Power distribution method and vehicle

Abstract

This disclosure relates to a power distribution method and a vehicle, applied in the field of vehicle chassis technology. The power distribution method includes: determining the operating mode of each suspension actuator in the vehicle's active suspension system; based on the operating mode and parameters of each suspension actuator, determining the allowable power consumption and / or allowable power recovery for each suspension actuator, wherein the allowable power consumption is the maximum allowable power consumed from the battery, and the allowable power recovery is the maximum allowable power fed back to the battery; and distributing power to each suspension actuator based on the allowable power consumption and / or allowable power recovery. Thus, by dynamically distributing power to the suspension actuators, it ensures that at any given time, limited electrical energy is prioritized and supplied to the suspension actuators that require the most power output, solving the problems of high battery overload risk, low energy recovery efficiency, and easy triggering of functional safety degradation under high dynamic operating conditions.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle chassis technology, and more particularly to a power distribution method and a vehicle. Background Technology

[0002] Full Active Suspension (FAS) actively generates counterforces to combat road bumps and changes in vehicle attitude, achieving superior ride comfort and handling. However, its high performance relies on extremely high instantaneous electrical power. However, within the vehicle architecture, limited by the vehicle's power supply capacity, the long-term average power or static power limit allocated to the active suspension system is usually fixed. When the vehicle is in high-dynamic conditions such as high-speed cornering or continuously passing over speed bumps, the existing fixed power allocation strategy cannot respond to instantaneous and dynamic changes in power demand. This means it cannot dynamically optimize the electrical power distribution to the corresponding suspension actuators of each fully active suspension unit, leading to high battery overload risk, low energy recovery efficiency, and a high risk of functional safety degradation. Summary of the Invention

[0003] To address the aforementioned technical problems, this disclosure provides a power distribution method and a vehicle. This solves the problems of high battery overload risk, low energy recovery efficiency, and easy triggering of functional safety degradation in existing active suspension systems.

[0004] A first aspect of this disclosure provides a power allocation method, including: Determine the operating modes of each suspension actuator in the vehicle's active suspension system; Based on the working mode and working parameters of each suspension actuator, the allowable power consumption and / or allowable power recovery for each suspension actuator are determined. The allowable power consumption is the maximum power that can be consumed from the battery, and the allowable power recovery is the maximum power that can be fed back to the battery. Power is allocated to each suspension actuator based on the allowable power consumption and / or the allowable power recovery.

[0005] In some embodiments of this disclosure, determining the operating modes of each suspension actuator in the vehicle's active suspension system includes: Obtain the operating parameters corresponding to each suspension actuator, including torque and speed; The required mechanical power for each suspension actuator is determined based on torque and speed. The requested mechanical power is compared with a preset power threshold to obtain the comparison result; Based on the comparison results, the operating modes corresponding to each suspension actuator are determined.

[0006] In some embodiments of this disclosure, before determining the allowable electrical power consumption and / or allowable electrical power recovery for each suspension actuator based on their operating modes and parameters, the power allocation method further includes: Obtain the minimum sustaining power and drive efficiency, as well as the regenerative braking efficiency, for each suspension actuator. Also obtain the maximum allowable power consumption, minimum total operating power, and maximum allowable regenerative braking power for the active suspension system. Based on the operating modes and parameters of each suspension actuator, the allowable electrical power consumption for each suspension actuator is determined, including: The requested mechanical power for each suspension actuator is determined based on the operating parameters. The first requested electric power for each suspension actuator is determined based on at least one of the following: operating mode, requested mechanical power, minimum sustaining power, and drive efficiency. The allowable power consumption of each suspension actuator is determined based on the first requested power.

[0007] In some embodiments of this disclosure, determining the allowable power consumption corresponding to each suspension actuator based on a first requested power supply includes: The available power consumption of the active suspension system is determined based on the maximum permissible power consumption and the minimum total operating power. The allowable power consumption of each suspension actuator is determined based on the available power consumption and the first requested power consumption.

[0008] In some embodiments of this disclosure, determining the first requested electrical power for each suspension actuator based on at least one of operating mode, requested mechanical power, minimum sustaining power, and drive efficiency includes: When the suspension actuator is determined to be the first suspension actuator based on the working mode, the first minimum holding power and target driving efficiency corresponding to each first suspension actuator are determined respectively. The first suspension actuator is the suspension actuator in the first working mode. The first working mode is used to characterize the suspension actuator in the mechanical energy output state. For each first suspension actuator, the actual power consumed by the first suspension actuator is determined based on the requested mechanical power, the first minimum maintenance power and the target driving efficiency, and the actual power consumed by the first suspension actuator is determined as the first requested power corresponding to the first suspension actuator. The first requested electrical power corresponding to the second suspension actuator is determined to be zero. The second suspension actuator is the suspension actuator other than the first suspension actuator among all suspension actuators.

[0009] In some embodiments of this disclosure, determining the actual consumed input electrical power of the first suspension actuator based on the requested mechanical power, a first minimum sustaining power, and a target drive efficiency includes: Calculate the first ratio between the first requested mechanical power corresponding to the first suspension actuator and the target driving efficiency; The sum of the first ratio and the first minimum sustaining power is determined as the actual power consumed by the first suspension actuator.

[0010] In some embodiments of this disclosure, based on the operating mode and operating parameters of each suspension actuator, the allowable reclaimed electrical power corresponding to each suspension actuator is determined, including: The requested mechanical power for each suspension actuator is determined based on the operating parameters. The second requested electric power for each suspension actuator is determined based on at least one of the operating mode, requested mechanical power, and recovery efficiency. The allowable regenerative power for each suspension actuator is determined based on the second requested electrical power.

[0011] In some embodiments of this disclosure, determining the second requested electrical power corresponding to each suspension actuator based on at least one of operating mode, requested mechanical power, and recovery efficiency includes: When the suspension actuator is determined to be the third suspension actuator based on the working mode, the actual recovered electrical power corresponding to the third suspension actuator is determined based on the second requested mechanical power and recovery efficiency corresponding to the third suspension actuator. The actual recovered electrical power is determined as the second requested electrical power corresponding to the third suspension actuator. The third suspension actuator is a suspension actuator in the second working mode. The second working mode is used to characterize the suspension actuator in the state of converting mechanical energy into electrical energy. The second requested electrical power corresponding to the fourth suspension actuator is set to zero. The fourth suspension actuator is the suspension actuator other than the third suspension actuator among all suspension actuators.

[0012] In some embodiments of this disclosure, determining the allowable regenerative braking power corresponding to each suspension actuator based on the second requested electrical power includes: Calculate the sum of the second requested electrical power corresponding to each suspension actuator; Based on the second requested power and the total, determine the proportion of recovered power corresponding to each suspension actuator; The allowable regenerative power for each suspension actuator is determined based on the maximum permissible regenerative power and the percentage of regenerative power.

[0013] In some embodiments of this disclosure, after determining the allowable electrical power consumption and / or allowable electrical power recovery for each suspension actuator based on its operating mode and operating parameters, the power allocation method further includes: Based on the maximum permissible power consumption of the active suspension system, the permissible power consumption of each suspension actuator is verified to obtain the first verification result. And / or, Based on the maximum permissible regenerative electrical power corresponding to the active suspension system, the permissible regenerative electrical power corresponding to each suspension actuator is verified to obtain the second verification result. The target verification result is obtained based on the first verification result and / or the second verification result.

[0014] In some embodiments of this disclosure, after obtaining the target verification result based on the first verification result and / or the second verification result, the power allocation method further includes: If the verification of allowable power consumption and / or allowable power recovery fails based on the target verification results, a target correction strategy is determined based on the proportion by which allowable power consumption exceeds the maximum allowable power consumption and / or allowable power recovery exceeds the maximum allowable power recovery. The allowable power consumption and / or allowable power recovery are modified based on the target modification strategy to obtain the modified allowable power consumption and / or modified allowable power recovery. Power distribution to individual suspension actuators is based on permissible power consumption and / or permissible power recovery, including: Power is allocated to each suspension actuator based on the revised allowable power consumption and / or the revised allowable power recovery.

[0015] A second aspect of this disclosure provides a power distribution apparatus, comprising: The operating mode determination module is used to determine the operating mode of each suspension actuator in the vehicle's active suspension system. The permissible power determination module is used to determine the permissible power consumption and / or permissible power recovery for each suspension actuator based on the working mode and working parameters of each suspension actuator. The permissible power consumption is the maximum power that can be consumed from the battery, and the permissible power recovery is the maximum power that can be fed back to the battery. A power distribution module is used to distribute power to each suspension actuator based on the allowable power consumption and / or allowable power recovery.

[0016] In some embodiments of this disclosure, the working mode determination module is specifically used to obtain the working parameters corresponding to each suspension actuator, including torque and speed; The required mechanical power for each suspension actuator is determined based on torque and speed. The requested mechanical power is compared with a preset power threshold to obtain the comparison result; Based on the comparison results, the operating modes corresponding to each suspension actuator are determined.

[0017] In some embodiments of this disclosure, the power distribution device further includes a first acquisition module; The first acquisition module is used to acquire the minimum sustaining power and drive efficiency, and recovery efficiency of each suspension actuator before determining the allowable power consumption and / or allowable power recovery of each suspension actuator based on the working mode and working parameters of each suspension actuator, and to acquire the maximum allowable power consumption, minimum total working power, and maximum allowable power recovery of the active suspension system.

[0018] The power determination module is specifically used to determine the requested mechanical power for each suspension actuator based on the operating parameters. The first requested electric power for each suspension actuator is determined based on at least one of the following: operating mode, requested mechanical power, minimum sustaining power, and drive efficiency. The allowable power consumption of each suspension actuator is determined based on the first requested power.

[0019] In some embodiments of this disclosure, the allowable power determination module is specifically used to determine the available power consumption corresponding to the active suspension system based on the maximum allowable power consumption and the minimum total operating power; The allowable power consumption of each suspension actuator is determined based on the available power consumption and the first requested power consumption.

[0020] In some embodiments of this disclosure, the electric power determination module is further specifically used to determine the first minimum sustaining power and target driving efficiency corresponding to each first suspension actuator when the suspension actuator is determined to be a first suspension actuator based on the operating mode. The first suspension actuator is a suspension actuator in a first operating mode, and the first operating mode is used to characterize the suspension actuator in a mechanical energy output state. For each first suspension actuator, the actual power consumed by the first suspension actuator is determined based on the requested mechanical power, the first minimum maintenance power and the target driving efficiency, and the actual power consumed by the first suspension actuator is determined as the first requested power corresponding to the first suspension actuator. The first requested electrical power corresponding to the second suspension actuator is determined to be zero. The second suspension actuator is the suspension actuator other than the first suspension actuator among all suspension actuators.

[0021] In some embodiments of this disclosure, the electric power determination module is further specifically configured to calculate a first ratio between the first requested mechanical power corresponding to the first suspension actuator and the target drive efficiency; The sum of the first ratio and the first minimum sustaining power is determined as the actual power consumed by the first suspension actuator.

[0022] In some embodiments of this disclosure, the power determination module is further configured to determine the requested mechanical power corresponding to each suspension actuator based on operating parameters; The second requested electric power for each suspension actuator is determined based on at least one of the operating mode, requested mechanical power, and recovery efficiency. The allowable regenerative power for each suspension actuator is determined based on the second requested electrical power.

[0023] In some embodiments of this disclosure, the power determination module is further specifically used to determine the actual recovered power corresponding to the third suspension actuator based on the second requested mechanical power and recovery efficiency corresponding to the third suspension actuator when the suspension actuator is determined to be the third suspension actuator based on the working mode. The actual recovered power is determined as the second requested power corresponding to the third suspension actuator. The third suspension actuator is a suspension actuator in a second working mode. The second working mode is used to characterize the suspension actuator in a state of converting mechanical energy into electrical energy. The second requested electrical power corresponding to the fourth suspension actuator is set to zero. The fourth suspension actuator is the suspension actuator other than the third suspension actuator among all suspension actuators.

[0024] In some embodiments of this disclosure, the power determination module is further configured to calculate the sum of the second requested power corresponding to each suspension actuator; Based on the second requested power and the total, determine the proportion of recovered power corresponding to each suspension actuator; The allowable regenerative power for each suspension actuator is determined based on the maximum permissible regenerative power and the percentage of regenerative power.

[0025] In some embodiments of this disclosure, the power distribution device further includes a verification module; The verification module is used to verify the allowable power consumption of each suspension actuator based on the working mode and working parameters of each suspension actuator, and / or the allowable power recovery of each suspension actuator based on the maximum allowable power consumption of the active suspension system, and obtain the first verification result. And / or, The allowable regenerative power of each suspension actuator is verified based on the maximum allowable regenerative power of the active suspension system, and a second verification result is obtained. The target verification result is obtained based on the first verification result and / or the second verification result.

[0026] In some embodiments of this disclosure, the power distribution device further includes a power correction module; The power correction module is used to determine a target correction strategy based on the proportion by which the allowed power consumption exceeds the maximum allowed power consumption and / or the allowed power recovery exceeds the maximum allowed power recovery after obtaining the target verification result based on the first verification result and / or the second verification result. The allowable power consumption and / or allowable power recovery are modified based on the target modification strategy to obtain the modified allowable power consumption and / or modified allowable power recovery.

[0027] The power distribution module is specifically used to distribute power to each suspension actuator based on the modified allowable power consumption and / or the modified allowable power recovery.

[0028] A third aspect of this disclosure provides an electronic device, including: processor; Memory, used to store executable instructions; The processor is used to read executable instructions from memory and execute the executable instructions to implement the power allocation method provided in the first aspect above.

[0029] A fourth aspect of this disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the power allocation method provided in the first aspect.

[0030] A fifth aspect of this disclosure provides a computer program product comprising a computer program or instructions that, when executed by a processor, implement the power allocation method of the first aspect described above.

[0031] A sixth aspect of this disclosure provides a vehicle that includes electronic equipment provided in the third aspect.

[0032] The technical solution provided in this disclosure has the following advantages: The power distribution method and vehicle provided in this disclosure can determine the operating mode of each suspension actuator in the vehicle's active suspension system. After determining the operating mode, based on the operating mode and operating parameters of each suspension actuator, the allowable power consumption and / or allowable power recovery for each suspension actuator are determined. The allowable power consumption is the maximum power allowed to be consumed from the battery, and the allowable power recovery is the maximum power allowed to be fed back to the battery. Power is then distributed to each suspension actuator based on the allowable power consumption and / or allowable power recovery. Therefore, dynamic power distribution can be performed using the real-time operating parameters and operating modes of each suspension actuator, ensuring that the power distribution of each suspension actuator matches the current state, and solving the problem that the vehicle cannot respond to instantaneous and dynamic changes in power demand under high dynamic conditions. Simultaneously, based on the operating modes of each suspension actuator, the system intelligently determines when each actuator should consume electrical power to actively suppress vehicle vibration and improve handling stability, and when to perform energy recovery. Based on this, it dynamically and promptly allocates electrical power, ensuring that limited electrical energy is supplied to the suspension actuators that require the most force at any given time. This maximizes energy recovery while maintaining the overall performance of the active suspension system. This dynamic power allocation strategy significantly reduces the risk of battery overload under high-dynamic conditions, minimizes functional safety degradation due to insufficient power, and improves energy recovery efficiency. Attached Figure Description

[0033] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0034] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a flowchart of a power allocation method provided in an embodiment of this disclosure; Figure 2 This is a flowchart of a method for determining permissible power consumption provided in an embodiment of this disclosure; Figure 3 This is a flowchart of a method for determining permissible reclaimed electrical power provided in an embodiment of this disclosure; Figure 4 This is a schematic diagram of the structure of a power distribution device provided in an embodiment of this disclosure; Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0036] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0037] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0038] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0039] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0040] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0041] Typically, full active suspension (FAS) represents the most advanced form of active suspension technology. Its core difference from traditional suspension lies in its ability to proactively generate counterforces in real time to counteract road bumps and changes in vehicle attitude, thereby completely eliminating dynamic imbalances such as roll and pitch, achieving superior ride comfort and handling. However, achieving this high performance comes with extremely high instantaneous electrical power requirements. In the vehicle architecture, the total power provided by the vehicle must be distributed to multiple key subsystems such as steering, braking, and thermal management. Limited by the vehicle's power supply capacity, the long-term average power or static power limit allocated to the active suspension system is usually fixed. Under this constraint, existing active suspension systems generally employ rigid power distribution mechanisms, such as managing power according to a fixed ratio or preset threshold (e.g., evenly distributing the vehicle's power limit).

[0042] When a vehicle is in high-dynamic conditions such as high-speed cornering or repeatedly driving over speed bumps, multiple suspension actuators may simultaneously require peak power. Existing fixed power allocation strategies cannot respond to instantaneous and dynamic changes in power demand, causing the total power requested by some suspension actuators to easily exceed the battery's instantaneous output capacity (e.g., the battery's peak power is only 20kW, but the total request from four suspension actuators reaches 25kW). This can lead to a sudden drop in battery voltage or trigger the battery management system to forcibly limit power, and in severe cases, even cause suspension function degradation (such as damping failure), posing safety risks. Under conditions such as bumpy roads, some suspensions could enter a power generation mode to recover vibration energy. However, the rigid power allocation mechanism cannot dynamically coordinate the power demand of other suspensions or adjust the battery's state of charge within the millisecond-level time window when energy recovery occurs, resulting in ineffective utilization of recovered energy and energy waste. Meanwhile, existing solutions do not take into account drive efficiency and recycling efficiency when calculating requested power. For example, the drive efficiency of suspension actuators may be as low as 0.7 under low speed and high torque conditions (loss of 30% of electrical energy). If the requested electrical power is calculated directly according to mechanical power P_mech=T×ω, the actual demand will be underestimated, resulting in insufficient allocation. Conversely, if recycling efficiency is ignored during recycling, the recoverable energy will be overestimated, causing the risk of battery overcharging.

[0043] The aforementioned battery overload risks and inefficient energy management easily violate functional safety standards. When the system detects continuous power anomalies or battery status exceeding limits, it will actively trigger a safety reduction mode, forcibly limiting or disabling the high-performance functions of the fully active suspension, causing it to degrade into a passive suspension. This not only fails to enhance safety and comfort but also results in functional deficiencies in certain scenarios. To address this issue, this disclosure provides a power allocation method, which will be described below with reference to specific embodiments.

[0044] Figure 1This is a flowchart of a power distribution method provided in an embodiment of this disclosure. The method can be executed by a power distribution device, which can be implemented in software and / or hardware. The power distribution device can be configured in an electronic device, such as a server or terminal, where the terminal specifically includes an in-vehicle terminal, computer, or tablet computer. This power distribution method can be applied to a power distribution system, which can include an input layer, a processing layer, and an output layer. The input layer contains the operating parameters of each suspension actuator, such as torque and speed, maximum allowable electrical power consumption, and maximum allowable regenerative braking power. The processing layer includes a power consumption distribution module: processing electrical power consumption in the drive state (requested mechanical power greater than 0); and a power recovery distribution module: processing electrical power recovery in the recovery state (requested mechanical power less than 0). The output layer outputs the allowable electrical power consumption and allowable regenerative braking power and sends them to the electro-hydraulic pump controller.

[0045] like Figure 1 As shown, the power allocation method provided in this embodiment includes the following steps.

[0046] S110. Determine the operating mode of each suspension actuator in the vehicle's active suspension system.

[0047] In this embodiment of the disclosure, the active suspension system can be a fully active suspension system.

[0048] Suspension actuators can be understood as the actuating elements in an active suspension system that can actively, quickly, and precisely apply control forces to the vehicle body according to control commands. There can be one suspension actuator for each wheel, specifically including the left front wheel suspension actuator, the left rear wheel suspension actuator, the right front wheel suspension actuator, and the right rear wheel suspension actuator.

[0049] The operating modes can include a first operating mode, a second operating mode, and a third operating mode. The first operating mode can be understood as the operating mode that characterizes the suspension actuator in the mechanical energy output state. That is, the suspension actuator consumes electrical energy, converts it into mechanical energy, drives the suspension actuator to move, applies active control force to the vehicle body to control the vehicle attitude, and maintains vehicle stability.

[0050] The second working mode can be understood as a working mode that characterizes the suspension actuator in the state of converting mechanical energy into electrical energy. That is, the suspension actuator converts mechanical energy into electrical energy, recovers it into the battery, and generates damping force to suppress vehicle vibration.

[0051] The third working mode can be understood as a working mode in which the suspension actuator has no mechanical power output or input. That is, the suspension actuator neither actively consumes electrical energy to convert it into mechanical energy to do external work, nor does it convert mechanical energy into electrical energy for recovery. It only provides basic damping.

[0052] In this embodiment of the disclosure, the active suspension system may be an electro-hydraulic pump driven suspension system.

[0053] Specifically, the electronic device can acquire the operating parameters of each suspension actuator and determine the operating mode of the suspension actuator based on the operating parameters.

[0054] S120. Based on the working mode and working parameters of each suspension actuator, determine the allowable electrical power consumption and / or allowable electrical power recovery for each suspension actuator.

[0055] In this embodiment of the disclosure, the allowed power consumption can be understood as the maximum power that is allowed to be consumed from the battery.

[0056] Allowable recyclable power can be understood as the maximum amount of electrical power that is allowed to be fed back to the battery.

[0057] Operating parameters can include torque and speed. Torque is the torque value currently output or received by the suspension actuator; speed is the current rotational speed of the suspension actuator.

[0058] Specifically, after acquiring the operating mode, the electronic device can determine the suspension actuators that consume energy and the suspension actuators that recover energy among the various suspension actuators based on the operating mode. Based on the operating parameters, it can determine the allowable electrical power consumption of the suspension actuators that consume energy and the allowable electrical power recovery of the suspension actuators that recover energy, thereby obtaining the allowable electrical power consumption and / or allowable electrical power recovery.

[0059] In the embodiments disclosed herein, each suspension actuator may consume energy simultaneously, or may recover energy simultaneously, or some suspension actuators may consume energy while others recover energy.

[0060] S130. Distribute power to each suspension actuator based on the allowable power consumption and / or allowable power recovery.

[0061] Specifically, the electronic device, upon acquiring the permissible power consumption and / or permissible power recovery, distributes power to each suspension actuator based on the permissible power consumption and / or permissible power recovery.

[0062] In this embodiment, the operating mode of each suspension actuator in the vehicle's active suspension system can be determined. After determining the operating mode, based on the operating mode and parameters of each suspension actuator, the allowable power consumption and / or allowable power recovery for each suspension actuator are determined. The allowable power consumption is the maximum power allowed to be consumed from the battery, and the allowable power recovery is the maximum power allowed to be fed back to the battery. Power is then allocated to each suspension actuator based on the allowable power consumption and / or allowable power recovery. Thus, dynamic power allocation can be performed using the real-time operating parameters and modes of each suspension actuator, ensuring that the power allocation of each suspension actuator matches the current state, and solving the problem of the vehicle's inability to respond to instantaneous and dynamic changes in power demand under high-dynamic conditions. Simultaneously, based on the operating modes of each suspension actuator, the system intelligently determines when each actuator should consume electrical power to actively suppress vehicle vibration and improve handling stability, and when to perform energy recovery. Based on this, it dynamically and promptly allocates electrical power, ensuring that limited electrical energy is supplied to the suspension actuators that require the most force at any given time. This maximizes energy recovery while maintaining the overall performance of the active suspension system. This dynamic power allocation strategy significantly reduces the risk of battery overload under high-dynamic conditions, minimizes functional safety degradation due to insufficient power, and improves energy recovery efficiency.

[0063] In this embodiment of the disclosure, determining the operating mode of each suspension actuator in the active suspension system of a vehicle may specifically include: obtaining the operating parameters corresponding to each suspension actuator; determining the requested mechanical power corresponding to each suspension actuator based on the torque and speed in the operating parameters; comparing the requested mechanical power with a preset power threshold to obtain a comparison result; and determining the operating mode corresponding to each suspension actuator based on the comparison result.

[0064] Specifically, the electronic device can collect the operating parameters of each suspension actuator in real time based on preset sensors. After acquiring the operating parameters, it calculates the product of torque and speed, and determines this product as the requested mechanical power for each suspension actuator. The requested mechanical power reflects the functional requirements of the suspension. The requested mechanical power is compared with a preset power threshold. If the comparison result is that the requested mechanical power is greater than the preset power threshold, the operating mode is determined to be the first operating mode; if the comparison result is that the requested mechanical power is less than the preset power threshold, the operating mode is determined to be the second operating mode; and if the comparison result is that the requested mechanical power is equal to the preset power threshold, the operating mode is determined to be the third operating mode.

[0065] For example, the preset power threshold can be zero or a preset minimum value, and there is no limitation here.

[0066] In this embodiment of the disclosure, the operating mode of the motor can be determined based on the real-time operating parameters of the suspension actuator, thereby improving the accuracy and real-time performance of the operating mode determination.

[0067] In this embodiment of the disclosure, before determining the allowable power consumption and / or allowable power recovery corresponding to each suspension actuator based on the operating mode and operating parameters of each suspension actuator, the power allocation method may further include: obtaining the minimum sustaining power and driving efficiency corresponding to each suspension actuator, and obtaining the maximum allowable power consumption and minimum total operating power corresponding to the active suspension system.

[0068] The minimum sustaining power is the minimum electrical power required to maintain the suspension actuator in its basic function sustaining state.

[0069] Drive efficiency is the efficiency with which the suspension actuator converts electrical energy from the battery into mechanical energy; its specific value ranges from greater than zero to less than or equal to 1. During drive, the conversion of electrical energy into mechanical energy involves copper losses and iron losses. The actual required electrical power is the ratio of the requested electrical power to the drive efficiency. For example, if the requested mechanical power is 8kW and the drive efficiency is 0.75, the actual requested electrical power is 10.67kW (not 8kW). Ignoring η_d will result in insufficient power distribution (less than 33%), causing the motor to stall.

[0070] The maximum permissible electrical power consumption can be understood as the maximum value of the electric power that the active suspension system is allowed to consume; the minimum total operating power can be understood as the minimum total operating power of the active suspension system to maintain the basic state of each suspension actuator.

[0071] Specifically, the electronic device can retrieve the minimum sustaining power and drive efficiency corresponding to each suspension actuator from a preset database based on the identification information of each suspension actuator. It can also retrieve the maximum permissible electrical power consumption and minimum total operating power, minimum sustaining power, and drive efficiency corresponding to the active suspension system from the preset database. These parameters, along with the maximum permissible electrical power consumption and minimum total operating power, are pre-calibrated and stored in the preset database.

[0072] Figure 2 This is a flowchart of a method for determining permissible power consumption provided in an embodiment of this disclosure; as shown... Figure 2 As shown, determining the allowable electrical power consumption of each suspension actuator based on its operating mode and parameters may include the following steps: S210. Determine the requested mechanical power for each suspension actuator based on the operating parameters.

[0073] In this embodiment of the disclosure, the specific implementation method for determining the requested mechanical power is similar to the specific implementation method for determining the requested mechanical power corresponding to each suspension actuator based on the torque and speed in the working parameters in the above embodiments of the disclosure, and will not be described in detail here.

[0074] S220, determine the first requested electrical power corresponding to each suspension actuator based on at least one of the following: operating mode, requested mechanical power, minimum sustaining power, and drive efficiency.

[0075] In this embodiment of the disclosure, the first requested electrical power corresponding to each suspension actuator is determined based on at least one of the following: operating mode, requested mechanical power, minimum sustaining power, and drive efficiency. Specifically, this may include: when the suspension actuator is determined to be a first suspension actuator based on the operating mode, determining the first minimum sustaining power and target drive efficiency corresponding to each first suspension actuator; for each first suspension actuator, determining the actual consumed input electrical power corresponding to the first suspension actuator based on the requested mechanical power, the first minimum sustaining power, and the target drive efficiency, and determining the actual consumed input electrical power as the first requested electrical power corresponding to the first suspension actuator; and determining the first requested electrical power corresponding to the second suspension actuator as zero. Here, the first suspension actuator is the suspension actuator in a first operating mode. The second suspension actuator is any suspension actuator other than the first suspension actuator.

[0076] In this embodiment of the disclosure, the second suspension actuator is a suspension actuator that operates in a second operating mode and a third operating mode.

[0077] In this embodiment of the disclosure, the actual power consumption of the first suspension actuator is determined based on the requested mechanical power, the first minimum sustaining power, and the target driving efficiency. Specifically, this may include: calculating a first ratio between the first requested mechanical power and the target driving efficiency corresponding to the first suspension actuator; and determining the sum of the first ratio and the first minimum sustaining power as the actual power consumption of the first suspension actuator.

[0078] In some embodiments of this disclosure, the specific calculation formula for the actual consumed input electrical power, i.e., the first requested electrical power, corresponding to each suspension actuator is as follows: .

[0079] in, This represents the first requested electrical power corresponding to the i-th suspension actuator; This represents the drive efficiency corresponding to the i-th suspension actuator; This represents the requested mechanical power corresponding to the i-th suspension actuator; This represents the minimum sustaining power corresponding to the i-th suspension actuator.

[0080] When the condition is otherwise met, the first requested electrical power is set to zero to avoid invalid allocation. Boundary case verification: The suspension actuator has high torque and speed ≈ 0 at startup, so the requested mechanical power ≈ 0, but minimum maintenance power is required to keep the pump running to prevent dry friction damage.

[0081] S230. Determine the allowable power consumption of each suspension actuator based on the first requested power.

[0082] In this embodiment of the disclosure, determining the allowable power consumption of each suspension actuator based on the first requested power consumption may specifically include: determining the available power consumption of the active suspension system based on the maximum allowable power consumption and the minimum total operating power; and determining the allowable power consumption of each suspension actuator based on the available power consumption and the first requested power consumption.

[0083] In this embodiment of the disclosure, determining the available power consumption of the active suspension system based on the maximum permissible power consumption and the minimum total operating power may specifically include: calculating the difference between the maximum permissible power consumption and the minimum total operating power, and determining the difference as the available power consumption.

[0084] In this embodiment of the disclosure, the allowable power consumption corresponding to each suspension actuator is determined based on the available power consumption and the first requested power consumption. Specifically, this may include: calculating the sum of the first requested power consumption corresponding to each first suspension actuator and the sum of a preset value to obtain a first value; for each first suspension actuator, calculating the ratio of the first requested power consumption corresponding to the first suspension actuator to the first value to obtain a second value; calculating the product of the second value and the available power; and determining the allowable power consumption by summing the product with the first minimum maintenance power corresponding to the first suspension actuator; for each second suspension actuator, since the first requested power consumption of the second suspension actuator is zero, the minimum maintenance power corresponding to the second suspension actuator is directly determined as the allowable power consumption.

[0085] In this embodiment of the disclosure, when calculating the allowable power consumption, only the sum of the first requested power corresponding to each first suspension actuator is calculated. This avoids the problem of insufficient allocation of drive suspension actuators caused by adding suspension actuators other than the first suspension actuators and the resulting dilution of the scaling factor.

[0086] In this embodiment of the disclosure, the preset value is a minimum value excluding zero. For example, the preset value can be 10. -6 .

[0087] In this embodiment of the disclosure, the specific formula for calculating the allowed electrical power consumption is as follows: .

[0088] in, P represents the allowable electrical power consumption corresponding to the i-th suspension actuator; drive,req VplimAFS represents the sum of the first requested electrical power corresponding to each of the first suspension actuators; P represents the maximum permissible electrical power consumption. min Represents the minimum total operating power; This represents the preset value.

[0089] In this embodiment of the disclosure, the sum of the permissible electrical power consumption of each suspension actuator is less than or equal to the maximum permissible electrical power consumption.

[0090] For example, let VPLimAFS = 15kW, P min =0.4kW, the suspension actuators corresponding to the left front wheel FL and right front wheel FR are driven (P_elec,req,FL=6kW, P_elec,req,FR=4kW), while the suspension actuators corresponding to the left and right rear wheels are in standby mode. Then P drive,req =10kW, FL allocation value = (15-0.4)×6 / (10+10 -6 ) + 0.1 = 8.76kW, FR allocation value = 5.84kW, total = 14.6kW ≤ 15kW. If the traditional fixed allocation (7.5kW equally distributed), FL will be downgraded because 6kW > 7.5kW × η_d (only 6kW is available when η_d = 0.8).

[0091] In this embodiment of the disclosure, the allowable power consumption of the suspension actuators can be allocated by combining the minimum maintaining power of each suspension actuator and the maximum allowable power consumption of the active suspension system. This not only ensures the maintenance of the basic functions of the suspension actuators, but also improves the rationality of the allocation of allowable power consumption by allocating power consumption according to the power requested by the suspension actuators while ensuring that the maximum allowable power consumption is not exceeded.

[0092] In this embodiment of the disclosure, before determining the allowable regenerative power corresponding to each suspension actuator based on the operating mode and operating parameters of each suspension actuator, the power allocation method may further include: obtaining the regeneration efficiency corresponding to each suspension actuator, and obtaining the maximum allowable regenerative power corresponding to the active suspension system.

[0093] The recovery efficiency can be understood as the efficiency with which the suspension actuator converts mechanical energy into electrical energy and feeds it back to the battery.

[0094] The maximum permissible regenerative electric power can be understood as the maximum value of the electric power that the active suspension system is allowed to regenerate.

[0095] Specifically, the electronic device can retrieve the recovery efficiency corresponding to each suspension actuator from a preset database based on the identification information of each suspension actuator, and also retrieve the maximum permissible regenerative electrical power corresponding to the active suspension system from the preset database. The recovery efficiency and the maximum permissible regenerative electrical power are pre-calibrated and stored in the preset database.

[0096] Figure 3 This is a flowchart of a method for determining permissible reclaimed electrical power provided in an embodiment of this disclosure; as follows: Figure 3 As shown, determining the allowable regenerative electrical power for each suspension actuator based on its operating mode and parameters may include the following steps: S310. Determine the requested mechanical power for each suspension actuator based on the operating parameters.

[0097] In this embodiment of the disclosure, the specific implementation method for determining the requested mechanical power is similar to the specific implementation method for determining the requested mechanical power corresponding to each suspension actuator based on the torque and speed in the working parameters in the above embodiments of the disclosure, and will not be described in detail here.

[0098] S320, determine the second requested electrical power corresponding to each suspension actuator based on at least one of the operating mode, requested mechanical power, and recovery efficiency.

[0099] In this embodiment of the disclosure, determining the second requested electrical power corresponding to each suspension actuator based on at least one of the operating mode, requested mechanical power, and recovery efficiency may specifically include: when the suspension actuator is determined to be a third suspension actuator based on the operating mode, determining the actual recovered electrical power corresponding to the third suspension actuator based on the second requested mechanical power and recovery efficiency corresponding to the third suspension actuator, and setting the actual recovered electrical power as the second requested electrical power corresponding to the third suspension actuator; setting the second requested electrical power corresponding to the fourth suspension actuator to zero. Here, the third suspension actuator is the suspension actuator in the second operating mode. The fourth suspension actuator is any suspension actuator other than the third suspension actuator.

[0100] The actual recovered electrical power corresponding to the third suspension actuator is determined based on the second requested mechanical power and recovery efficiency corresponding to the third suspension actuator. Specifically, this may include: calculating the product of the absolute value of the second requested mechanical power and the recovery efficiency, and determining the product as the actual recovered electrical power.

[0101] In this embodiment of the disclosure, the specific calculation formula for the actual recovered electrical power, i.e., the second requested electrical power, corresponding to each suspension actuator is as follows: .

[0102] in, This represents the second requested electrical power corresponding to the i-th suspension actuator; This represents the recovery efficiency corresponding to the i-th suspension actuator.

[0103] When the condition is otherwise met, the power of the second request is set to zero to prevent erroneous recycling requests.

[0104] S330. Determine the allowable regenerative power corresponding to each suspension actuator based on the second requested electrical power.

[0105] In this embodiment of the disclosure, determining the allowable regenerative electrical power corresponding to each suspension actuator based on the second requested electrical power may specifically include: calculating the sum of the second requested electrical power corresponding to each suspension actuator; determining the proportion of regenerative electrical power corresponding to each suspension actuator based on the second requested electrical power and the sum; and determining the allowable regenerative electrical power corresponding to each suspension actuator based on the maximum allowable regenerative electrical power and the proportion of regenerative electrical power.

[0106] In this embodiment of the disclosure, the specific calculation formula for the allowed recoverable electrical power is as follows: .

[0107] in, P represents the allowable regenerative electrical power corresponding to the i-th suspension actuator; regen,req Represents the sum of the second requested electrical power; vrlimAFS represents the maximum permissible reclaimed electrical power; This represents the preset value.

[0108] In this disclosed embodiment, allocation conservation is observed, i.e. The sum is less than or equal to the maximum permissible recoverable electrical power.

[0109] For example, suppose the maximum permissible reclaimed power is 8kW, and the suspension actuators corresponding to the left rear wheel RL and right rear wheel RR reclaim power (P_elec,req,RL=3kW, P_elec,req,RR=2kW). Then the RL allocation value = 8×3 / (5+10) -6 =4.8kW, RR allocation value =3.2kW, total =8kW. If the traditional fixed allocation (RL / RR 4kW each), RL will waste energy because 3kW < 4kW × η_r (only 3kW is available when η_r = 0.75).

[0110] In this embodiment of the disclosure, the energy recovery power can be allocated only to the third suspension actuator that is in the state of converting mechanical energy into electrical energy through the working mode. At the same time, the maximum allowable energy recovery power and the real-time torque and speed of each third suspension actuator are taken into account when allocating the allowable energy recovery power to each third suspension actuator, which improves the rationality and accuracy of the determination of the allowable energy recovery power, thereby improving the energy recovery efficiency.

[0111] In this embodiment of the disclosure, after determining the allowable power consumption and / or allowable power recovery corresponding to each suspension actuator based on the operating mode and operating parameters of each suspension actuator, the power allocation method may further include: verifying the allowable power consumption corresponding to each suspension actuator based on the maximum allowable power consumption corresponding to the active suspension system to obtain a first verification result; and / or, verifying the allowable power recovery corresponding to each suspension actuator based on the maximum allowable power recovery corresponding to the active suspension system to obtain a second verification result; and obtaining a target verification result based on the first verification result and / or the second verification result.

[0112] In this embodiment of the disclosure, the allowable power consumption of each suspension actuator is verified based on the maximum allowable power consumption of the active suspension system. Specifically, this may include: calculating the sum of the maximum allowable power consumption and the safety margin power; determining whether the sum of the allowable power consumption of each suspension actuator is less than or equal to the sum of the maximum allowable power consumption and the preset safety margin power; if the sum of the allowable power consumption of each suspension actuator is less than or equal to the sum of the maximum allowable power consumption and the preset safety margin power, the first verification result is determined to be that the allowable power consumption verification has passed; otherwise, the first verification result is determined to be that the allowable power consumption verification has failed.

[0113] In this embodiment, the safety margin power is determined based on the product of a preset safety margin and the maximum permissible power consumption. The preset safety margin is a safety factor predetermined by human experience. For example, the preset safety margin can be 5%. If the preset safety margin is too small, it is easily limited by noise triggering, affecting comfort; if the preset safety margin is too large, it will severely waste the available power of the battery, reducing the performance of the active suspension system.

[0114] In this embodiment of the disclosure, the allowable regenerative electric power corresponding to each suspension actuator is verified based on the maximum allowable regenerative electric power corresponding to the active suspension system. Specifically, this may include: determining whether the sum of the allowable regenerative electric rates corresponding to each suspension actuator is less than or equal to the maximum allowable regenerative electric power; if the sum of the allowable regenerative electric rates corresponding to each suspension actuator is less than or equal to the maximum allowable regenerative electric power, the second verification result is determined to be that the allowable regenerative electric power verification has passed; otherwise, the second verification result is determined to be that the allowable regenerative electric power verification has failed.

[0115] Furthermore, after obtaining the target verification result based on the first verification result and / or the second verification result, the power allocation method further includes: if the verification of the allowable power consumption and / or allowable power recovery fails based on the target verification result, determining a target correction strategy based on the proportion by which the allowable power consumption exceeds the maximum allowable power consumption and / or the allowable power recovery exceeds the maximum allowable power recovery; and correcting the allowable power consumption and / or allowable power recovery based on the target correction strategy to obtain the corrected allowable power consumption and / or corrected allowable power recovery.

[0116] In this embodiment, when the proportion by which the allowed power consumption exceeds the maximum allowed power consumption is less than or equal to a first proportion, the target power consumption exceeding the maximum allowed power consumption is linearly scaled proportionally across each suspension actuator to obtain a corrected allowed power consumption. When the duration of the period when the proportion by which the allowed power consumption exceeds the maximum allowed power consumption is greater than the first proportion and less than the second proportion is greater than a preset duration, power is allocated according to the priority of each suspension actuator. For example, active control of low-priority suspension actuators is turned off; the allowed power consumption corresponding to low-priority suspension actuators is allocated to high-priority suspension actuators; when the proportion by which the allowed power consumption exceeds the maximum allowed power consumption is greater than or equal to the second proportion, the fully active suspension is controlled to enter passive mechanical mode, and instrument panel warnings are illuminated, and a fault status signal is sent to the vehicle controller via the bus.

[0117] For example, the suspension actuators corresponding to the left front wheel and the right front wheel of the front axle suspension have high priority; while the suspension actuators corresponding to the left rear wheel and the right rear front wheel of the rear axle suspension have low priority.

[0118] It should be noted that the correction strategy for allowing the recovery of electrical power is similar to the correction strategy for allowing the consumption of electrical power, and will not be elaborated here.

[0119] Power allocation to each suspension actuator can be based on the permissible power consumption and / or permissible power recovery, specifically including: power allocation to each suspension actuator based on the modified permissible power consumption and / or modified permissible power recovery.

[0120] In this embodiment, all allocation results can be verified to ensure that the allocation results meet the requirements of the entire vehicle. Furthermore, if the verification fails, corresponding corrective measures are taken based on the proportion of out-of-range failures, ensuring the safety and stability of the vehicle. Simultaneously, while meeting the total system power constraint, the rationality and balance of power distribution among the actuators are maintained, preventing emergency power limiting or lock-up protection from being triggered due to local overload. This improves the continuous operation capability, response consistency, and overall energy utilization efficiency of the active suspension system under high dynamic conditions.

[0121] In this embodiment of the disclosure, the electronic device can also perform Kalman filtering on the operating parameters corresponding to each suspension actuator after obtaining them, and determine the allowable power consumption and / or allowable power recovery based on the filtered operating parameters, thereby suppressing sensor noise, improving the accuracy of determining the allowable power consumption and / or allowable power recovery, and avoiding control lag.

[0122] In this embodiment of the disclosure, when it is determined that the total drive request power corresponding to each suspension actuator in the active suspension system, i.e., the sum of each first request power, is zero, it indicates that there is no drive request, and the active suspension system is kept in a safe standby state.

[0123] When a suspension actuator malfunction is detected in the active suspension system, the allowable reclaimed electrical power or allowable consumed electrical power corresponding to the malfunctioning suspension actuator is distributed to the remaining suspension actuators with the same operating mode as the malfunctioning suspension actuator to ensure the remaining functions.

[0124] If the maximum permissible change in electrical power consumption corresponding to the active suspension system exceeds a preset threshold (e.g., a sudden drop from 15kW to 10kW), power reallocation is performed within a preset time period to avoid triggering fault codes. This allows for remedial measures to be taken in the event of a malfunction in the active suspension system, improving its stability and resilience.

[0125] In some embodiments of this disclosure, the electronic device may also distribute power in a force-priority active suspension system according to the proportion of the requested force.

[0126] In some embodiments of this disclosure, when the active suspension system is a front / rear dual-pump architecture (the front pump drives the left and right front wheels; the rear pump drives the left and right rear wheels), the electronic device can further divide the maximum allowable power consumption and maximum allowable power recovery into front pump allowable power consumption, rear pump allowable power consumption, front pump allowable power recovery, and rear pump allowable power recovery according to the weights of the front and rear pumps. Power allocation is performed on the suspension actuators corresponding to the left and right front wheels based on the front pump allowable power consumption and front pump allowable power recovery, respectively; and power allocation is performed on the suspension actuators corresponding to the left and right rear wheels based on the rear pump allowable power consumption and rear pump allowable power recovery. The specific allocation method is similar to the power allocation method in the above embodiments of this disclosure and will not be repeated here. For example, the weights of the front and rear pumps are 0.6 and 0.4, respectively.

[0127] Furthermore, when the active suspension system is a front / rear dual-pump architecture, the suspension-level secondary distribution can be performed using a preset optimization algorithm.

[0128] For example, the specific process of using a preset optimization algorithm is as follows: Construct an objective function (minimize loss), establishing a function with the optimization objective of minimizing total power or maximizing total efficiency. Wherein, the objective function is... , where n i Let Pi be the efficiency of the i-th pump at the current speed and pressure; P1 be the load requirement of the suspension actuator. Constraints are set, including power constraints, capacity constraints, dynamic balance, and dual-pump coordination constraints. Finally, the optimal solution over the entire domain is obtained through a solver. This significantly reduces energy consumption and extends battery life.

[0129] Among them, the power constraint is that the total power consumption cannot exceed the power consumption limit; the capacity constraint is that the requested electric power of a single pump is within the electric power range corresponding to the operation of a single pump; the dynamic balance is that the sum of the suspension forces is equal to the demand force of the whole vehicle; the dual pump coordination constraint is that if the master-slave pump or parallel pump logic is used, flow matching or pressure balance constraints need to be added.

[0130] In some embodiments of this disclosure, the driving efficiency and reclamation efficiency can be simplified to constants to reduce computational load, or the driving efficiency and reclamation efficiency can be determined using piecewise linear functions to reduce memory usage.

[0131] Figure 4 This is a schematic diagram of the structure of a power distribution device provided in an embodiment of this disclosure.

[0132] In this embodiment, the power distribution device can be located within an electronic device and is understood as a functional module within the aforementioned electronic device. Specifically, the electronic device can be a server or a terminal, wherein the terminal specifically includes an in-vehicle terminal, a computer, or a tablet computer, etc., and is not limited thereto.

[0133] like Figure 4 As shown, the power distribution device 400 may include an operating mode determination module 410, an allowable power determination module 420, and a power distribution module 430.

[0134] The operating mode determination module 410 can be used to determine the operating mode of each suspension actuator in the vehicle's active suspension system. The allowable power determination module 420 can be used to determine the allowable power consumption and / or allowable power recovery for each suspension actuator based on the working mode and working parameters of each suspension actuator. The allowable power consumption is the maximum power that can be consumed from the battery, and the allowable power recovery is the maximum power that can be fed back to the battery. The power distribution module 430 can be used to distribute power to each suspension actuator based on the allowable power consumption and / or allowable power recovery.

[0135] In this embodiment, the operating mode of each suspension actuator in the vehicle's active suspension system can be determined. After determining the operating mode, based on the operating mode and parameters of each suspension actuator, the allowable power consumption and / or allowable power recovery for each suspension actuator are determined. The allowable power consumption is the maximum power allowed to be consumed from the battery, and the allowable power recovery is the maximum power allowed to be fed back to the battery. Power is then allocated to each suspension actuator based on the allowable power consumption and / or allowable power recovery. Thus, dynamic power allocation can be performed using the real-time operating parameters and modes of each suspension actuator, ensuring that the power allocation of each suspension actuator matches the current state, and solving the problem of the vehicle's inability to respond to instantaneous and dynamic changes in power demand under high-dynamic conditions. Simultaneously, based on the operating modes of each suspension actuator, the system intelligently determines when each actuator should consume electrical power to actively suppress vehicle vibration and improve handling stability, and when to perform energy recovery. Based on this, it dynamically and promptly allocates electrical power, ensuring that limited electrical energy is supplied to the suspension actuators that require the most force at any given time. This maximizes energy recovery while maintaining the overall performance of the active suspension system. This dynamic power allocation strategy significantly reduces the risk of battery overload under high-dynamic conditions, minimizes functional safety degradation due to insufficient power, and improves energy recovery efficiency.

[0136] In some embodiments of this disclosure, the working mode determination module 410 can be specifically used to obtain the working parameters corresponding to each suspension actuator, including torque and speed. The required mechanical power for each suspension actuator is determined based on torque and speed. The requested mechanical power is compared with a preset power threshold to obtain the comparison result; Based on the comparison results, the operating modes corresponding to each suspension actuator are determined.

[0137] In some embodiments of this disclosure, the power distribution device 400 may further include a first acquisition module.

[0138] The first acquisition module can be used to acquire the minimum sustaining power and drive efficiency, and recovery efficiency of each suspension actuator before determining the allowable power consumption and / or allowable power recovery of each suspension actuator based on the working mode and working parameters of each suspension actuator, and to acquire the maximum allowable power consumption, minimum total working power, and maximum allowable power recovery of the active suspension system.

[0139] The allowable electrical power determination module 420 can be specifically used to determine the requested mechanical power corresponding to each suspension actuator based on the operating parameters; The first requested electric power for each suspension actuator is determined based on at least one of the following: operating mode, requested mechanical power, minimum sustaining power, and drive efficiency. The allowable power consumption of each suspension actuator is determined based on the first requested power.

[0140] In some embodiments of this disclosure, the allowable power determination module 420 may be specifically used to determine the available power consumption corresponding to the active suspension system based on the maximum allowable power consumption and the minimum total operating power. The allowable power consumption of each suspension actuator is determined based on the available power consumption and the first requested power consumption.

[0141] In some embodiments of this disclosure, the power determination module 420 may also be specifically used to determine the first minimum sustaining power and target driving efficiency corresponding to each first suspension actuator when the suspension actuator is determined to be a first suspension actuator based on the working mode. The first suspension actuator is a suspension actuator in a first working mode, and the first working mode is used to characterize the suspension actuator in a mechanical energy output state. For each first suspension actuator, the actual power consumed by the first suspension actuator is determined based on the requested mechanical power, the first minimum maintenance power and the target driving efficiency, and the actual power consumed by the first suspension actuator is determined as the first requested power corresponding to the first suspension actuator. The first requested electrical power corresponding to the second suspension actuator is determined to be zero. The second suspension actuator is the suspension actuator other than the first suspension actuator among all suspension actuators.

[0142] In some embodiments of this disclosure, the electric power determination module 420 may also be specifically used to calculate a first ratio between the first requested mechanical power corresponding to the first suspension actuator and the target drive efficiency; The sum of the first ratio and the first minimum sustaining power is determined as the actual power consumed by the first suspension actuator.

[0143] In some embodiments of this disclosure, the power determination module 420 may also be specifically used to determine the requested mechanical power corresponding to each suspension actuator based on operating parameters; The second requested electric power for each suspension actuator is determined based on at least one of the operating mode, requested mechanical power, and recovery efficiency. The allowable regenerative power for each suspension actuator is determined based on the second requested electrical power.

[0144] In some embodiments of this disclosure, the power determination module 420 may also be specifically used to determine the actual recovered power corresponding to the third suspension actuator based on the second requested mechanical power and recovery efficiency corresponding to the third suspension actuator when the suspension actuator is determined to be the third suspension actuator based on the working mode. The actual recovered power is determined as the second requested power corresponding to the third suspension actuator. The third suspension actuator is a suspension actuator in the second working mode. The second working mode is used to characterize the suspension actuator in the state of converting mechanical energy into electrical energy. The second requested electrical power corresponding to the fourth suspension actuator is set to zero. The fourth suspension actuator is the suspension actuator other than the third suspension actuator among all suspension actuators.

[0145] In some embodiments of this disclosure, the power determination module 420 may also be specifically used to calculate the sum of the second requested power corresponding to each suspension actuator; Based on the second requested power and the total, determine the proportion of recovered power corresponding to each suspension actuator; The allowable regenerative power for each suspension actuator is determined based on the maximum permissible regenerative power and the percentage of regenerative power.

[0146] In some embodiments of this disclosure, the power distribution device 400 may further include a verification module.

[0147] The verification module can be used to verify the allowable power consumption of each suspension actuator based on the working mode and working parameters of each suspension actuator, and / or the allowable power recovery of each suspension actuator based on the maximum allowable power consumption of the active suspension system, and obtain the first verification result. And / or, The allowable regenerative power of each suspension actuator is verified based on the maximum allowable regenerative power of the active suspension system, and a second verification result is obtained. The target verification result is obtained based on the first verification result and / or the second verification result.

[0148] In some embodiments of this disclosure, the power distribution device 400 may further include a power correction module.

[0149] The power correction module can be used to determine the target correction strategy based on the proportion by which the allowed power consumption exceeds the maximum allowed power consumption and / or the allowed power recovery exceeds the maximum allowed power recovery after obtaining the target verification result based on the first verification result and / or the second verification result. The allowable power consumption and / or allowable power recovery are modified based on the target modification strategy to obtain the modified allowable power consumption and / or modified allowable power recovery.

[0150] The power distribution module is specifically used to distribute power to each suspension actuator based on the modified allowable power consumption and / or the modified allowable power recovery.

[0151] It should be noted that, Figure 4 The power distribution device 400 shown can perform the various steps in the above method embodiments and realize the various processes and effects in the above method embodiments, which will not be elaborated here.

[0152] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure.

[0153] In this embodiment of the disclosure, Figure 5 The electronic device shown can be a server or a terminal. Specifically, the terminal includes in-vehicle terminals, computers, or tablets, etc., without limitation.

[0154] like Figure 5 As shown, the electronic device may include a processor 510 and a memory 520 storing computer program instructions.

[0155] Specifically, the processor 510 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this disclosure.

[0156] Memory 520 may include a large-capacity storage device for information or instructions. For example, and not limitingly, memory 520 may include a hard disk drive (HDD), a floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 520 may include removable or non-removable (or fixed) media. Where appropriate, memory 520 may be internal or external to the integrated gateway device. In a particular embodiment, memory 520 is a non-volatile solid-state memory. In a particular embodiment, memory 520 includes read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (Electrically Programmable ROM, EPROM), an electrically erasable programmable PROM (EEPROM), an electrically alterable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0157] The processor 510 reads and executes computer program instructions stored in the memory 520 to perform the steps of the power distribution method provided in the embodiments of this disclosure.

[0158] In one example, the electronic device may also include a transceiver 530 and a bus 540. Wherein, as... Figure 5 As shown, the processor 510, memory 520 and transceiver 530 are connected via bus 540 and communicate with each other.

[0159] Bus 540 may include hardware, software, or both. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, bus 540 may include one or more buses.

[0160] This disclosure also provides a computer-readable storage medium that can store a computer program that, when executed by a processor, causes the processor to implement the power allocation method provided in this disclosure.

[0161] The aforementioned storage medium may, for example, include a memory 520 containing computer program instructions, which can be executed by a processor 510 of an electronic device to perform the power allocation method provided in the embodiments of this disclosure. Optionally, the storage medium may be a non-transitory computer-readable storage medium, such as read-only memory (ROM), random access memory (RAM), external cache memory, compact disc ROM (CD-ROM), magnetic tape, floppy disk, flash memory, and optical data storage devices. By way of illustration and not limitation, RAM is available in various forms, such as static random access memory (SRAM) and dynamic random access memory (DRAM).

[0162] This disclosure also provides a vehicle that includes electronic devices that can implement the various processes and effects described in the above embodiments of this disclosure, which will not be elaborated here.

[0163] This disclosure also provides a computer program product, which includes a computer program or instructions. When the computer program or instructions are executed by a processor, they implement the power allocation method provided in this disclosure and can achieve the various processes and effects in the above embodiments of this disclosure, which will not be elaborated here.

[0164] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A power distribution method, characterized in that, The method includes: Determine the operating modes of each suspension actuator in the vehicle's active suspension system; Based on the operating modes and operating parameters of each suspension actuator, the allowable power consumption and / or allowable power recovery for each suspension actuator are determined respectively. The allowable power consumption is the maximum power that can be consumed from the battery, and the allowable power recovery is the maximum power that can be fed back to the battery. The power of each suspension actuator is allocated based on the allowed power consumption and / or the allowed power recovery.

2. The method according to claim 1, characterized in that, The determination of the operating modes of each suspension actuator in the vehicle's active suspension system includes: Obtain the operating parameters corresponding to each suspension actuator, including torque and speed; The requested mechanical power for each suspension actuator is determined based on the torque and the rotational speed. The requested mechanical power is compared with a preset power threshold to obtain the comparison result; Based on the comparison results, the operating modes corresponding to each suspension actuator are determined.

3. The method according to claim 1, characterized in that, Before determining the allowable electrical power consumption and / or allowable electrical power recovery for each suspension actuator based on their operating modes and parameters, the method further includes: The minimum sustaining power and drive efficiency, as well as the recovery efficiency, are obtained for each suspension actuator. The maximum allowable power consumption, minimum total operating power, and maximum allowable power recovery of the active suspension system are also obtained. The determination of the allowable electrical power consumption for each suspension actuator based on its operating mode and parameters includes: The requested mechanical power corresponding to each suspension actuator is determined based on the operating parameters. The first requested electric power corresponding to each suspension actuator is determined based on at least one of the operating mode, the requested mechanical power, the minimum sustaining power, and the drive efficiency. The allowable power consumption of each suspension actuator is determined based on the first requested power.

4. The method according to claim 3, characterized in that, The step of determining the allowable power consumption corresponding to each suspension actuator based on the first requested power includes: The available power consumption of the active suspension system is determined based on the maximum permissible power consumption and the minimum total operating power. The allowable power consumption of each suspension actuator is determined based on the available power consumption and the first requested power consumption.

5. The method according to claim 3, characterized in that, Determining the first requested electrical power corresponding to each suspension actuator based on at least one of the operating mode, the requested mechanical power, the minimum sustaining power, and the drive efficiency includes: When the suspension actuator is determined to be the first suspension actuator based on the operating mode, the first minimum holding power and target driving efficiency corresponding to each first suspension actuator are determined respectively. The first suspension actuator is the suspension actuator in the first operating mode. The first operating mode is used to characterize the suspension actuator in the mechanical energy output state. For each first suspension actuator, the actual power consumption of the first suspension actuator is determined based on the requested mechanical power, the first minimum sustaining power, and the target drive efficiency, and the actual power consumption of the first suspension actuator is determined as the first requested power of the first suspension actuator. The first requested electrical power corresponding to the second suspension actuator is determined to be zero. The second suspension actuator is the suspension actuator other than the first suspension actuator among the various suspension actuators.

6. The method according to claim 5, characterized in that, The step of determining the actual input electrical power consumed by the first suspension actuator based on the requested mechanical power, the first minimum sustaining power, and the target drive efficiency includes: Calculate the first ratio between the first requested mechanical power corresponding to the first suspension actuator and the target drive efficiency; The sum of the first ratio and the first minimum sustaining power is determined as the actual input power consumed by the first suspension actuator.

7. The method according to claim 3, characterized in that, Based on the operating modes and parameters of each suspension actuator, the allowable reclaimed electrical power corresponding to each suspension actuator is determined, including: The requested mechanical power corresponding to each suspension actuator is determined based on the operating parameters. The second requested electrical power corresponding to each suspension actuator is determined based on at least one of the operating mode, the requested mechanical power, and the recovery efficiency. The allowable regenerative power corresponding to each suspension actuator is determined based on the second requested electrical power.

8. The method according to claim 7, characterized in that, Determining the second requested electrical power corresponding to each suspension actuator based on at least one of the operating mode, the requested mechanical power, and the recovery efficiency includes: When the suspension actuator is determined to be the third suspension actuator based on the operating mode, the actual recovered electrical power corresponding to the third suspension actuator is determined based on the second requested mechanical power corresponding to the third suspension actuator and the recovery efficiency. The actual recovered electrical power is determined as the second requested electrical power corresponding to the third suspension actuator. The third suspension actuator is a suspension actuator in the second operating mode. The second operating mode is used to characterize the suspension actuator in the state of converting mechanical energy into electrical energy. The second requested electrical power corresponding to the fourth suspension actuator is determined to be zero. The fourth suspension actuator is the suspension actuator other than the third suspension actuator among the various suspension actuators.

9. The method according to claim 8, characterized in that, The step of determining the allowable regenerative braking power corresponding to each suspension actuator based on the second requested electrical power includes: Calculate the sum of the second requested electrical power corresponding to each suspension actuator; Based on the second requested power and the total, determine the proportion of recovered power corresponding to each suspension actuator; The allowable regenerative power for each suspension actuator is determined based on the maximum permissible regenerative power and the percentage of regenerative power.

10. The method according to claim 1, characterized in that, After determining the allowable electrical power consumption and / or allowable electrical power recovery for each suspension actuator based on its operating mode and operating parameters, the method further includes: Based on the maximum permissible power consumption corresponding to the active suspension system, the permissible power consumption corresponding to each suspension actuator is verified to obtain the first verification result; And / or, Based on the maximum permissible regenerative electrical power corresponding to the active suspension system, the permissible regenerative electrical power corresponding to each suspension actuator is verified to obtain a second verification result; The target verification result is obtained based on the first verification result and / or the second verification result.

11. A vehicle, characterized in that, include: processor; Memory, used to store executable instructions; The processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the power allocation method according to any one of claims 1-10.

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