target time period before reaching the target object comprises:

17. The method of claim 1, wherein, The method for continuously adjusting the actuating force of the vehicle suspension to adjust the height of the vehicle within a target time period before reaching the target object comprises: Determining a target displacement according to the first height data of the target object and the second height data of the vehicle; Continuously adjusting the actuating force of the vehicle suspension to adjust the height of the vehicle by the target displacement within a target time period before reaching the target object.

18. The method of claim 17, wherein, The method for determining a target displacement according to the first height data of the target object and the second height data of the vehicle comprises: Determining a target displacement according to the minimum height of the target object and the current body height of the vehicle.

19. The method of claim 17, wherein, The method for determining a target displacement according to the first height data of the target object and the second height data of the vehicle comprises: Determining a target displacement according to the maximum height of the target object and the current ground clearance of the vehicle.

20. The method of claim 17, wherein, The method for continuously adjusting the actuating force of the vehicle suspension to adjust the height of the vehicle by the target displacement within a target time period before reaching the target object comprises: Determining a displacement at each time according to the target displacement within a target time period before reaching the target object; Determining an actuating force at each time according to the displacement at each time; Controlling the vehicle suspension according to the actuating force at each time.

21. The method of claim 20, wherein, The method for determining a displacement at each time according to the target displacement within a target time period before reaching the target object comprises: Determining a parameter of a displacement function according to the target displacement; determining the displacement at each time according to the displacement function before reaching the target object in a target time period; wherein the displacement function is a nonlinear function of the displacement changing with time.

22. The method of claim 21, wherein, The determining the parameters of the displacement function according to the target displacement comprises: determining the parameters of the displacement function according to the target displacement, start-stop moving speed and start-stop moving acceleration; wherein the start-stop moving speed and the start-stop moving acceleration are both zero.

23. The method of claim 20, wherein, The determining the actuation force at each time according to the displacement at each time comprises: determining the actuation force at each time according to the displacement at each time, the stiffness of the vehicle suspension and the lever ratio of the vehicle suspension.

24. The method of claim 1, wherein, The vehicle suspension comprises at least one of the following: an electromagnetic suspension, a hydraulic suspension, a rack and pinion suspension, a ball screw suspension.

25. The method of claim 1, wherein, The vehicle suspension is an electromagnetic suspension, and the direction of the actuation force of the electromagnetic suspension is consistent with the lifting direction of the electromagnetic suspension.

26. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the vehicle control method of any one of claims 1 to 25.

27. A computer program product comprising a computer program, characterised in that, The computer program is executed by the processor to implement the vehicle control method of any one of claims 1 to 25.

28. An electronic device, comprising: comprising: a memory having a computer program stored thereon; a processor configured to execute the computer program in the memory to implement the vehicle control method of any one of claims 1 to 25.

29. A vehicle characterized by The electronic device of claim 28 is included. The electronic device of claim 28 is included.

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