A self-adaptive control method for an upper-lower vehicle greeting posture of a butler-grade luxury MPV

Abstract

The application discloses a kind of self-adaptive control methods of upper and lower car greeting posture of butler class luxury MPV, it is related to vehicle active suspension control technical field.This method starts the greeting adjustment program after vehicle parking P is received unlock or car door opening signal;First control four-wheel full active suspension synchronous contraction to lower threshold height;Differentiation adjustment each wheel suspension stroke is aimed at having slope parking position difference, correct vehicle body to level;And lock wheel, improve suspension stiffness in the process of sliding door opening and closing, inhibit load mutation to cause vehicle body shaking.Simultaneously set business butler, two kinds of adjustable greeting mode of domestic comfort, increase slope overrun protection logic, and suspension is automatically reset after vehicle resumes driving state.The application solves the problem that traditional greeting suspension cannot be leveled on slope, vehicle body shakes when sliding door opens and closes, and gives consideration to butler luxury experience and domestic response efficiency, improves the comfort of MPV passenger getting on and off and the senior feeling of whole vehicle.

Description

Technical Field

[0001] This invention relates to the field of active suspension control technology for vehicles, and more particularly to an adaptive control method for the welcoming posture of a luxury MPV when getting in and out of the vehicle. Background Technology

[0002] Luxury MPVs, as the core vehicle for high-end business receptions and family travel, offer a distinguished and convenient experience for getting in and out of the vehicle, distinguishing them from ordinary passenger cars. Among related technologies, a basic welcome system is constructed through the synergy of fixed-height footrests, static welcome lighting, and seat-based welcome mechanisms. Specifically, this system encompasses the visual and assisted foot placement aspects from unlocking the vehicle to opening the door, including key steps such as ambient lighting activation and electric footrest extension.

[0003] However, the existing welcome system uses fixed footrests and synchronous lifting suspension, without independent four-wheel leveling and door-linked stability. This may cause the vehicle to tilt and passengers to lose their center of gravity when parking on a slope, or cause the vehicle to sink and sway when the sliding door opens due to sudden load changes, thus ruining the VIP quality of business reception. In addition, the fixed height adjustment parameters cannot be adapted to passengers of different heights, which greatly restricts the premium experience of luxury MPVs. Summary of the Invention

[0004] The present invention aims to at least partially solve one of the technical problems in the related art.

[0005] The main objective of this invention is to provide an adaptive control method for the welcoming posture when getting on and off a luxury MPV.

[0006] To achieve the above objectives, a first aspect of the present invention proposes an adaptive control method for the welcoming posture of a luxury MPV entering and exiting the vehicle, comprising: S1, in response to the vehicle being parked and receiving an unlock or door opening signal, detects the parking space slope status and door status, and activates the welcome posture adjustment program; S2 controls the synchronized linear contraction of the four-wheel fully active suspension to lower the vehicle sill height, thereby reducing the step height difference for passengers getting in and out of the vehicle; S3, when a lateral or longitudinal slope is detected in the parking space, the suspension travel of each wheel is adjusted differently to compensate for the road tilt angle and correct the vehicle posture to a level state. S4 locks the wheels and increases the suspension support stiffness during the opening or closing of the sliding door through the braking system, suppressing the shaking and sinking of the vehicle body caused by sudden load changes.

[0007] In one embodiment of the present invention, the step of responding to the vehicle parking and receiving an unlock or door opening signal, detecting the parking space slope status and door status, and activating the welcoming posture adjustment program includes: integrating four-wheel height sensors, road slope sensors, door status sensors, and vehicle body roll angle sensors through the VMC controller to detect the vehicle unlock signal, door opening and closing status, and the lateral and longitudinal slopes of the parking space in real time; and activating the welcoming posture adjustment program when it is confirmed that the vehicle is parked and the gear is in P gear.

[0008] In one embodiment of the present invention, controlling the four-wheel fully active suspension to synchronously and linearly contract and reduce the height of the vehicle door sill includes: controlling the four-wheel fully active suspension to synchronously and linearly contract, so that the entire vehicle is lowered by 30-80mm, so as to adjust the door sill height to a preset welcoming height.

[0009] In one embodiment of the present invention, when a lateral or longitudinal slope is detected in the parking space, the differential adjustment of the suspension travel of each wheel to compensate for the road surface tilt angle and correct the vehicle body posture to a horizontal state includes: when a lateral or longitudinal slope is detected in the parking space, extending and raising the suspension of the lower wheel and contracting and lowering the suspension of the higher wheel to dynamically compensate for the road surface slope and correct the roll angle and pitch angle of the vehicle body to 0°±1°.

[0010] In one embodiment of the present invention, the step of locking the wheels and increasing the suspension support stiffness through the braking system during the opening or closing of the sliding door to suppress the shaking and sinking of the vehicle body caused by sudden load changes includes: identifying the moment when the sliding door opens or closes, locking the four wheel pivots through brake-by-wire, and controlling the fully active suspension to temporarily increase the support stiffness to counteract the lateral stress caused by the sudden load change of the door.

[0011] In one embodiment of the present invention, the method further includes: after activating the welcoming posture adjustment program, selecting and executing a corresponding posture adjustment strategy according to a preset welcoming mode, wherein the welcoming mode includes a business concierge mode and a home comfort mode.

[0012] In one embodiment of the present invention, the business concierge mode includes: controlling the four-wheel fully active suspension to perform the maximum vehicle height reduction, performing high-precision independent leveling of the four wheels on the parking space slope, and locking the vehicle posture throughout the opening and closing of the sliding door.

[0013] In one embodiment of the present invention, the home comfort mode includes: controlling the four-wheel fully active suspension to perform a lower body height adjustment than the business concierge mode, and simplifying the leveling logic for the parking space slope to shorten the attitude adjustment time.

[0014] In one embodiment of the present invention, the method further includes: when the lateral slope of the parking space exceeds 5° or the longitudinal slope exceeds 7°, the attitude adjustment operation is prohibited and a warning message is generated.

[0015] In one embodiment of the present invention, the method further includes: after detecting that all doors are closed and the vehicle is in a driving gear, controlling the four-wheel fully active suspension to linearly reset to the driving reference height and exiting the welcome posture adjustment program.

[0016] The embodiments of the present invention have the following beneficial effects: 1. It can automatically level the vehicle body on slopes, solving the problems of the traditional welcoming mode where the vehicle body is crooked and getting in and out is awkward, making the welcoming posture more neat and high-end.

[0017] 2. The sliding door locks the wheels and increases suspension rigidity when opening and closing, effectively suppressing body sway and sinking, and greatly enhancing the static luxury feel.

[0018] 3. It features both business and home modes, combining the high-precision experience of a concierge service with the rapid response of a home environment, making it more adaptable to various scenarios.

[0019] 4. Actively lower the threshold height to reduce the step height difference, making getting on and off the vehicle more comfortable and safer.

[0020] 5. The addition of slope over-limit protection and automatic reset logic improves system stability, safety, and automation. Attached Figure Description

[0021] The above-described and additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which: Figure 1 A flowchart of an adaptive control method for the welcoming posture of a luxury MPV for passengers getting on and off the bus, provided as an embodiment of the present invention. Detailed Implementation

[0022] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0023] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0024] Example 1 Figure 1This is a flowchart of an embodiment of the adaptive control method for the welcoming posture of a luxury MPV for passengers getting on and off the bus according to a VIP level.

[0025] like Figure 1 As shown, the adaptive control method for the welcoming posture when getting in and out of a luxury MPV includes the following steps: S1, in response to the vehicle being parked and receiving an unlock or door opening signal, detects the parking space slope status and door status, and activates the welcome posture adjustment program.

[0026] In response to the vehicle being parked and receiving an unlock signal or a door opening signal, the system first determines the vehicle's current operating condition to confirm whether the prerequisites for activating the welcome posture adjustment program are met. These prerequisites include at least that the vehicle is stably parked and in a non-driving gear, and that an unlock or door opening trigger command has been received from the body control unit or door control module.

[0027] Based on this, the system initiates the detection of the parking space slope status and the door status. The slope status includes both lateral and longitudinal slopes, while the door status includes the opening and closing positions of each door and the movement trend of sliding doors. By integrating multi-source information from slope sensors, height sensors, and door status sensors, the system constructs the attitude benchmark of the current parking environment and the expected door movements, thereby generating an activation signal to trigger the subsequent welcoming posture adjustment process.

[0028] In one implementation, this step can be uniformly executed by the vehicle motion domain controller (VMC). After receiving the vehicle unlock signal or any door opening signal, the VMC checks whether the gear is in P gear and the vehicle speed is zero. Then, it reads the real-time data from the road slope sensor and the four-wheel height sensor, and detects the status of each door. After confirming that all the preconditions are met, it sends an activation command to the fully active suspension system, the brake-by-wire system and the door control system to start the welcome posture adjustment program.

[0029] This step ensures that the welcoming posture adjustment program is triggered only in safe and reasonable parking scenarios by establishing strict activation judgment logic and multi-source state perception mechanism, avoiding the risk of false activation during driving. At the same time, it provides accurate slope and door status input for subsequent posture adjustment, thus laying the foundation for the reliable operation of the entire welcoming control method.

[0030] S2 controls the synchronized linear contraction of the four-wheel fully active suspension to lower the vehicle sill height, thereby reducing the step height difference for passengers getting in and out of the vehicle.

[0031] After the vehicle is parked and receives a signal to unlock or open the door, this step aims to proactively lower the door sill height to improve the convenience and elegance of passengers getting on and off the vehicle, thereby effectively reducing the step height difference when passengers get on and off the vehicle.

[0032] Specifically, by controlling the vehicle's four-wheel fully active suspension system, each suspension unit performs a synchronized and linear contraction action, thereby lowering the overall vehicle height. This contraction process is coordinated and consistent, aiming to achieve a uniform and smooth descent of the vehicle's door sill height from the ground, avoiding abnormal vehicle posture or a sense of impact caused by inconsistent or non-linear contraction of the suspension units. By lowering the door sill height, the vertical distance from the ground or foot pedal to the passenger compartment floor is significantly shortened, making stepping easier and safer. This is especially suitable for MPVs with higher ground clearance, providing convenience for users of different heights and body types, such as the elderly, children, and female passengers.

[0033] As one implementation method, the synchronous linear retraction can be executed according to preset height reduction parameters, such as lowering the overall height of the vehicle by a certain range. This height reduction range can be set or adjusted according to actual needs or preset modes to adapt to different passengers' getting on and off habits or the need for luxury in different usage scenarios. The core of this step lies in fundamentally optimizing the vehicle's physical passability in a welcoming state through the active and controllable retraction of the suspension system, laying the foundation for subsequent posture adjustments or door linkage operations.

[0034] By proactively lowering the vehicle's threshold height, this step fundamentally reduces the step height difference when passengers get in and out of the vehicle, significantly improving the convenience and safety of getting in and out. In particular, it solves the problem of difficulty in getting in and out of high-ground-clearance MPVs for certain groups (such as the elderly and children), thereby enhancing the vehicle's prestige and premium experience in welcoming scenarios.

[0035] S3, when it detects a lateral or longitudinal slope in the parking space, it adjusts the suspension travel of each wheel differently to compensate for the road tilt angle and correct the vehicle's posture to a level state.

[0036] After the vehicle is parked and the welcome posture adjustment program is activated, if a lateral or longitudinal slope is detected in the parking space, the system initiates compensation control for the vehicle's posture. The core of this step lies in independently and differentially adjusting the suspension travel of each wheel based on the direction and degree of road inclination to counteract the impact of the road slope on the vehicle's posture. Specifically, the system uses real-time acquired slope information to determine the body roll and pitch angle deviations of the vehicle relative to the horizontal plane, and generates corresponding travel adjustment commands for each wheel's suspension. These commands cause the suspension of some wheels to extend to raise the corresponding side of the vehicle, and the suspension of some wheels to contract to lower the corresponding side of the vehicle, thereby compensating for the overall road inclination angle and correcting the vehicle's posture to a near-level state. This adjustment process is based on closed-loop control principles, continuously monitoring changes in vehicle posture and fine-tuning the travel of each suspension until the body roll and pitch angles converge within a preset allowable horizontal range.

[0037] As one implementation method, when the parking space has a lateral slope, the suspension of the wheels located on the lower slope extends and rises, while the suspension of the wheels located on the higher slope contracts and lowers. Simultaneously, similar compensation is applied to the front and rear wheels based on longitudinal slope information, ultimately correcting the vehicle's roll and pitch angles to within 0°±1°, achieving a level parking posture on a slope. This technique does not rely on a fixed lowering range but dynamically distributes the suspension travel of each wheel according to the actual slope, thus effectively ensuring vehicle levelness in various inclined parking scenarios.

[0038] This step, through differentiated adjustment of the four-wheel independent suspension travel, achieves active compensation for road tilt angle, significantly improving the vehicle's posture stability on sloping parking spaces. Its benefits include: eliminating the risk of weight imbalance when passengers get in and out of the vehicle due to road incline, allowing passengers to enter and exit the vehicle naturally and smoothly; at the same time, the leveled vehicle posture avoids interference with door opening and closing or inconvenience in using the pedals caused by tilting, further enhancing the courtesy and safety of the welcoming process.

[0039] S4 locks the wheels and increases the suspension support stiffness during the opening or closing of the sliding door through the braking system, suppressing the shaking and sinking of the vehicle body caused by sudden load changes.

[0040] During the opening or closing of the sliding door, in order to suppress the body sway and sinking caused by sudden changes in door load, a cooperative control strategy is adopted. This strategy locks the wheels through the braking system to fix the vehicle's pivot position relative to the ground, while increasing the support stiffness of the suspension system, thereby enhancing the body's ability to resist dynamic load disturbances.

[0041] Specifically, when the sliding door is detected to be opening or closing, the braking system actively intervenes to lock all wheels, preventing the vehicle from moving unexpectedly due to load shift. Simultaneously, the suspension system temporarily increases its damping or stiffness parameters, enabling the suspension to more effectively absorb and resist changes in lateral stress and vertical load introduced by the mass transfer and opening / closing inertial forces of the door. Through the combined effect of brake locking and suspension stiffening, the impact of sudden load changes from the sliding door on the vehicle's attitude can be effectively offset, maintaining the vehicle's stability throughout the entire door opening and closing process and preventing sinking, tilting, or swaying.

[0042] As one implementation method, the brake-by-wire system can simultaneously lock all four wheels the moment the sliding door opens, and the fully active suspension can temporarily increase the support stiffness to counteract the adverse effects of load offset.

[0043] This technical step, through the coordinated control of brake locking and suspension stiffening, significantly improves the vehicle's resistance to disturbances during the opening and closing of the sliding door, ensuring the stability of the ceremonial welcoming posture, thereby enhancing the sense of dignity and safety for passengers getting on and off the vehicle.

[0044] Example 2 Based on the above embodiments, this embodiment provides a detailed description of the specific implementation of step S1 in the adaptive control method for welcoming posture when getting in and out of a luxury MPV: "In response to the vehicle being parked and receiving an unlock or door opening signal, detecting the parking space slope status and door status, and activating the welcoming posture adjustment program."

[0045] In this embodiment, the specific implementation of step S1, which responds to the vehicle parking and receives an unlock or door opening signal, detects the parking space slope status and door status, and activates the welcoming posture adjustment program, is as follows: The VMC controller, as the core processing unit, establishes communication connections with the four-wheel height sensor, road slope sensor, door status sensor, and vehicle roll angle sensor through its integrated signal acquisition interface. Specifically, the four-wheel height sensor is installed between the suspension arm of each wheel and the vehicle body to output the vertical displacement signal of each wheel relative to the vehicle body in real time; the road slope sensor uses a dual-axis inclinometer, fixed at the geometric center of the vehicle chassis, to output the lateral and longitudinal slope values ​​of the road surface where the parking space is located; the door status sensor is installed at each door hinge to output a switch signal indicating whether the door is fully closed, partially open, or fully open; and the vehicle roll angle sensor is installed near the vehicle's center of gravity to output the real-time roll angle of the vehicle body relative to the horizontal plane. The VMC controller cyclically reads the raw signals from the aforementioned sensors at a preset sampling period (e.g., 10 milliseconds) and converts the analog signals into digital quantities through a built-in analog-to-digital converter. At the signal processing level, the VMC controller performs mean filtering on the values ​​from the four wheel height sensors to eliminate noise caused by minor road bumps; it performs low-pass filtering on the output of the road slope sensor to suppress interference from vehicle vibrations on slope detection; and it performs edge-triggered detection on the signals from the door status sensors to accurately capture the instantaneous events of door opening or closing. The VMC controller also continuously monitors the unlock signal and gear position signal on the vehicle bus. The unlock signal originates from the unlock command issued by the remote key or door handle touch sensor, and the gear position signal originates from the P-gear status indicator output by the transmission control unit. The welcome posture adjustment program is activated when the VMC controller detects that all of the following conditions are met: the gear position signal on the vehicle bus indicates P-gear, and the vehicle is in a parked state (the vehicle speed is confirmed to be zero by the wheel speed sensor); simultaneously, it receives a valid unlock signal or an edge signal from any door status sensor indicating that the door has changed from closed to open. Once the conditions are met, the state machine inside the VMC controller switches from sleep mode to welcome activation mode and generates an activation flag. This flag is written to the shared memory area of ​​the VMC controller as a trigger signal for subsequent steps S2, S3, and S4. Furthermore, the VMC controller packages the currently detected lateral and longitudinal slope values, the status of each door, and the vehicle roll angle data into structured data frames, which are then broadcast to the fully active suspension controller and brake-by-wire controller via the controller area network bus, providing input parameters for subsequent height reduction, leveling, and anti-sway control. Through the above multi-source sensor fusion and logical judgment, the welcome posture adjustment is only activated in a safe and legal parking P gear state, avoiding safety hazards caused by accidental triggering during driving.

[0046] This specific implementation achieves accurate perception of vehicle status and road environment through multi-sensor fusion and centralized processing by the VMC controller. It ensures that the welcoming posture adjustment program is activated only when the vehicle is in park (P) and a valid trigger signal is received. This provides a reliable data foundation and triggering timing for subsequent height reduction, leveling, and anti-sway control while ensuring safety, thus improving the robustness and scenario adaptability of the system.

[0047] In this embodiment, after activating the welcome posture adjustment program, the VMC controller first acquires a preset welcome mode selection signal. This signal can originate from a mode identifier manually set by the user through the vehicle's infotainment interface, or it can be automatically determined by the system based on vehicle usage scenarios (such as navigation destination, time, seat memory, and other related information). The controller internally stores two independent sets of posture adjustment strategy parameters, corresponding to the business courtesy mode and the family comfort mode, respectively. When the current mode is determined to be the business courtesy mode, the controller sends a maximum height reduction command to the four-wheel fully active suspension, driving each suspension actuator to synchronously and linearly contract to the preset maximum height reduction amplitude. This amplitude is the upper limit value calibrated by the system, for example, 80mm, to minimize the sill height from the ground. Simultaneously, based on the parking space slope detection results, the controller activates a high-precision four-wheel independent leveling algorithm, adjusting the lateral slope angle input by the road slope sensor. and longitudinal slope angle The controller calculates the target elongation or contraction of the suspension for each wheel differently, correcting the body roll and pitch angles to an absolute horizontal range of 0°±1°. Throughout the opening and closing of the sliding door, the controller maintains the braking system's locking of the four wheel pivots and temporarily increases the support stiffness of the fully active suspension to a preset high stiffness threshold to completely offset the lateral stress caused by sudden changes in door load, ensuring that the body does not sway or sink during the entire opening and closing process. When the current mode is determined to be the family comfort mode, the controller executes another set of parameters: it sends a small lowering command to the four-wheel fully active suspension, driving the suspension to contract to a preset small lowering range, such as 30mm, to balance convenience and daily use efficiency. For parking space slopes, the controller uses simplified leveling logic, only coarsely compensating for the lateral slope, allowing the body roll angle to be corrected to within ±2°, while the longitudinal slope is not actively adjusted, thereby significantly reducing the number of iterations and action time for suspension travel adjustment. Meanwhile, the braking lock and suspension stiffening actions during the opening and closing of the sliding door are still activated, but the increase in suspension support stiffness can be appropriately reduced to balance response speed and energy consumption. Through the above dual-mode strategy, after activating the welcome program, the system outputs the corresponding suspension travel command, leveling accuracy target, and attitude stability parameters according to the selected mode, achieving differentiated attitude adjustment effects.

[0048] This specific implementation introduces a dual-mode welcoming strategy, enabling the system to automatically switch between business etiquette and home comfort posture adjustment logics according to user needs or scenarios. This satisfies the stringent requirements of high-end business receptions for extreme height reduction, precise leveling, and stable posture throughout the process, while also providing a convenient experience of quick response and appropriate adjustment for daily family travel. This significantly improves the scenario adaptability and user satisfaction of the welcoming posture control system.

[0049] Example 3 Based on the above embodiments, this embodiment provides a detailed description of the specific implementation of step S2 in the adaptive control method for welcoming passengers getting on and off a luxury MPV: "controlling the synchronous linear contraction of the four-wheel fully active suspension to reduce the height of the vehicle sill, thereby reducing the step height difference for passengers getting on and off the vehicle."

[0050] In this embodiment, the specific implementation of controlling the synchronous linear contraction of the four-wheel fully active suspension to lower the vehicle sill height in step S2 is as follows. After receiving the welcome posture adjustment program activated in step S1, the VMC controller first acquires the current suspension travel data of each wheel from the real-time feedback of the four-wheel height sensors, as well as the preset welcome height target value. This preset welcome height is the sill height determined according to the vehicle model and user settings, usually set to a low sill state that facilitates passenger entry and exit. The VMC controller calculates the required synchronous contraction amount of the four-wheel suspension based on the difference between the current actual vehicle height and the welcome height target value. Specifically, the controller controls the hydraulic or electromagnetic actuators in the four-wheel fully active suspension to synchronously and linearly contract, lowering the entire vehicle by 30-80mm. This range of height reduction is determined through calibration tests, effectively lowering the sill height to a level that facilitates entry and exit while avoiding excessive lowering that could cause interference between the chassis and the road surface. During the retraction process, the four-wheel height sensors continuously monitor the suspension travel of each wheel. The VMC controller adjusts the control current or pressure of the actuator in real time based on the feedback signals to ensure that the retraction speed of the four wheels is consistent and the travel is synchronized, preventing the vehicle body from tilting or swaying. When the suspension travel of each wheel reaches the target retraction amount, the vehicle sill height is lowered to the preset welcoming height. At this point, the vehicle body is stable at this height, providing convenient entry and exit conditions for passengers. This preset welcoming height can be manually adjusted according to the user's height or usage habits through the in-vehicle human-machine interface. The system stores this adjustment value and automatically recalls it during subsequent welcoming processes. Through the above synchronous linear retraction control, the sill height is accurately and smoothly lowered, effectively reducing the step height difference for passengers getting in and out of the vehicle.

[0051] This specific implementation achieves adaptive lowering of the door sill height by precisely controlling the synchronous linear contraction of the four-wheel fully active suspension to a height reduction range of 30-80mm. This not only improves the convenience and comfort of passengers getting in and out of the vehicle, but also avoids vehicle posture disturbance through synchronous control, enhancing the smoothness and courtesy of the welcoming process.

[0052] Example 4 Based on the above embodiments, this embodiment provides a detailed description of the specific implementation of step S3 in the adaptive control method for welcoming attitude of a luxury MPV getting on and off the vehicle: "When a lateral or longitudinal slope is detected in the parking space, the suspension travel of each wheel is adjusted differentially to compensate for the road tilt angle and correct the vehicle posture to a level state."

[0053] In this embodiment, when the vehicle is parked and the welcome posture adjustment program is activated, the VMC controller integrates multi-source state data collected by the four-wheel height sensors, road slope sensors, and vehicle roll angle sensors to obtain the lateral and longitudinal slope values ​​of the parking space in real time. Specifically, the road slope sensor outputs the tilt angle data of the parking space relative to the horizontal plane, and the vehicle roll angle sensor outputs the current roll angle and pitch angle values ​​of the vehicle body. When the VMC controller determines that either the lateral or longitudinal slope exceeds a preset zero threshold, it confirms that the parking space has a slope and then triggers the differentiated leveling control logic. The core of this logic is: for wheels on the lower slope, the VMC controller sends an extension command to the corresponding fully active suspension actuator, increasing the suspension travel of that wheel and thus raising the height of the corresponding corner of the vehicle body; for wheels on the higher slope, the VMC controller sends a retraction command, decreasing the suspension travel of that wheel and thus lowering the height of the corresponding corner of the vehicle body. The elongation and retraction amounts are calculated geometrically based on the slope angle, vehicle wheelbase, and track width, ensuring that the compensated body roll and pitch angles are corrected to an absolute horizontal range of 0°±1°. During adjustment, the four-wheel suspension actuators provide real-time feedback of the actual travel values ​​to the VMC controller, forming a closed-loop control to eliminate adjustment errors. Simultaneously, the VMC controller continuously monitors whether the current travel of each wheel suspension is within the safe travel range. If the elongation or retraction of any wheel approaches the suspension's mechanical limit, further adjustment is stopped, and the current posture is maintained to avoid structural overload. Through the differentiated operation of elongating and raising the lower wheel suspensions and retracting and lowering the higher wheel suspensions, the system dynamically compensates for the road slope, allowing the vehicle to remain level even in inclined parking spaces, providing passengers with a smooth platform for getting in and out.

[0054] This specific implementation achieves precise compensation for road slope through differentiated travel adjustment of the four-wheel independent suspension, strictly controlling the vehicle's posture within the horizontal range, significantly improving the safety and comfort of getting on and off inclined roads, while avoiding the risk of damage to the suspension structure due to excessive adjustment.

[0055] In this embodiment, a safety protection mechanism for attitude adjustment is further implemented to address situations where the parking space slope exceeds the safe range. Specifically, after activating the welcome attitude adjustment program, the VMC controller first acquires the lateral and longitudinal slope values ​​of the parking space in real time using road slope sensors and compares this data with preset slope thresholds. These preset thresholds include a lateral slope threshold of 5° and a longitudinal slope threshold of 7°, stored in the VMC controller's non-volatile memory. When the detected absolute value of the lateral slope exceeds 5° or the absolute value of the longitudinal slope exceeds 7°, the VMC controller determines that the current parking space slope exceeds the safe adjustment range and generates an instruction to prohibit attitude adjustment operations. This instruction directly blocks the output of the control signals for differentiated adjustment of the suspension travel of each wheel in step S3, thereby preventing overload damage to the suspension structure due to extreme slope leveling. Simultaneously, the VMC controller sends a warning message to the instrument panel or central control display screen via the vehicle bus. This warning message is presented in the form of a pop-up window or icon, indicating to the driver that the current parking space slope exceeds the safe range and vehicle level compensation cannot be performed. During the period when attitude adjustment is prohibited, the system maintains the basic threshold height reduction state completed in step S2, meaning the four-wheel fully active suspension maintains the height after synchronous linear contraction, only refraining from subsequent differentiated leveling actions. When the lateral slope drops to within 5° and the longitudinal slope drops to within 7°, the VMC controller automatically releases the prohibition command and resumes the differentiated adjustment operation in step S3. This safety protection mechanism ensures that the welcoming attitude adjustment function operates within the structural safety boundary, effectively protecting the fully active suspension system from overload damage under extreme conditions.

[0056] This specific implementation method introduces a slope threshold judgment and early warning mechanism, which, while ensuring the normal execution of the vehicle body posture adjustment function, effectively avoids the risk of suspension structure overload that may be caused by forced leveling under extreme slopes, thereby improving the safety and reliability of the system.

[0057] Example 5 Based on the above embodiments, this embodiment provides a detailed description of the specific implementation of step S4 in the adaptive control method for welcoming posture when getting on and off a luxury MPV: "During the opening or closing of the sliding door, the wheels are locked by the braking system and the suspension support stiffness is increased to suppress the shaking and sinking of the vehicle body caused by sudden load changes."

[0058] In this embodiment, the sliding door linkage anti-sway control in step S4 is specifically implemented in the following way. First, the VMC controller receives the door status sensor signal in real time. When it detects the instant that the electric sliding door starts moving from the fully closed state to the opening direction, or the instant that it starts moving from the fully open state to the closing direction, it is identified as the trigger moment for the sliding door to open or close. This identification is based on the level jump or position change rate of the door status sensor output exceeding a preset threshold. After identifying this instant, the VMC controller immediately sends a locking command to the brake-by-wire system. In response to this command, the brake-by-wire system applies braking pressure to the brake calipers of the four wheels, locking the wheel pivot points and providing stable mechanical constraint for the vehicle in the parked state. At the same time, the VMC controller sends a stiffness increase command to the four-wheel fully active suspension system. According to this command, the fully active suspension system temporarily increases the damping coefficient and support stiffness of each suspension unit by adjusting the working parameters of the internal solenoid valves or hydraulic pumps, for example, increasing the support stiffness to 1.5 to 2 times that of the normal driving state. This stiffness enhancement action is executed synchronously with the brake locking, aiming to counteract the lateral stress generated by the mass shift of the door during the opening or closing of the sliding door. Specifically, when the sliding door opens, its mass moves outward from the side of the vehicle body, generating a torque about the vehicle's longitudinal axis. This torque causes the vehicle body to roll and sink. By locking the wheels with the brakes, the rolling freedom of the wheels is restricted, while the increased suspension support stiffness enhances the suspension's ability to resist lateral load deformation. The two work together to ensure that the vehicle body remains stable throughout the entire opening and closing process of the sliding door, without visible swaying or sinking. After the sliding door is fully open or fully closed, the VMC controller detects that the door state is stable, then releases the brake lock and restores the suspension support stiffness to normal levels, completing one cycle of linked anti-sway control.

[0059] Through the above specific implementation methods, the coordinated control of the braking system and the suspension system during the opening and closing of the sliding door is realized. It can accurately identify the moment of door movement and respond quickly, effectively suppressing body swaying and sinking caused by sudden load changes, and improving the ceremonial stability and sense of luxury MPV during the process of getting in and out of the vehicle.

[0060] In this embodiment, after the welcome posture adjustment program is activated and the sliding door anti-sway control is completed, the system continuously monitors the door status and gear position signal. Specifically, the VMC controller obtains the opening and closing status of each door in real time through the door status sensor and reads the gear position information output by the transmission control unit through the vehicle CAN bus. When it is detected that all doors (including the driver's door, passenger door, left and right sliding doors, and tailgate) are fully closed and the gear position signal changes from P to D or R, the system determines that the welcome condition has ended and triggers the posture reset process. During the reset process, the VMC controller sends a linear reset command to the four-wheel fully active suspension actuators. Each suspension releases its adjustment margin synchronously at a preset gradual rate, gradually extending or retracting from the current welcome height (e.g., the position after lowering by 30-80mm or the differentiated travel after leveling a slope) until the travel of all four suspensions is restored to the vehicle's factory-calibrated driving reference height. This driving reference height is the standard ground clearance of the vehicle under normal driving conditions and is stored in the non-volatile memory of the VMC controller. During the reset process, the suspension movements remain linear and synchronized to prevent momentary vehicle tilting due to inconsistent reset speeds of individual wheels. Simultaneously, the state machine within the VMC controller resets the welcome posture adjustment flag to zero, handing over chassis control to the regular driving control module and exiting the welcome posture adjustment program. At this point, the vehicle chassis has fully returned to its standard driving posture, preparing for normal driving. This reset mechanism ensures that the welcome function is only active when the vehicle is parked and the doors are open; it automatically deactivates after the doors are closed and gear is engaged, without affecting vehicle driving safety or the lifespan of the suspension system.

[0061] This specific implementation automatically detects door closing and gear position signals, driving the four-wheel fully active suspension to linearly reset to the driving reference height. This achieves seamless disengagement of the welcome posture adjustment program, avoiding abnormal handling and structural fatigue caused by the suspension being at a non-reference height for a long time. At the same time, it ensures a smooth transition of the vehicle from parking to normal driving, improving the system's automation and safety.

[0062] Example 6 This embodiment will describe in detail the complete implementation of the aforementioned adaptive control method for welcoming posture when getting in and out of a luxury MPV. In this embodiment, the VMC controller, as the core control unit, integrates four-wheel height sensors, road slope sensors, door status sensors, and vehicle roll angle sensors to detect vehicle unlocking signals, door opening and closing status, and the lateral and longitudinal slopes of the parking space in real time. When the vehicle is parked with the engine off and the gear in P, if the driver triggers the unlocking signal via the remote key or door handle, or if any door is opened, the system first verifies the lateral and longitudinal slopes of the parking space using the road slope sensor, and simultaneously confirms that the vehicle is in P using the gear sensor. After confirming that all prerequisites are met, the welcoming posture adjustment program is activated. This activation determination logic ensures that the function only takes effect when the vehicle is parked and automatically locks during driving, eliminating the risk of accidental triggering.

[0063] After the welcome posture adjustment program is activated, the VMC controller sends a synchronous linear contraction command to the four-wheel fully active suspension, lowering the entire vehicle by 30-80mm and adjusting the door sill height to the preset welcome height. This height reduction can be manually adjusted according to the passenger's height via the in-vehicle central control screen or physical buttons to accommodate the entry and exit habits of passengers of different heights and reduce the step difference. The four-wheel fully active suspension adopts a linear contraction control strategy to ensure a smooth and shock-free lowering process, enhancing the courtesy. When the system detects a lateral or longitudinal slope in the parking space through the road slope sensor, the VMC controller adjusts the suspension travel of each wheel differently based on the slope data. Specifically, it extends and raises the suspension of the lower wheels and contracts and lowers the suspension of the higher wheels, dynamically compensating for the road tilt angle and correcting the body roll and pitch angles to 0°±1°, achieving level parking on slopes and completely solving the problem of unbalanced center of gravity when entering and exiting inclined parking spaces.

[0064] At the moment the electric sliding door opens or closes, the VMC controller identifies the sliding door's movement signal through the door status sensor and immediately locks the four-wheel pivot points via the brake-by-wire system. Simultaneously, it controls the fully active suspension to temporarily increase support stiffness to counteract the lateral stress caused by sudden changes in door load, suppressing body sagging and swaying, and ensuring the vehicle maintains a stable posture throughout the door opening process. This collaborative control strategy intervenes early at the moment the sliding door opens and gradually releases after the door is fully closed, ensuring the vehicle remains completely still during the door opening and closing process. This embodiment also supports a dual-mode welcome strategy, allowing users to select either a business concierge mode or a family comfort mode via the in-vehicle system, depending on the usage scenario. In business concierge mode, the system performs maximum vehicle height reduction, accurately adjusts the parking space slope independently for all four wheels, and locks the vehicle posture throughout the sliding door opening and closing process, suitable for high-end business reception scenarios. In family comfort mode, the system performs a smaller vehicle height reduction, simplifies the parking space slope adjustment logic, and shortens the posture adjustment time, suitable for everyday short-distance family trips.

[0065] To ensure chassis structural safety, the system presets a maximum leveling slope threshold, with a lateral slope not exceeding 5° and a longitudinal slope not exceeding 7°. When the road slope sensor detects that the lateral slope of the parking space exceeds 5° or the longitudinal slope exceeds 7°, the system prohibits attitude adjustment operations and generates a warning message through the vehicle display screen or instrument panel pop-up, prompting the driver that the current slope exceeds the safe range, avoiding forced leveling at extreme slopes that could cause overload damage to the suspension structure. When all doors are closed and the vehicle is in drive gear such as D or R, the system detects that the exit conditions are met, controls the four-wheel fully active suspension to linearly reset to the driving reference height, and the chassis exits the welcome attitude adjustment program, resuming the normal control mode. This reset process is smooth and linear, ensuring that it does not affect normal driving conditions. Through the above-mentioned multi-source state perception, full-domain sill height reduction, independent slope leveling, sliding door-linked attitude stabilization, dual-mode hierarchical strategy, and safety protection and reset mechanism, this embodiment achieves adaptive control of the welcoming attitude for passengers getting in and out of the VIP-level luxury MPV, comprehensively improving the convenience, safety, and sense of luxury for passengers getting in and out of the vehicle from the chassis level.

[0066] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0067] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0068] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

Claims

1. An adaptive control method for the welcoming posture of a luxury MPV entering and exiting the vehicle, characterized in that, Includes the following steps: S1, in response to the vehicle being parked and receiving an unlock or door opening signal, detects the parking space slope status and door status, and activates the welcome posture adjustment program; S2 controls the synchronized linear contraction of the four-wheel fully active suspension to lower the vehicle sill height, thereby reducing the step height difference for passengers getting in and out of the vehicle; S3, when a lateral or longitudinal slope is detected in the parking space, the suspension travel of each wheel is adjusted differently to compensate for the road tilt angle and correct the vehicle posture to a level state. S4 locks the wheels and increases the suspension support stiffness during the opening or closing of the sliding door through the braking system, suppressing the shaking and sinking of the vehicle body caused by sudden load changes.

2. The method as described in claim 1, characterized in that, The process of responding to the vehicle parking and receiving an unlock or door opening signal, detecting the parking space slope status and door status, and activating the welcoming posture adjustment program includes: integrating four-wheel height sensors, road slope sensors, door status sensors, and vehicle body roll angle sensors through the VMC controller to detect the vehicle unlock signal, door opening and closing status, and the lateral and longitudinal slope of the parking space in real time; and activating the welcoming posture adjustment program when it is confirmed that the vehicle is parked and in P gear.

3. The method as described in claim 1, characterized in that, The control of the four-wheel fully active suspension to synchronously and linearly contract and reduce the height of the vehicle door sill includes: controlling the four-wheel fully active suspension to synchronously and linearly contract, so that the entire vehicle is lowered by 30-80mm, so as to adjust the door sill height to a preset welcoming height.

4. The method as described in claim 1, characterized in that, The method of differentially adjusting the suspension travel of each wheel to compensate for the road tilt angle and correct the vehicle body posture to a horizontal state when a lateral or longitudinal slope is detected in the parking space includes: when a lateral or longitudinal slope is detected in the parking space, extending and raising the suspension of the lower wheel and contracting and lowering the suspension of the higher wheel to dynamically compensate for the road slope and correct the roll angle and pitch angle of the vehicle body to 0°±1°.

5. The method as described in claim 1, characterized in that, The method of locking the wheels and increasing the suspension support stiffness through the braking system during the opening or closing of the sliding door to suppress the shaking and sinking of the vehicle body caused by sudden load changes includes: identifying the moment when the sliding door opens or closes, locking the four wheel pivots through brake-by-wire, and controlling the fully active suspension to temporarily increase the support stiffness to counteract the lateral stress caused by the sudden load change of the door.

6. The method as described in claim 1, characterized in that, Also includes: After activating the welcoming posture adjustment program, the corresponding posture adjustment strategy is selected and executed according to the preset welcoming mode, which includes business concierge mode and home comfort mode.

7. The method as described in claim 6, characterized in that, The business concierge mode includes: controlling the four-wheel fully active suspension to maximize the vehicle's height reduction, performing high-precision independent leveling of the four wheels on the parking space slope, and locking the vehicle's posture throughout the opening and closing of the sliding door.

8. The method as described in claim 6, characterized in that, The home comfort mode includes controlling the four-wheel active suspension to lower the vehicle height by less than that of the business concierge mode, and simplifying the leveling logic for parking space slopes to shorten the attitude adjustment time.

9. The method as described in claim 1, characterized in that, Also includes: When the lateral slope of the parking space exceeds 5° or the longitudinal slope exceeds 7°, the attitude adjustment operation is prohibited and a warning message is generated.

10. The method as described in claim 1, characterized in that, Also includes: After detecting that all doors are closed and the vehicle is in driving gear, the system controls the four-wheel fully active suspension to linearly reset to the driving reference height and exits the welcome posture adjustment program.

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