Control method and device of vehicle, vehicle, medium and product

Abstract

The application discloses a control method and device of a vehicle, an electronic device, a vehicle, a computer readable storage medium, a computer program product and a computer program product. The control method comprises: controlling the movement of a vehicle body to remove snow covering the vehicle. In this way, the movement of the vehicle body can be controlled so that the snow covering the vehicle can be separated from the vehicle due to the movement of the vehicle body, thereby achieving the effect of snow removal. Thus, the situation that the user needs to manually remove the snow covering the vehicle can be avoided, the difficulty of the user in removing the snow on the vehicle is reduced, the timely removal of the snow is ensured to a certain extent, the user experience is ensured, and the driving safety is ensured.

Description

Technical Field

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

[0002] During severe weather such as blizzards, vehicles parked outdoors may become covered in snow, including sunroofs, windshields, and side windows. This snow accumulation can impair driving safety, such as creating blind spots by covering the windshield, and should be cleared promptly. Summary of the Invention

[0003] This application provides a vehicle control method, control device, electronic device, vehicle, computer-readable storage medium, and computer program product.

[0004] This application provides a vehicle control method, including:

[0005] Control the movement of the vehicle body to remove the snow covering the vehicle.

[0006] Thus, in this embodiment of the application, the movement of the vehicle body can be controlled so that the snow covering the vehicle can be removed from the vehicle due to the movement of the vehicle body, thereby achieving the effect of snow removal. This avoids the situation where the user needs to manually remove the snow covering the vehicle, reduces the difficulty for the user to remove the snow on the vehicle, and to a certain extent ensures the timely removal of snow, thus ensuring the user's driving experience and driving safety.

[0007] In some embodiments of this application, controlling the movement of the vehicle body to remove snow covering the vehicle includes:

[0008] The height of the vehicle suspension is controlled to change, causing the vehicle body to move in order to remove the snow covering the vehicle.

[0009] Thus, in this embodiment, the vehicle suspension can be controlled to change the suspension height, thereby changing the vehicle height and causing the vehicle body to move. This allows the snow covering the vehicle to be removed from the vehicle due to the movement of the vehicle body, thereby achieving the effect of snow removal. This avoids the situation where the user needs to manually remove the snow covering the vehicle, reduces the difficulty for the user to remove the snow from the vehicle, and ensures the user's driving experience.

[0010] In some embodiments of this application, controlling the change in the height of the vehicle suspension to move the vehicle body to remove snow covering the vehicle includes:

[0011] Reduce the stiffness of the vehicle's suspension;

[0012] The height of the vehicle suspension is controlled to change, causing the vehicle body to move in order to remove the snow covering the vehicle.

[0013] Thus, in this embodiment of the application, the stiffness of the vehicle suspension can be reduced to ensure smooth changes in suspension height.

[0014] In some embodiments of this application, the vehicle suspension includes an air spring, and reducing the stiffness of the vehicle suspension includes:

[0015] Controlling the inflation and / or deflation of the air spring to reduce the stiffness of the vehicle suspension.

[0016] Thus, in this embodiment of the application, the stiffness of the vehicle suspension can be reduced by controlling the inflation and / or deflation of the air springs.

[0017] In some embodiments of this application, the vehicle suspension includes a motor capable of generating power to change the height of the vehicle suspension. Controlling the change in the height of the vehicle suspension to move the vehicle body to remove snow covering the vehicle includes:

[0018] The motor is controlled to generate the target power to remove the snow covering the vehicle.

[0019] Thus, in this embodiment of the application, the motor in the suspension can be controlled to generate target power to change the suspension height, thereby removing snow covering the vehicle.

[0020] In some embodiments of this application, controlling the motor to generate target power to remove snow covering the vehicle includes:

[0021] Based on the operating parameters, the motor is controlled to generate the target operating power to remove the snow covering the vehicle.

[0022] Thus, in this embodiment of the application, the motor can be controlled to generate the target working power according to the working power parameters to remove the snow covering the vehicle.

[0023] In some embodiments of this application, the action power parameters include action power amplitude parameters and / or action power frequency parameters.

[0024] In some embodiments of this application, the method further includes:

[0025] Update the current parameter values ​​of the aforementioned dynamic parameters.

[0026] Thus, in this embodiment of the application, the current parameter value of the power parameters can be updated to adjust the target power generated by the motor.

[0027] In some embodiments of this application, updating the current parameter value of the actuation force parameter includes:

[0028] The current parameter values ​​of the driving force parameters are updated based on the operating status information of the vehicle suspension and / or the tire pressure information of the wheels.

[0029] Thus, in the implementation of the application, the current parameter value of the driving force parameter is updated according to the operating status information of the vehicle suspension and / or the tire pressure information of the wheels to ensure the reliable operation of the suspension.

[0030] In some embodiments of this application, the operating status information includes the change in suspension height and / or the change in suspension tilt angle, and the tire pressure information includes the tire pressure of each wheel of the vehicle.

[0031] In some embodiments of this application, updating the current parameter value of the driving force parameter based on the operating status information of the vehicle suspension includes:

[0032] If at least one of the following conditions is met: the change in suspension height is less than or equal to a first preset change threshold, the change in suspension tilt is less than or equal to a second preset change threshold, and the tire resonance frequency is less than or equal to a preset frequency threshold, the current parameter value of the driving force parameter is increased. The tire resonance frequency is determined based on the tire pressure of each wheel.

[0033] Thus, in this embodiment, if at least one of the following conditions is met—that the change in suspension height is less than or equal to a first preset change threshold, the change in suspension tilt angle is less than or equal to a second preset change threshold, and the tire resonance frequency is less than or equal to a preset frequency threshold—the current parameter value of the driving force parameter can be increased to ensure the stable operation of the vehicle suspension.

[0034] In some embodiments of this application, the vehicle suspension includes a plurality of motors, and controlling the motors to generate the target working force to remove snow covering the vehicle according to working force parameters includes:

[0035] Based on the power parameters corresponding to the preset motion mode, each motor is controlled to generate the target power, causing the vehicle body to perform an action corresponding to the preset motion mode, so as to remove the snow covering the vehicle.

[0036] Thus, in this embodiment, each motor can be controlled to generate target power according to the power parameters corresponding to the preset motion mode, so that the vehicle body produces an action corresponding to the preset motion mode, thereby removing the snow covering the vehicle.

[0037] In some embodiments of this application, the preset motion mode includes at least one of forward and backward swaying, bending forward and up and down swaying, bending forward and shaking, left and right swaying, sideways and up and down swaying, and sideways shaking.

[0038] In some embodiments of this application, controlling the movement of the vehicle body to remove snow covering the vehicle includes:

[0039] In response to a snow removal function activation command, the movement of the vehicle body is controlled to remove the snow covering the vehicle.

[0040] Thus, in this embodiment, the vehicle body can be controlled to remove snow covering the vehicle in response to a snow removal function activation command, thereby ensuring robust snow removal.

[0041] In some embodiments of this application, controlling the movement of the vehicle body to remove snow covering the vehicle in response to a snow removal function activation command includes:

[0042] When the vehicle is in a preset state, in response to the snow removal function activation command, the movement of the vehicle body is controlled to remove the snow covering the vehicle.

[0043] Thus, in this embodiment, the vehicle body can be controlled to move in response to the snow removal function activation command when the vehicle is in a preset state, thereby removing the snow covering the vehicle and ensuring the safe operation of the snow removal function.

[0044] In some embodiments of this application, the vehicle is in the preset state when the slope of the road surface where the vehicle is located is less than or equal to a preset slope threshold and the vehicle speed is less than or equal to a preset speed threshold.

[0045] In some embodiments of this application, the method further includes:

[0046] When the vehicle status information meets the preset conditions, a snow removal function start command is generated, wherein the vehicle status information includes at least one of the following: vehicle weight, snow accumulation on the windows, and the type of road surface the vehicle is currently on.

[0047] Thus, in this embodiment of the application, when the vehicle status information meets the preset conditions, a snow removal function start command can be generated to control the vehicle body movement, thereby removing the snow covering the vehicle and achieving timely snow removal.

[0048] In some embodiments of this application, the preset condition is satisfied when at least one of the following conditions is met: the total vehicle weight is greater than a predetermined weight, the windows are covered with snow, and the road surface currently in which the vehicle is located is a snow-covered road section.

[0049] This application provides a control device, including a processing unit;

[0050] The processing unit is configured to control the movement of the vehicle body to remove snow covering the vehicle.

[0051] This application provides an electronic device including a memory and a processor. The memory stores a computer program, which, when executed by the processor, implements the vehicle control method described above.

[0052] This application provides a vehicle that includes the control device or electronic device described above.

[0053] This application provides a computer-readable storage medium storing a computer program that, when executed by one or more processors, implements the vehicle control method described above.

[0054] This application provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the vehicle control method described above.

[0055] The control device, electronic device, vehicle, computer-readable storage medium, and computer program product provided in this application can control the movement of the vehicle body, so that the snow covering the vehicle can be removed from the vehicle due to the movement of the vehicle body, thereby achieving the effect of snow removal. This avoids the situation where users need to manually remove the snow covering the vehicle, reduces the difficulty for users to remove snow from the vehicle, and to a certain extent ensures the timely removal of snow, thus ensuring the user's driving experience and driving safety.

[0056] Additional aspects and advantages of embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of this application. Attached Figure Description

[0057] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0058] Figure 1 This is a flowchart illustrating a vehicle control method in certain embodiments of this application;

[0059] Figure 2 This is a schematic diagram illustrating application scenarios in some embodiments of this application;

[0060] Figure 3 This is a schematic diagram illustrating application scenarios in some embodiments of this application;

[0061] Figure 4 This is a schematic diagram illustrating application scenarios in some embodiments of this application;

[0062] Figure 5 This is a schematic diagram illustrating application scenarios in some embodiments of this application;

[0063] Figure 6 This is a flowchart illustrating a vehicle control method in certain embodiments of this application;

[0064] Figure 7 This is a flowchart illustrating a vehicle control method in certain embodiments of this application;

[0065] Figure 8 This is a schematic diagram illustrating application scenarios in some embodiments of this application;

[0066] Figure 9 This is a schematic diagram illustrating application scenarios in some embodiments of this application;

[0067] Figure 10 This is a schematic diagram illustrating application scenarios in some embodiments of this application. Detailed Implementation

[0068] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of this application, and should not be construed as limiting the embodiments of this application.

[0069] In related technologies, vehicles can adjust their height by changing the distance between their bodies and the ground through their suspension while in motion, thereby improving their obstacle-crossing ability and driving safety.

[0070] For example, in one related technology, a vehicle is equipped with a suspension assembly and a control system for the suspension assembly. The suspension assembly consists of shock absorbers, air springs, a controller, and multiple control arms. The shock absorbers are connected between the vehicle body and one of the control arms. The controller is connected to both the shock absorbers and the air springs. The air springs are mounted between the vehicle body longitudinal beams and the control arms connected to the shock absorbers. Furthermore, the controller can determine the vehicle body adjustment height based on road condition information and the current height of the vehicle. Based on the determined adjustment height, it controls the operation of the shock absorbers and / or air springs, causing changes in the vehicle body height, or even controlling the vehicle to bounce. This meets the need for rapid vehicle body lifting during driving, thereby improving the vehicle's obstacle-crossing ability and driving safety.

[0071] Understandably, this technology uses a combination of motors and air springs to control changes in vehicle height. While it is structurally safe and offers relatively stable adjustment, its drawback is that it is only applicable to control strategies with low frequency of change and is difficult to apply to scenarios where vehicle height needs to be changed frequently.

[0072] Based on the issues mentioned above, please refer to Figure 1 This application provides a vehicle control method, including:

[0073] 01: Control the movement of the vehicle body to remove the snow covering the vehicle.

[0074] This application provides a control device. The vehicle control method of this application can be implemented by the control device of this application. Specifically, the control device includes a processing unit. The processing unit is configured to control the movement of the vehicle body to remove snow covering the vehicle.

[0075] This application also provides an electronic device, the control device including a memory and a processor. The vehicle control method of this application can be implemented by the electronic device of this application. Specifically, the memory stores a computer program, and the processor is used to control the movement of the vehicle body to remove snow covering the vehicle.

[0076] Specifically, in the embodiments of this application, the vehicle (or the control device in the vehicle, or the electronic device in the vehicle) controls the vehicle body to perform a preset action, or in other words, controls the vehicle to produce a specific action, so that the snow covering the vehicle is removed from the vehicle body due to the movement of the vehicle body.

[0077] For example, please refer to the following: Figure 2 , Figure 3 , Figure 4 as well as Figure 5 , Figure 2 , Figure 3 , Figure 4 as well as Figure 5 These are all schematic diagrams illustrating application scenarios in certain embodiments of this application. Specifically, if we let the distance value D1 be greater than the distance value D2, then: (The remaining text appears to be incomplete and requires further context.) Figure 2 As shown, at time T1, the distance between the vehicle body and the left front wheel and the right front wheel is D1, and the distance between the vehicle body and the left rear wheel and the right rear wheel is D2, so that the distance between the vehicle body and the four vehicles is similar to... Figure 3 As indicated by the solid black arrow, the vehicle is positioned with a higher front and lower rear, allowing the snow covering it to slide off to the ground behind the vehicle.

[0078] And, such as Figure 3As shown, at time T2, the distance between the vehicle body and the left front wheel and the right front wheel is D2, and the distance between the vehicle body and the left rear wheel and the right rear wheel is D1, so that the distance between the vehicle body and the four vehicles is similar to... Figure 3 As indicated by the arrow filled with a dashed line, the vehicle is in a "lower front, higher back" configuration, allowing the snow covering the vehicle to slide off to the ground in front of it.

[0079] Furthermore, this application allows the vehicle body to move back and forth between "front high, rear low" and "front low, rear high", thereby allowing the snow covering the vehicle to slide off to the ground.

[0080] Similarly, such as Figure 4 As shown, at time T1, the distance between the vehicle body and the right front wheel and the right rear wheel is D1, and the distance between the vehicle body and the left front wheel and the left rear wheel is D2, so that the distance between the vehicle body and the four vehicles is similar to... Figure 3 As indicated by the solid black arrow, the vehicle is positioned with the right side higher than the left, allowing the snow covering it to slide off to the ground on the left side of the vehicle.

[0081] And, such as Figure 5 As shown, at time T2, the distance between the vehicle body and the left front wheel and the right front wheel is D2, and the distance between the vehicle body and the left rear wheel and the right rear wheel is D1, so that the distance between the vehicle body and the four vehicles is similar to... Figure 3 As indicated by the arrow filled with a dashed line, the vehicle is in a "higher left, lower right" configuration, allowing the snow covering the vehicle to slide off to the ground in front of it.

[0082] Furthermore, this application allows the vehicle body to switch back and forth between "right high, left low" and "left high, right low" to move, thereby allowing the snow covering the vehicle to slide off to the ground.

[0083] Furthermore, this application can also control the vehicle body to switch back and forth between "right high and left low", "left high and right low", "front high and rear low" and "front low and rear high" at will or in a preset order, so that the snow covering the vehicle can slide off to the ground.

[0084] Thus, in this embodiment of the application, the movement of the vehicle body can be controlled so that the snow covering the vehicle can be removed from the vehicle due to the movement of the vehicle body, thereby achieving the effect of snow removal. This avoids the situation where the user needs to manually remove the snow covering the vehicle, reduces the difficulty for the user to remove the snow on the vehicle, and to a certain extent ensures the timely removal of snow, thus ensuring the user's driving experience and driving safety.

[0085] Please see Figure 6 In some embodiments of this application, step 01 includes:

[0086] 010: Controlling the height of the vehicle suspension changes to move the vehicle body in order to remove the snow covering the vehicle.

[0087] The processing unit in this embodiment is configured to control the height of the vehicle suspension to change so that the vehicle body moves to remove snow covering the vehicle.

[0088] Specifically, in the embodiments of this application, the vehicle (or the control device in the vehicle, or the electronic device in the vehicle) can send control commands to the vehicle suspension to change the suspension height, thereby changing the distance between the vehicle body and the ground, and thus changing the vehicle height to remove the snow covering the vehicle.

[0089] For example, please refer to the following: Figure 2 , Figure 3 , Figure 4 as well as Figure 5 Specifically, in the embodiments of this application, the vehicle suspension includes an electromagnetic actuator, which can change the distance between the vehicle body and the wheels. If the distance value D1 is greater than the distance value D2, then: Figure 2 and Figure 3 As shown, at time T1, the vehicle can control the electromagnetic actuators above the left front wheel and the right front wheel to make the distance between the vehicle body and the left and right front wheels both D1, and control the electromagnetic actuators above the left and right rear wheels to make the distance between the vehicle body and the left and right rear wheels both D2, so that the distance between the vehicle body and the four vehicles is similar to... Figure 3 As indicated by the solid black arrow, the vehicle is positioned with a higher front and lower rear, allowing the snow covering it to slide off to the ground behind the vehicle.

[0090] Furthermore, at time T2, the vehicle can control the electromagnetic actuators above the left front wheel and the right front wheel to operate separately, so that the distance between the vehicle body and the left and right front wheels is D2. It can also control the electromagnetic actuators above the left and right rear wheels to operate separately, so that the distance between the vehicle body and the left and right rear wheels is D1, making the distance between the vehicle body and the four vehicles similar to... Figure 3 As indicated by the arrow filled with a dashed line, the vehicle is in a "lower front, higher back" configuration, allowing the snow covering the vehicle to slide off to the ground in front of it.

[0091] Similarly, such as Figure 4 and Figure 5As shown, at time T1, the vehicle can control the electromagnetic actuators above the right front wheel and the right rear wheel to operate separately, so that the distance between the vehicle body and the right front wheel and the right rear wheel is D1. It can also control the electromagnetic actuators above the left front wheel and the left rear wheel to operate separately, so that the distance between the vehicle body and the left front wheel and the left rear wheel is D2. This makes the distance between the vehicle body and the four vehicles similar to... Figure 3 As indicated by the solid black arrow, the vehicle is positioned with the right side higher than the left, allowing the snow covering it to slide off to the ground on the left side of the vehicle.

[0092] Furthermore, at time T2, the vehicle can control the electromagnetic actuators above the left and right front wheels to ensure that the distance between the vehicle body and the left and right front wheels is D2, and control the electromagnetic actuators above the left and right rear wheels to ensure that the distance between the vehicle body and the left and right rear wheels is D1, so that the distance between the vehicle body and the four vehicles is similar to... Figure 3 As indicated by the arrow filled with a dashed line, the vehicle is in a "higher left, lower right" configuration, allowing the snow covering the vehicle to slide off to the ground in front of it.

[0093] Thus, in this embodiment, the vehicle suspension can be controlled to change the suspension height, thereby changing the vehicle height and causing the vehicle body to move. This allows the snow covering the vehicle to be removed from the vehicle due to the movement of the vehicle body, thereby achieving the effect of snow removal. This avoids the situation where the user needs to manually remove the snow covering the vehicle, reduces the difficulty for the user to remove the snow from the vehicle, and ensures the user's driving experience.

[0094] In one example, the vehicle changes its suspension height via actuators in the suspension. These actuators can be any of the following: hydraulic pump actuators, rack and pinion actuators, or ball screw electromagnetic actuators.

[0095] In one example, the vehicle suspension is an electromagnetic suspension. It's understandable that the advantages of electromagnetic suspension compared to other suspensions are its rapid response, precise control, and dynamic adjustment capabilities. Therefore, electromagnetic suspension can be widely used in complex operating conditions at various frequencies, such as dealing with potholes, bumps, and other uneven road surfaces. It can also be used for comfort tuning and to help vehicles get out of trouble on sand or muddy terrain.

[0096] It should also be noted that the electromagnetic suspension can adjust the stiffness and damping of the suspension in real time through the inflation and deflation of air springs and the stretching and compression of electromagnetic actuators, effectively filtering out road vibrations, maintaining vehicle stability, and improving ride comfort. Furthermore, during emergency braking or rapid acceleration, the vehicle's center of gravity changes significantly; the electromagnetic suspension can respond quickly and adjust its state to suppress vehicle pitching or nose-diving, ensuring driving stability. Additionally, when the vehicle's load changes, the electromagnetic suspension can sense the change in vehicle posture and adjust the suspension state accordingly to maintain vehicle balance and stability. Finally, for off-road vehicles, the electromagnetic suspension can automatically adjust the suspension settings according to different terrains to ensure optimal wheel contact, improving the vehicle's passability and ability to overcome obstacles.

[0097] Please see Figure 7 In some embodiments of this application, step 010 includes:

[0098] 0100: Reduce the stiffness of the vehicle's suspension;

[0099] 0101: Controlling the height of the vehicle suspension changes to move the vehicle body in order to remove the snow covering the vehicle.

[0100] The processing unit in this embodiment is configured to reduce the stiffness of the vehicle suspension and control the height of the vehicle suspension to change so that the vehicle body moves to remove the snow covering the vehicle.

[0101] The processor in this embodiment is also used to reduce the stiffness of the vehicle suspension and control the change in the height of the vehicle suspension to move the vehicle body in order to remove the snow covering the vehicle.

[0102] Specifically, in order to ensure the stability and safety of the vehicle when the suspension height changes, in the embodiments of this application, the stiffness of the vehicle suspension can be reduced before the suspension height is controlled to change, so as to reduce the difficulty of the vehicle suspension deformation, thereby making the process of the vehicle suspension height change more stable, and thus avoiding dangerous situations such as vehicle rollover.

[0103] In one example, the suspension includes a coil spring, and the vehicle can adjust the stiffness of the spring by tightening or loosening the threads, thereby changing the degree of compression or extension of the spring.

[0104] In one example, the suspension includes hydraulic springs, and the vehicle can then change the hydraulic pressure within the springs to adjust the spring stiffness, thereby adjusting the stiffness of the vehicle's suspension.

[0105] Thus, in this embodiment of the application, the stiffness of the vehicle suspension can be reduced to ensure smooth changes in suspension height.

[0106] In some embodiments of this application, the vehicle suspension includes air springs, and step 0100 includes:

[0107] Controlling the inflation and / or deflation of air springs to reduce the stiffness of the vehicle suspension.

[0108] The processing unit in this embodiment is configured to control the inflation and / or deflation of the air spring to reduce the stiffness of the vehicle suspension.

[0109] The processor in this embodiment is also used to control the inflation and / or deflation of the air springs to reduce the stiffness of the vehicle suspension.

[0110] Specifically, in this embodiment of the application, the suspension includes an air spring, and the vehicle can control the air spring in the suspension to inflate and / or deflate to change the stiffness of the air spring body, thereby changing the stiffness of the vehicle suspension.

[0111] In one example, the stiffness of an air spring increases when it draws in gas to raise its internal pressure. Conversely, the stiffness of an air spring decreases when it expels gas to lower its internal pressure. Therefore, in this embodiment, the vehicle can control the air spring to expel gas to reduce the stiffness of both the air spring and the vehicle suspension.

[0112] For a clearer illustration of the implementation methods of this application, please refer to [link / reference]. Figure 8 , Figure 8 This is a schematic diagram illustrating application scenarios in some embodiments of this application. Figure 8 In the diagram, 11 is the vehicle body, 12 is the electromagnetic actuator, 13 is the wheel, 14 is the air spring, 15 is the active suspension controller, 16 is the vehicle motion controller, and 17 is the vehicle controller.

[0113] Furthermore, in this embodiment, the vehicle controller 17 can send instructions to the vehicle motion controller 16, which forwards the instructions to the active suspension controller 15. The active suspension controller 15 controls the electromagnetic actuator 12 to work to change the suspension height according to the received instructions, and at the same time controls the air spring 14 to inflate and deflate to change the suspension stiffness.

[0114] In one example, the stiffness of the air spring can be changed by inflating and deflating it, so that the deflection frequency of the front and rear suspensions is the same, thereby ensuring that the front and rear suspensions move synchronously when rocking up and down.

[0115] Thus, in this embodiment of the application, the stiffness of the vehicle suspension can be reduced by controlling the inflation and / or deflation of the air springs.

[0116] In some embodiments of this application, the vehicle suspension includes a motor capable of generating power to change the height of the vehicle suspension. Therefore, step 010 includes:

[0117] The motor is controlled to generate power to remove snow covering the vehicle.

[0118] The processing unit in this embodiment is configured to control a motor to generate target power to remove snow covering a vehicle.

[0119] The processor in this embodiment is also used to control the motor to generate target power to remove snow covering the vehicle.

[0120] Specifically, in this embodiment of the application, the vehicle suspension includes a motor capable of generating power to change the suspension height, and the vehicle can control the operation of the motor within the suspension to change the suspension height.

[0121] In one example, please refer to [the example]. Figure 2 , Figure 4 as well as Figure 8 That is, the motor in the embodiments of this application can refer to, i.e., Figure 2 , Figure 4 as well as Figure 8 The electromagnetic actuator in the embodiment of this application, or the motor, can refer to, i.e., Figure 2 , Figure 4 as well as Figure 8 The internal motor of the electromagnetic actuator.

[0122] Furthermore, it should be noted that in the embodiments of this application, the electromagnetic actuator can generate a driving force acting on the entire vehicle based on the received current, thereby changing the suspension height and vehicle height. For example, in... Figure 2 In the example shown, at time T1, the electromagnetic actuators above the left and right front wheels can both generate a force of magnitude F1, so that the distance between the vehicle body and the left and right front wheels is D1. The electromagnetic actuators above the left and right rear wheels can both generate a force of magnitude F2, so that the distance between the vehicle body and the left and right rear wheels is D2. Ultimately, the distance between the vehicle body and the four vehicles is similar to... Figure 3 As indicated by the solid black arrow, the vehicle is positioned with a higher front and lower rear, allowing the snow covering it to slide off to the ground behind the vehicle.

[0123] Furthermore, at time T2, the electromagnetic actuators above the left and right front wheels can both generate a force of magnitude F2, ensuring that the distance between the vehicle body and the left and right front wheels is D2. Similarly, the electromagnetic actuators above the left and right rear wheels can both generate a force of magnitude F1, ensuring that the distance between the vehicle body and the left and right rear wheels is D1. Ultimately, this results in the vehicle body being at a distance similar to that of the four vehicles. Figure 3As indicated by the arrow filled with a dashed line, the vehicle is in a "lower front, higher back" configuration, allowing the snow covering the vehicle to slide off to the ground in front of it.

[0124] Thus, in this embodiment of the application, the motor in the suspension can be controlled to generate target power to change the suspension height, thereby removing snow covering the vehicle.

[0125] In some embodiments of this application, the step of controlling the motor to generate target power to remove snow covering the vehicle includes:

[0126] Based on the power parameters, the motor is controlled to generate the target power to remove the snow covering the vehicle.

[0127] The processing unit in this embodiment is configured to control the motor to generate target working power to remove snow covering the vehicle based on working power parameters.

[0128] The processor in this embodiment is also configured to control the motor to generate target working power to remove snow covering the vehicle based on working power parameters.

[0129] Specifically, in the embodiments of this application, the vehicle can control the operation of the motor according to the predetermined working force parameters to ensure that the vehicle motor can generate a target size of working force (i.e., target working force) to change the suspension height.

[0130] In one example, the operating power parameters include the operating power amplitude parameter. It can be understood that the amplitude can represent the upper and lower limits of the data volume that can be achieved. Therefore, when the vehicle control motor is working, the maximum and minimum operating power of the motor in a control cycle can be controlled according to the operating power amplitude parameter.

[0131] In one example, the operating power parameters include the operating power frequency parameters. It can be understood that frequency is the number of times a periodic change is completed per unit time. Therefore, when the vehicle control motor is working, the operating power output of the motor can be controlled to complete one or more periodic changes per unit time based on the operating power frequency parameters.

[0132] In one example, the power amplitude parameter and the power frequency parameter are used. Therefore, in the embodiments of this application, when the vehicle control motor is working, the motor can be controlled to change the power magnitude from the upper limit of the amplitude indication to the lower limit of the amplitude indication within one or more control cycles per unit time, according to the power amplitude parameter and the power frequency parameter.

[0133] In one example, the vehicle can read power parameters pre-stored in memory to control the motor.

[0134] In one example, the power amplitude parameter is set according to actual conditions, such as by determining a pre-defined amount of suspension height change. It is understood that a large change in suspension height could lead to dangerous behaviors such as vehicle rollover or vehicle movement. Therefore, a safe, predetermined amount of suspension height change that is unlikely to cause such dangerous behaviors can be determined in advance, and the power amplitude parameter is determined based on this predetermined amount of suspension height change. This ensures that when the vehicle controls the motor according to the power amplitude parameter, the change in suspension height matches the predetermined amount of suspension height change.

[0135] Furthermore, in one example, the specified amount of suspension height change is [2,4], in centimeters. That is, the specified amount of suspension height change can be 2 centimeters, 3 centimeters, or 4 centimeters.

[0136] In one example, the range of values ​​for the dynamic frequency parameter is [1, 3], and the unit is Hertz. That is, the dynamic frequency parameter can be 1 Hertz, 2 Hertz, or 3 Hertz.

[0137] Thus, in this embodiment of the application, the motor can be controlled to generate the target working power according to the working power parameters to remove the snow covering the vehicle.

[0138] In some embodiments of this application, the control method further includes:

[0139] Update the current parameter values ​​of the power parameters.

[0140] The processing unit in this embodiment is configured to update the current parameter values ​​of the power parameters.

[0141] The processor in this embodiment is also used to update the current parameter value of the power parameters.

[0142] Specifically, in the embodiments of this application, the vehicle has the ability to update the current parameter value of the driving force parameter, and thus, in the process of controlling the suspension motor to generate the target driving force, the current parameter value of the driving force parameter can be increased or decreased according to the actual situation, thereby changing the target driving force generated by the suspension motor.

[0143] Thus, in this embodiment of the application, the current parameter value of the power parameters can be updated to adjust the target power generated by the motor.

[0144] In some embodiments of this application, the step of updating the current parameter value of the driving force parameter includes:

[0145] Update the current values ​​of the power parameters based on the vehicle suspension operating status information and / or the tire pressure information of the wheels.

[0146] The processing unit in this embodiment is configured to update the current parameter value of the driving power parameter based on the vehicle suspension operating status information and / or the tire pressure information of the wheels.

[0147] The processor in this embodiment is also used to update the current parameter value of the power parameters based on the operating status information of the vehicle suspension and / or the tire pressure information of the wheels.

[0148] Specifically, in this embodiment of the application, the vehicle can verify whether the snow removal effect of the vehicle has met expectations based on the actual operating effect of the suspension (i.e., the operating status information of the vehicle suspension) and the tire pressure of the vehicle (i.e., the tire pressure information of the wheels).

[0149] In one example, the vehicle suspension's operational status information includes the amount of camber change of the vehicle suspension per unit time.

[0150] In one example, the vehicle suspension's operational status information includes the amount of height change of the vehicle suspension per unit time.

[0151] In one example, the operating status information includes the aforementioned suspension height change and / or the aforementioned suspension tilt change.

[0152] It is understandable that if the vehicle suspension does not perform as expected, such as the change in tilt angle within a unit of time being less than or equal to a preset amount, or the change in height within a unit of time being equal to or equal to a preset amount, it indicates that the suspension is not performing well and cannot achieve the expected snow removal effect. Therefore, in the embodiments of this application, the motor's operating power parameters can be increased to generate greater output operating power, thereby making the suspension performance closer to ideal and achieving the expected snow removal effect.

[0153] Furthermore, it is understood that as the suspension height changes, the vehicle tires experience corresponding pressure due to this change. Therefore, in this embodiment, the actual operating effect of the suspension can be verified through the wheel pressure information. In one example, the tire pressure information includes the tire pressure of each wheel of the vehicle.

[0154] Thus, in the implementation of the application, the current parameter values ​​of the power parameters are updated based on the vehicle suspension's operating status information and / or the tire pressure information of the wheels to ensure the reliable operation of the suspension.

[0155] In some embodiments of this application, the step of updating the current parameter value of the driving force parameter based on the vehicle suspension operating status information includes:

[0156] If at least one of the following conditions is met: the change in suspension height is less than or equal to a first preset change threshold, the change in suspension tilt angle is less than or equal to a second preset change threshold, and the tire resonance frequency is less than or equal to a preset frequency threshold, the current parameter value of the driving force parameter is increased, and the tire resonance frequency is determined based on the tire pressure of each wheel.

[0157] The processing unit in this embodiment is configured to increase the current parameter value of the driving force parameter when at least one of the following conditions is met: the change in suspension height is less than or equal to a first preset change threshold, the change in suspension tilt angle is less than or equal to a second preset change threshold, and the tire resonance frequency is less than or equal to a preset frequency threshold. The tire resonance frequency is determined based on the tire pressure of each wheel.

[0158] The processor in this embodiment is further configured to increase the current parameter value of the driving force parameter when at least one of the following conditions is met: the change in suspension height is less than or equal to a first preset change threshold, the change in suspension tilt angle is less than or equal to a second preset change threshold, and the tire resonance frequency is less than or equal to a preset frequency threshold. The tire resonance frequency is determined based on the tire pressure of each wheel.

[0159] Specifically, in some embodiments of this application, the working state of the suspension can be determined by one or more of the following three parameters: suspension height change, suspension tilt change, and tire resonance frequency.

[0160] For example, the amount of change in suspension height and Figure 3 For example, at time T1, the electromagnetic actuators above the left and right front wheels can both generate a force of magnitude F1, so that the distance between the vehicle body and the left and right front wheels is D1. The electromagnetic actuators above the left and right rear wheels can both generate a force of magnitude F2, so that the distance between the vehicle body and the left and right rear wheels is D2. Ultimately, the distance between the vehicle body and the four vehicles is similar to... Figure 3 As indicated by the solid black arrow, the vehicle is positioned with a higher front and lower rear, allowing snow covering the vehicle to slide off to the ground behind it. Furthermore, at time T2, the electromagnetic actuators above the left and right front wheels each generate a force of magnitude F2, ensuring the vehicle's distance relative to both front wheels is D2. Similarly, the electromagnetic actuators above the left and right rear wheels each generate a force of magnitude F1, ensuring the vehicle's distance relative to both rear wheels is D1. Ultimately, this results in the vehicle's distance relative to the four vehicles being similar to... Figure 3 As indicated by the arrow filled with a dashed line, the vehicle is in a "lower front, higher back" configuration, allowing the snow covering the vehicle to slide off to the ground in front of it.

[0161] Therefore, in this embodiment, the vehicle can compare the height change (|D2-D1|) at times T1 and T2 to determine whether the height change (|D2-D1|) is less than or equal to a preset first threshold. If (|D2-D1|) is greater than the preset first threshold, it indicates that the suspension is in ideal working condition and there is no need to change the suspension's operating parameters. If (|D2-D1|) is less than or equal to the first threshold, it indicates that the suspension is not in the expected working condition and the suspension has failed to reliably complete the snow removal work. Therefore, F1 can be increased, or F1 can be increased by a larger amount and F2 by a smaller amount.

[0162] In one example, the first preset change threshold ranges from [2,4], in centimeters. That is, the first preset change threshold can be 2 centimeters, 3 centimeters, or 4 centimeters.

[0163] Furthermore, it is understood that the process of determining whether the suspension's working state has reached the expected level by measuring the change in tilt angle is similar to the aforementioned example of "whether the working state of (|D2-D1|) has reached the expected level." That is, in this embodiment, the vehicle pitch angle A1 at time T1 and the vehicle pitch angle A2 at time T2 can be determined, and it can be determined whether the change in pitch angle (|A2-A1|) is less than or equal to a pre-set first preset threshold. If it is less than, and if the change in pitch angle (|A2-A1|) is greater than a pre-set second preset threshold, it indicates that the suspension's working state is ideal, and there is no need to change the suspension's action parameters. If (|D2-D1|) is less than or equal to the second preset threshold, it indicates that the suspension's working state has not reached the expected level, and the suspension has failed to reliably complete the snow removal work. Therefore, F1 can be increased, or F1 can be increased by a larger amount and F2 by a smaller amount.

[0164] Furthermore, it can be understood that tire resonance frequency can be used to represent the frequency at which each wheel of a vehicle resonates. It is understood that each change in vehicle suspension height results in a corresponding change in internal pressure at each wheel. Therefore, if the tire resonance frequency is greater than a pre-set third threshold, it indicates that the suspension height change has achieved the expected effect, and no change in suspension dynamic parameters is needed. If the tire resonance frequency is less than or equal to the third threshold, it indicates that the suspension height change has not achieved the expected effect, and the suspension has failed to reliably complete the snow removal work. Therefore, F1 can be increased, or F1 can be increased by a larger amount while F2 is increased by a smaller amount.

[0165] Thus, in this embodiment, if at least one of the following conditions is met—that the change in suspension height is less than or equal to a first preset change threshold, the change in suspension tilt angle is less than or equal to a second preset change threshold, and the tire resonance frequency is less than or equal to a preset frequency threshold—the current parameter value of the driving force parameter can be increased to ensure the stable operation of the vehicle suspension.

[0166] In some embodiments of this application, the vehicle suspension includes multiple motors, and the step of controlling the motors to generate target working power to remove snow covering the vehicle according to working power parameters includes:

[0167] Based on the power parameters corresponding to the preset motion mode, each motor is controlled to generate the target power, so that the vehicle body produces the movement corresponding to the preset motion mode, in order to remove the snow covering the vehicle.

[0168] The processing unit in this embodiment is configured to control each motor to generate target motion power according to the motion parameters corresponding to the preset motion mode, so that the vehicle body produces an action corresponding to the preset motion mode to remove the snow covering the vehicle.

[0169] The processor in this embodiment is also used to control each motor to generate target power according to the power parameters corresponding to the preset motion mode, so that the vehicle body produces an action corresponding to the preset motion mode to remove the snow covering the vehicle.

[0170] Specifically, in order to reliably remove snow covering a vehicle, in this embodiment of the application, the vehicle suspension can be controlled to operate with different preset motion modes corresponding to the power parameters, so that the vehicle body produces movements corresponding to the preset motion modes, thereby removing the snow covering the vehicle.

[0171] In one example, the preset motion patterns include at least one of the following: forward and backward swaying, bending forward and up and down swaying, bending forward and shaking, left and right swaying, sideways and up and down swaying, and sideways shaking.

[0172] In one example, when in the back-and-forth swaying mode or the leaning-and-shaking mode, the driving force generated by the motor is a sinusoidal driving force, and the target driving forces generated by the motors on both sides of the front and rear wheels are out of phase, as shown in the following formula.

[0173]

[0174]

[0175] In the formula, F FL The target power value for the motor on the left front wheel side is F. FR The target power value for the motor on the right front wheel side is F. RLThe target power value for the motor on the left rear wheel side is F. RR T represents the operating force of the motor on the right rear wheel side. d Adjust the countdown time for the snow shaking function; F is the amplitude parameter of the motion corresponding to the forward / backward swaying mode or the prone swaying mode; ω is the frequency parameter of the motion corresponding to the forward / backward swaying mode or the prone swaying mode; E... d E is the enable value for the snow removal function. d =1 indicates that the snow removal function is enabled, E d =0 means the snow removal function is off.

[0176] More specifically, in one example, the sinusoidal forces output by the four motors during the back-and-forth rocking motion are as follows:

[0177]

[0178]

[0179] In the formula, F hd ω represents the amplitude parameter of the action force corresponding to the back-and-forth swaying pattern. hd The dynamic frequency parameters are set to correspond to the back-and-forth swaying pattern.

[0180] More specifically, in one example, the sinusoidal forces output by the four motors when bending over and swaying up and down are as follows:

[0181]

[0182]

[0183] In the formula, F fhd ω represents the amplitude parameter of the motion force corresponding to the bending and swaying motion pattern. fhd The dynamic frequency parameters are used to correspond to the bending and swaying motion pattern.

[0184] More specifically, in one example, the sinusoidal forces output by the four motors during the bending and shaking motion are as follows:

[0185]

[0186]

[0187] In the formula, F dd ω represents the amplitude parameter of the motion force corresponding to the leaning and shaking mode. dd The dynamic frequency parameters are set for the prone shaking mode.

[0188] In one example, the sinusoidal forces output by the four motors during left-right swaying mode / side-to-side swaying mode / side-shaking mode are as follows:

[0189]

[0190]

[0191] In the formula, F FL The target power value for the motor on the left front wheel side is F. FR The target power value for the motor on the right front wheel side is F. RL The target power value for the motor on the left rear wheel side is F. RR T represents the operating force of the motor on the right rear wheel side. d Adjust the countdown time for the snow shaking function; F is the amplitude parameter of the motion corresponding to the forward / backward swaying mode or the prone swaying mode; ω is the frequency parameter of the motion corresponding to the forward / backward swaying mode or the prone swaying mode; E... d E is the enable value for the snow removal function. d =1 indicates that the snow removal function is enabled, E d =0 means the snow removal function is off.

[0192] More specifically, in one example, the sinusoidal forces output by the four motors during left-right swaying are as follows:

[0193]

[0194]

[0195] In the formula, F hd ωhd represents the force amplitude parameter corresponding to the left-right swaying mode, and ωhd represents the force frequency parameter corresponding to the left-right swaying mode.

[0196] More specifically, in one example, the sinusoidal forces output by the four motors during the sideways up-and-down swaying motion are as follows:

[0197] or

[0198]

[0199] In the formula, F fhd ω represents the force amplitude parameter corresponding to the side-body swaying pattern. fhd This refers to the force frequency parameters corresponding to the side-body swaying pattern.

[0200] More specifically, in one example, the sinusoidal forces output by the four motors during the side-shaking motion are as follows:

[0201]

[0202]

[0203] In the formula, F ddω represents the force amplitude parameter corresponding to the side-shaking mode. dd This refers to the force frequency parameters corresponding to the side-shaking mode.

[0204] In one example, the dynamic frequency parameter corresponding to the shaking mode (including side shaking, forward shaking, etc.) is greater than the dynamic frequency parameter corresponding to the swaying mode (including back-and-forth swaying, left-and-right swaying, side-to-up and down swaying, forward-to-down swaying, etc.).

[0205] In one example, the vehicle can control the suspension to operate with the corresponding power parameters for each of the six modes—forward and backward swaying, downward swaying, downward shaking, left and right swaying, side-to-side swaying, and side-to-side shaking—in sequence, so that the vehicle body can sequentially produce the actions corresponding to each of the six modes.

[0206] In one example, the vehicle can randomly select one or more of the following six modes: forward and backward swaying, downward and upward swaying, downward and downward shaking, left and right swaying, side-to-side swaying, and side-to-side shaking, and control the vehicle suspension to operate according to the corresponding dynamic parameters of the selected mode.

[0207] In one example, a user can trigger a selection command to extract one or more target modes from six modes: forward and backward swaying, leaning up and down swaying, leaning down shaking, left and right swaying, side leaning up and down swaying, and side shaking, thereby causing the vehicle suspension to operate according to the corresponding dynamic parameters of the target mode.

[0208] Furthermore, it is understood that the aforementioned forward and backward swaying, left and right swaying, side-to-side swaying, side-to-side shaking, forward-to-back swaying, and forward-to-back shaking are merely one of the feasible methods in the embodiments of this application. In actual scenarios, more complex snow accumulation conditions may occur. Therefore, by changing the output ratio of the four electromagnetic actuators, more complex actions such as wave-like movements can be completed to achieve the purpose of removing snow accumulation, thereby further improving the vehicle's driving stability and safety.

[0209] Thus, in this embodiment, each motor can be controlled to generate target power according to the power parameters corresponding to the preset motion mode, so that the vehicle body produces an action corresponding to the preset motion mode, thereby removing the snow covering the vehicle.

[0210] In some embodiments of this application, step 01 includes:

[0211] In response to the snow removal function activation command, the movement of the vehicle body is controlled to remove the snow covering the vehicle.

[0212] The processing unit in this embodiment is configured to control the movement of the vehicle body to remove snow covering the vehicle in response to a snow removal function activation command.

[0213] The processor in this embodiment is also configured to control the movement of the vehicle body to remove snow covering the vehicle in response to a snow removal function activation command.

[0214] Specifically, in this embodiment of the application, the vehicle can respond to a snow removal function activation command triggered by the user or actively triggered by the vehicle, thereby controlling the movement of the vehicle body to remove the snow covering the vehicle.

[0215] For example, in one instance, a user could send a command to a vehicle to activate the snow removal function via an application on their mobile device.

[0216] Thus, in this embodiment, the vehicle body can be controlled to remove snow covering the vehicle in response to a snow removal function activation command, thereby ensuring robust snow removal.

[0217] In some embodiments of this application, the step of controlling the movement of the vehicle body to remove snow covering the vehicle in response to a snow removal function activation command includes:

[0218] When the vehicle is in a preset state, in response to the snow removal function activation command, the movement of the vehicle body is controlled to remove the snow covering the vehicle.

[0219] The processing unit in this embodiment is configured to control the movement of the vehicle body to remove snow covering the vehicle in response to a snow removal function activation command when the vehicle is in a preset state.

[0220] The processor in this embodiment is also configured to, when the vehicle is in a preset state, control the movement of the vehicle body to remove the snow covering the vehicle in response to a snow removal function activation command.

[0221] Specifically, in order to ensure the safe operation of the vehicle's snow removal function, in this embodiment of the application, the vehicle can, when it is in a preset state, respond to the snow removal function start command triggered by the user or actively triggered by the vehicle to control the movement of the vehicle body and remove the snow covering the vehicle.

[0222] It is understood that the "preset state" in the embodiments of this application can be set according to the actual situation. For example, in one example, the vehicle is in a preset state when the slope of the road surface where the vehicle is located is less than or equal to a preset slope threshold and the vehicle speed is less than or equal to a preset speed threshold.

[0223] Furthermore, in one example, the preset slope threshold ranges from [3,5], that is, the preset slope threshold in the embodiments of this application can be 3°, 4°, or 5°.

[0224] Furthermore, in one example, the preset speed threshold is 0. That is, the vehicle's speed is 0 when it is in the preset state.

[0225] It is also understood that the "preset state" in the embodiments of this application can be set to other conditions. For example, in another example, the vehicle is in a preset state when the slope of the road surface where the vehicle is located is less than or equal to a preset slope threshold, the vehicle speed is less than or equal to a preset speed threshold, the vehicle gear is a preset gear, and there are no obstacles within a preset distance range of the vehicle.

[0226] Furthermore, in one example, the preset gear is P, or parking gear.

[0227] Furthermore, in one example, the preset distance range is within 5 meters. In other words, the vehicle can be in the preset state when there are no other vehicles, pedestrians, or other obstacles within 5 meters of the vehicle itself.

[0228] Understandably, the specific process by which a vehicle determines whether it is in a preset state can be set according to the actual situation. For example, it can detect whether its state is in a preset state by using signals collected by sensors on the vehicle body, such as surround view cameras, vehicle radar (such as lidar, millimeter-wave radar, etc.), gyroscopes, and other sensors.

[0229] Thus, in this embodiment, the vehicle body can be controlled to move in response to the snow removal function activation command when the vehicle is in a preset state, thereby removing the snow covering the vehicle and ensuring the safe operation of the snow removal function.

[0230] In some embodiments of this application, the control method further includes:

[0231] When the vehicle status information meets the preset conditions, a snow removal function start command is generated. The vehicle status information includes at least one of the following: vehicle weight, snow accumulation on the windows, and the type of road surface the vehicle is currently on.

[0232] The processing unit in this application embodiment is configured to generate a snow removal function start command when the vehicle status information meets preset conditions, wherein the vehicle status information includes at least one of the following: vehicle weight, snow accumulation on the windows, and the type of road surface where the vehicle is currently located.

[0233] The processor in this embodiment is also used to generate a snow removal function start command when the vehicle status information meets preset conditions, wherein the vehicle status information includes at least one of the following: vehicle weight, snow accumulation on the windows, and the type of road surface where the vehicle is currently located.

[0234] Specifically, the vehicle can determine whether it is covered by snow based on the acquired vehicle status information, that is, whether the vehicle status information meets preset conditions. If so, it will actively trigger the snow removal function to control the height of the vehicle suspension to remove the snow.

[0235] In one example, the preset condition is met if at least one of the following conditions is met: the vehicle weight is greater than the predetermined weight, the windows are covered with snow, or the road surface the vehicle is currently on is a snow-covered road.

[0236] Furthermore, in one example, the predetermined weight is the total vehicle weight when the vehicle was last powered off.

[0237] Furthermore, it can be understood that "the total vehicle weight is greater than the predetermined weight" means that the vehicle body was covered by snow during the period from power-off to power-on, and therefore the total vehicle weight was greater than the predetermined weight.

[0238] Additionally, it can be understood that if the car windows are covered in snow, it can be confirmed that the vehicle body itself is covered in snow. Furthermore, if the road surface the vehicle is currently on is a snow-covered section, it indicates that the vehicle is covered in snow.

[0239] Furthermore, it is understandable that the method of obtaining vehicle status information can be set according to the actual situation, such as obtaining vehicle status information through in-vehicle cameras, external cameras, pressure sensors used to detect vehicle weight, etc.

[0240] Thus, in this embodiment of the application, when the vehicle status information meets the preset conditions, a snow removal function start command can be generated to control the vehicle body movement, thereby removing the snow covering the vehicle and achieving timely snow removal.

[0241] Please refer to the following: Figure 8 , Figure 9 and Figure 10 , Figure 9 and Figure 10 These are all schematic diagrams illustrating application scenarios in certain embodiments of this application, i.e. Figure 8 As shown in this embodiment, when the vehicle is stationary on a horizontal road surface (the black line on the underside of the vehicle 13 represents the road surface), the amplitude and frequency of the actuation output force of the electromagnetic actuator 12 can be set according to the actual situation of the vehicle (such as the vehicle status information mentioned above), and the snow-clearing function can be activated. The activation signal is transmitted to the vehicle motion controller 16 through the vehicle controller 17. The target actuation force command is transmitted to the active suspension controller 15 through the vehicle motion controller 6 and then the actuator current is output. Finally, the target actuation force is output to the vehicle through the electromagnetic actuator 12.

[0242] Simultaneously, the stiffness of the air spring 14 is altered by inflating and deflating it, ensuring that the front and rear (or left and right) suspensions have the same frequency of rotation. This guarantees synchronized movement of the left and right (or front and rear) suspensions during forward / backward swaying / tilting / shaking (or left / right swaying / side shaking). During vehicle suspension vibration (or height change), tire pressure can be collected to calculate tire resonance frequency, ensuring that the vibration amplitude meets expectations.

[0243] Understandably, by adjusting the stiffness and damping characteristics of the vehicle's suspension and strengthening the rigidity of the vehicle body, the amplitude and frequency of the output force can be changed, enabling the vehicle to perform specified swaying or shaking actions when stationary. Thus, when the vehicle is covered in snow, the active suspension system can quickly adjust the height and stiffness of the suspension to generate high-frequency vibrations, which can quickly shake off the snow from the vehicle body, improving driving stability and safety.

[0244] Furthermore, such as Figure 8 and Figure 9 As shown, when the vehicle is stationary, smoothly parked on a level and unobstructed road surface, and the surrounding environment is open and free of other interfering factors, the vehicle controller 17 comprehensively evaluates the actual snow accumulation on the vehicle and the actual feedback vehicle status signals (such as vehicle speed, suspension height, body height, body roll angle, body pitch angle, etc.) and the vehicle motion controller 16 sets the specific frequency and amplitude of the output power to ensure that the snow shaking function (or snow removal function) can be started efficiently and safely.

[0245] Then, the vehicle controller 17 can send a snow removal function activation signal (or snow clearing function activation command) to the vehicle motion controller 16, and then the vehicle motion controller 16 sends a target action power command to the active suspension controller 15. After receiving the snow removal function (or snow clearing function) target action power command, the active suspension controller 15 opens the air spring control valve to change its compressed gas inflation and deflation to change the suspension stiffness, and activates the electromagnetic actuator 12. The electromagnetic actuator 12 quickly responds to the current signal sent by the active suspension controller 15, and converts it into mechanical energy through its internal electromagnetic force conversion mechanism, thereby generating the corresponding target action power, which acts on the vehicle's suspension system, driving the vehicle to generate high-frequency vibration to effectively remove snow from the vehicle body. During this process, the vehicle motion controller 16 feeds back the snow-shaking function status signal (such as the amount of suspension height change) to the vehicle controller 17 and evaluates the execution effect of the snow-shaking function in real time based on these feedback signals to ensure that the function is in normal condition and can adjust the control strategy in a timely manner when necessary to deal with possible abnormal situations, thereby ensuring the smooth progress of the entire snow-shaking process and the safety of the vehicle.

[0246] Furthermore, such as Figure 10As shown, when the vehicle is stationary on a level surface, the system determines whether to activate the snow-removing function (or snow-clearing function) of the suspension system based on road conditions, snow accumulation on the windows, and the vehicle's gear position. Upon receiving the activation command and air spring activation command from the activation decision module, the air spring adjustment module inflates or deflates the air springs to change the suspension stiffness and activates the electromagnetic actuator. Simultaneously, the actuation force output module outputs four specified frequencies and amplitudes of actuation force to the vehicle's suspension system to perform snow-removing actions such as forward and backward swaying, left and right swaying, side-to-side swaying, side-to-side shaking, forward and backward swaying, and forward-to-back shaking. During this process, the suspension status (such as changes in suspension height) can be monitored in real time to evaluate the snow-removing effect. Based on the evaluation results, the air spring stiffness and the amplitude and frequency of the electromagnetic actuation force can be readjusted. Additionally, tire pressure signals can be collected to calculate the tire resonance frequency and adjust the vibration amplitude.

[0247] Additionally, after the snow is removed, the user or vehicle can trigger a stop command for the snow removal function (or snow-clearing function), and the vehicle controller 17 will send a stop signal. Upon receiving the stop signal, the vehicle motion control 16 will immediately stop sending actuation commands to the active suspension controller 15, thereby cutting off the current output to the electromagnetic actuator 12. At this time, the actuation force output by the electromagnetic actuator 12 is 0, and the suspension system stops moving. The vehicle body will then return to a stationary state, and the entire snow removal process will end.

[0248] This application also provides a vehicle that includes the aforementioned electronic or control device.

[0249] This application also provides a computer-readable storage medium storing a computer program that, when executed by one or more processors, implements the above-described vehicle control method.

[0250] This application also provides a computer program product, which includes a computer program / instructions that, when executed by a processor, implement the above-described vehicle control method.

[0251] In this specification, the terms "specifically," "furthermore," "particularly," "understandably," etc., refer to specific features, structures, materials, or characteristics described in connection with embodiments or examples that are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0252] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this application pertain.

[0253] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for controlling a vehicle, characterized in that, include: Control the movement of the vehicle body to remove the snow covering the vehicle.

2. The method according to claim 1, characterized in that, The control of the vehicle body's movement to remove snow covering the vehicle includes: The height of the vehicle suspension is controlled to change, causing the vehicle body to move in order to remove the snow covering the vehicle.

3. The method according to claim 2, characterized in that, The method of controlling the change in vehicle suspension height to move the vehicle body in order to remove snow covering the vehicle includes: Reduce the stiffness of the vehicle's suspension; The height of the vehicle suspension is controlled to change, causing the vehicle body to move in order to remove the snow covering the vehicle.

4. The method according to claim 3, characterized in that, The vehicle suspension includes air springs, and reducing the stiffness of the vehicle suspension includes: Controlling the inflation and / or deflation of the air spring to reduce the stiffness of the vehicle suspension.

5. The method according to claim 2, characterized in that, The vehicle suspension includes a motor capable of generating power to change the height of the vehicle suspension. Controlling the change in vehicle suspension height causes the vehicle body to move, thereby removing snow covering the vehicle, including: The motor is controlled to generate the target power to remove the snow covering the vehicle.

6. The method according to claim 5, characterized in that, The control of the motor to generate target power to remove snow covering the vehicle includes: Based on the operating parameters, the motor is controlled to generate the target operating power to remove the snow covering the vehicle.

7. The method according to claim 6, characterized in that, The operating force parameters include the operating force amplitude parameters and / or the operating force frequency parameters.

8. The method according to claim 6, characterized in that, The method further includes: Update the current parameter values ​​of the aforementioned dynamic parameters.

9. The method according to claim 8, characterized in that, Updating the current parameter value of the action power parameter includes: The current parameter values ​​of the driving force parameters are updated based on the operating status information of the vehicle suspension and / or the tire pressure information of the wheels.

10. The method according to claim 9, characterized in that, The operating status information includes the change in suspension height and / or the change in suspension tilt angle, and the tire pressure information includes the tire pressure of each wheel of the vehicle.

11. The method according to claim 10, characterized in that, Based on the operating status information of the vehicle suspension, update the current parameter values ​​of the driving force parameters, including: If at least one of the following conditions is met: the change in suspension height is less than or equal to a first preset change threshold, the change in suspension tilt is less than or equal to a second preset change threshold, and the tire resonance frequency is less than or equal to a preset frequency threshold, the current parameter value of the driving force parameter is increased. The tire resonance frequency is determined based on the tire pressure of each wheel.

12. The method according to claim 6, characterized in that, The vehicle suspension includes multiple motors, and controlling the motors to generate the target working force to remove snow covering the vehicle according to the working force parameters includes: Based on the power parameters corresponding to the preset motion mode, each motor is controlled to generate the target power, causing the vehicle body to perform an action corresponding to the preset motion mode in order to remove the snow covering the vehicle.

13. The method according to claim 12, characterized in that, The preset motion modes include at least one of the following: forward and backward swaying, bending forward and swaying, bending forward and shaking, left and right swaying, sideways swaying and shaking.

14. The method according to any one of claims 1-13, characterized in that, The control of the vehicle body's movement to remove snow covering the vehicle includes: In response to a snow removal function activation command, the movement of the vehicle body is controlled to remove the snow covering the vehicle.

15. The method according to claim 14, characterized in that, The method of controlling the movement of the vehicle body to remove snow covering the vehicle in response to a snow removal function activation command includes: When the vehicle is in a preset state, in response to the snow removal function activation command, the movement of the vehicle body is controlled to remove the snow covering the vehicle.

16. The method according to claim 15, characterized in that, The vehicle is in the preset state when the slope of the road surface where the vehicle is located is less than or equal to a preset slope threshold and the vehicle speed is less than or equal to a preset speed threshold.

17. The method according to claim 14, characterized in that, The method further includes: When the vehicle status information meets the preset conditions, a snow removal function start command is generated, wherein the vehicle status information includes at least one of the following: vehicle weight, snow accumulation on the windows, and the type of road surface the vehicle is currently on.

18. The method according to claim 17, characterized in that, The preset condition is met if at least one of the following conditions is met: the total vehicle weight is greater than the predetermined weight, the windows are covered with snow, or the road surface currently in which the vehicle is located is a snow-covered road section.

19. A control device, characterized in that, Includes processing units; The processing unit is configured to control the movement of the vehicle body to remove snow covering the vehicle.

20. An electronic device, characterized in that, The method includes a memory and a processor, wherein the memory stores a computer program, which, when executed by the processor, implements the method according to any one of claims 1-18.

21. A vehicle, characterized in that, The vehicle includes the device as described in claim 19 or 20.

22. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by one or more processors, implements the method according to any one of claims 1-18.

23. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the method described in any one of claims 1-18.

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