Suspension system, vehicle and control method

Abstract

The application relates to a suspension system, a vehicle and a control method. The suspension system comprises a suspension adjusting assembly and an oil delivery assembly, the oil delivery assembly is connected with the suspension adjusting assembly, the oil delivery assembly comprises an oil pump and a pressure adjusting piece, the oil pump is used for delivering oil to the suspension adjusting assembly, the pressure adjusting piece is connected with the oil pump, and the pressure adjusting piece is used for adjusting the pressure of the oil output by the oil pump. According to the suspension system provided by the application, the control and adjustment of the oil delivered by the oil delivery assembly can be realized, and then the control and adjustment of the oil delivered to the suspension adjusting assembly can be realized, so that the control capability of the suspension system on the oil is improved.

Description

Technical Field

[0001] This application relates to the field of suspension technology, and more particularly to a suspension system, vehicle, and control method. Background Technology

[0002] The vehicle suspension system is an important component of a car. Its main function is to connect the body to the wheels and provide support, absorb vibrations, improve comfort, and ensure vehicle handling during driving.

[0003] The ability of suspension systems in related technologies to control hydraulic fluids still needs improvement. Summary of the Invention

[0004] This application provides a suspension system that improves the control over hydraulic fluid, thereby at least partially solving the aforementioned technical problems.

[0005] To achieve the above objectives, according to a first aspect of this application, a suspension system is provided, comprising:

[0006] Suspension adjustment components;

[0007] An oil delivery assembly is connected to the suspension adjustment assembly. The oil delivery assembly includes an oil pump and a pressure regulator. The oil pump is used to deliver oil to the suspension adjustment assembly, and the pressure regulator is connected to the oil pump and is used to adjust the pressure of the oil output by the oil pump.

[0008] Optionally, the number of suspension adjustment components is at least two, and the at least two suspension adjustment components are connected to at least two wheels in a one-to-one correspondence. Each suspension adjustment component is connected to the oil delivery component.

[0009] Optionally, at least two of the suspension adjustment assemblies are connected to the same hydraulic delivery assembly.

[0010] Optionally, at least two of the suspension adjustment assemblies include at least two front wheel suspension adjustment assemblies, and the two front wheel suspension adjustment assemblies are connected to the same hydraulic delivery assembly; and / or,

[0011] At least two of the suspension adjustment assemblies include at least two rear wheel suspension adjustment assemblies, and the two rear wheel suspension adjustment assemblies are connected to the same hydraulic delivery assembly; and / or,

[0012] At least two of the suspension adjustment assemblies include a front wheel suspension adjustment assembly and a rear wheel suspension adjustment assembly, the front wheel suspension adjustment assembly and the rear wheel suspension adjustment assembly being connected to the same hydraulic delivery assembly.

[0013] Optionally, the number of the oil delivery components is at least two, and the at least two oil delivery components are connected to the at least two suspension adjustment components in a one-to-one correspondence.

[0014] Optionally, the suspension adjustment assembly includes a shock absorber, an oil circuit, and a flow regulator. The oil circuit connects the shock absorber and the oil delivery assembly, and the flow regulator is connected to the oil circuit and is used to adjust the oil flow rate in the oil circuit.

[0015] Optionally, the flow regulating component includes a damping regulator connected to the oil circuit and located between the shock absorber and the oil delivery assembly. The damping regulator is used to regulate the oil flow rate in the oil circuit.

[0016] Optionally, the pressure regulating component includes a brushless motor connected to the oil pump, and the brushless motor is used to regulate the pressure of the oil output by the oil pump.

[0017] According to a second aspect of this application, a vehicle is provided, including the suspension system described above.

[0018] According to a third aspect of this application, a suspension system control method is also provided. The suspension system includes a suspension adjustment assembly and a hydraulic fluid delivery assembly. The hydraulic fluid delivery assembly is connected to the suspension adjustment assembly. The hydraulic fluid delivery assembly includes a hydraulic pump and a pressure regulating component. The hydraulic pump is used to deliver hydraulic fluid to the suspension adjustment assembly. The pressure regulating component is connected to the hydraulic pump and is used to regulate the pressure of the hydraulic fluid output by the hydraulic pump. The suspension system control method includes:

[0019] The pressure regulating component is used to adjust the pressure of the oil output by the oil pump.

[0020] Optionally, the step of controlling the pressure regulating element to adjust the pressure of the oil output by the oil pump includes:

[0021] Determine the suspension height adjustment rate based on the suspension height;

[0022] Based on the suspension height adjustment rate, the pressure regulating component is controlled to adjust the output pressure of the oil pump.

[0023] Optionally, the step of controlling the pressure regulator to adjust the output pressure of the oil pump based on the suspension height adjustment rate includes:

[0024] Based on the difference between the target rate and the suspension height adjustment rate, the pressure regulator is controlled to adjust the output pressure of the oil pump.

[0025] Optionally, the step of controlling the pressure regulator to adjust the output pressure of the oil pump based on the difference between the target rate and the suspension height adjustment rate includes:

[0026] When the difference between the target speed and the suspension height adjustment speed is greater than a first threshold, the pressure regulator is controlled to adjust the output pressure of the oil pump based on the difference between the target speed and the suspension height adjustment speed.

[0027] Optionally, the number of the oil delivery components is at least two, and the at least two oil delivery components are connected to the at least two suspension adjustment components in a one-to-one correspondence;

[0028] The step of determining the suspension height adjustment rate based on the suspension height includes:

[0029] Based on the suspension height of different suspensions, determine the suspension height adjustment rate of different suspensions;

[0030] The step of controlling the pressure regulating component to adjust the output pressure of the oil pump based on the suspension height adjustment rate includes:

[0031] Based on the different suspension height adjustment rates of different suspensions, the output pressure of the corresponding oil pump is adjusted by controlling different pressure regulating components.

[0032] Optionally, the number of the oil delivery components is at least two, and the at least two oil delivery components are connected to the at least two suspension adjustment components in a one-to-one correspondence;

[0033] The step of determining the suspension height adjustment rate based on the suspension height includes:

[0034] Based on the suspension height of different suspensions, determine the suspension height adjustment rate of different suspensions;

[0035] The step of controlling the pressure regulating component to adjust the output pressure of the oil pump based on the suspension height adjustment rate includes:

[0036] Based on the different suspension height adjustment rates of different suspensions, the output pressure of the corresponding oil pump is adjusted by controlling different pressure regulating components.

[0037] Optionally, at least two of the hydraulic fluid delivery assemblies include at least two front wheel hydraulic fluid delivery assemblies, at least two of the suspension adjustment assemblies include at least two front wheel suspension adjustment assemblies, and at least two of the front wheel hydraulic fluid delivery assemblies are connected to at least two of the front wheel suspension adjustment assemblies in a one-to-one correspondence.

[0038] The step of controlling different pressure regulating components to adjust the output pressure of the corresponding oil pump based on different suspension height adjustment rates includes:

[0039] Based on the target adjustment rate of the front axle, the pressure regulating component of the front wheel oil delivery assembly is controlled to adjust the output pressure of the corresponding oil pump.

[0040] Optionally, at least two of the hydraulic fluid delivery assemblies include at least two rear wheel hydraulic fluid delivery assemblies, at least two of the suspension adjustment assemblies include at least two rear wheel suspension adjustment assemblies, and at least two of the rear wheel hydraulic fluid delivery assemblies are connected to at least two of the rear wheel suspension adjustment assemblies in a one-to-one correspondence.

[0041] The step of controlling different pressure regulating components to adjust the output pressure of the corresponding oil pump based on different suspension height adjustment rates includes:

[0042] Based on the target adjustment rate of the rear axle, the pressure regulating component of the rear wheel oil delivery assembly is controlled to adjust the output pressure of the corresponding oil pump.

[0043] Optionally, at least two of the hydraulic fluid delivery assemblies include at least two left wheel hydraulic fluid delivery assemblies, at least two of the suspension adjustment assemblies include at least two left wheel suspension adjustment assemblies, and at least two of the left wheel hydraulic fluid delivery assemblies are connected to at least two of the left wheel suspension adjustment assemblies in a one-to-one correspondence;

[0044] The step of controlling different pressure regulating components to adjust the output pressure of the corresponding oil pump based on different suspension height adjustment rates includes:

[0045] Based on the target adjustment rate on the left, the pressure regulating component of the left wheel oil delivery assembly is controlled to adjust the output pressure of the corresponding oil pump.

[0046] Optionally, at least two of the hydraulic fluid delivery assemblies include at least two right wheel hydraulic fluid delivery assemblies, at least two of the suspension adjustment assemblies include at least two right wheel suspension adjustment assemblies, and at least two of the right wheel hydraulic fluid delivery assemblies are connected to at least two of the right wheel suspension adjustment assemblies in a one-to-one correspondence.

[0047] The step of controlling different pressure regulating components to adjust the output pressure of the corresponding oil pump based on different suspension height adjustment rates includes:

[0048] Based on the target adjustment rate on the right, the pressure regulating component of the right wheel oil delivery assembly is controlled to adjust the output pressure of the corresponding oil pump.

[0049] Optionally, at least two of the suspension adjustment assemblies are connected to the same hydraulic delivery assembly;

[0050] The step of controlling the pressure regulating component to adjust the output pressure of the oil pump based on the suspension height adjustment rate includes:

[0051] Based on the difference between the suspension height adjustment rate and the common target rate of at least two of the suspension adjustment components, the pressure regulator is controlled to adjust the output pressure of the oil pump.

[0052] In the suspension system of this application embodiment, the hydraulic fluid delivery component is used to deliver hydraulic fluid to the suspension adjustment component, while the pressure regulating component adjusts the pressure of the hydraulic fluid output by the hydraulic pump, thereby enabling the regulation of the hydraulic fluid delivery by the hydraulic fluid delivery component. In other words, this application can control and regulate the hydraulic fluid delivery by the hydraulic fluid delivery component through the pressure regulating component, thereby enabling the control and regulation of the hydraulic fluid delivered to the suspension adjustment component, and improving the suspension system's control capability over the hydraulic fluid.

[0053] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0054] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0055] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0056] Figure 1 This is a schematic diagram of the suspension system provided in an exemplary embodiment of this disclosure;

[0057] Figure 2 This is a schematic diagram of the suspension system provided in an exemplary embodiment of the present disclosure, wherein four suspension adjustment components share one hydraulic delivery component;

[0058] Figure 3 This is a schematic diagram of the structure of a suspension system in an exemplary embodiment of this disclosure in which two suspension adjustment components share a single hydraulic delivery component;

[0059] Figure 4 This is a flowchart of the steps of the suspension system control method provided in the exemplary embodiments of this disclosure;

[0060] Figure 5 This is a curve showing the adjustment rate of the speed of each branch brushless motor provided in the exemplary embodiment of this disclosure.

[0061] Figure 6 This is a schematic diagram of the ideal vehicle adjustment rate and wheel adjustment rate for a single lift provided in an exemplary embodiment of this disclosure.

[0062] Explanation of reference numerals in the attached figures:

[0063] 1. Suspension adjustment assembly; 2. Hydraulic fluid delivery assembly; 11. Front wheel suspension adjustment assembly; 12. Rear wheel suspension adjustment assembly; 13. Shock absorber; 14. Oil circuit; 15. Flow regulating component; 21. Hydraulic pump; 22. Pressure regulating component; 151. Damping adjuster. Detailed Implementation

[0064] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0065] According to the first aspect of this application, see Figures 1 to 6 This application provides a suspension system, including a suspension adjustment assembly 1 and an oil delivery assembly 2. The oil delivery assembly 2 is connected to the suspension adjustment assembly 1. The oil delivery assembly 2 includes an oil pump 21 and a pressure regulating component 22. The oil pump 21 is used to deliver oil to the suspension adjustment assembly 1. The pressure regulating component 22 is connected to the oil pump 21 and is used to regulate the pressure of the oil output by the oil pump 21.

[0066] Understandably, the hydraulic fluid delivery assembly 2 is used to deliver hydraulic fluid to the suspension adjustment assembly 1, while the pressure regulating component 22 regulates the pressure of the hydraulic fluid output by the hydraulic pump 21, thereby regulating the hydraulic fluid delivery of the hydraulic fluid delivery assembly 2. In other words, this application uses the pressure regulating component 22 to control and regulate the hydraulic fluid delivery of the hydraulic fluid delivery assembly 2, thereby controlling and regulating the hydraulic fluid delivered to the suspension adjustment assembly 1, and improving the suspension system's control over the hydraulic fluid.

[0067] In some embodiments, the number of suspension adjustment components 1 is at least two, and at least two suspension adjustment components 1 are connected to at least two wheels in a one-to-one correspondence, and each suspension adjustment component 1 is connected to an oil delivery component 2.

[0068] It is understood that by setting at least two suspension adjustment components 1, each wheel is connected to a corresponding suspension adjustment component 1, meaning that the different suspension adjustment components 1 are independent of each other, and each suspension adjustment component 1 can be adjusted individually. In other words, by setting suspension adjustment components 1 corresponding to each wheel, this application can control different suspension adjustment components 1 according to the actual load at different wheels, ensuring that the suspension height adjustment rate at different wheels remains consistent. This improves the consistency of the lifting and lowering rates of different wheels, guarantees the smoothness of vehicle lifting and lowering, and enhances the comfort of the suspension system. Simultaneously, the hydraulic fluid delivery component 2 is used to deliver hydraulic fluid to the suspension adjustment components 1. The output pressure of the hydraulic pump 21 can be adjusted by the pressure regulating component 22, and since the suspension height adjustment rate is related to the hydraulic fluid pressure increase rate, the suspension height adjustment rate can be controlled using the pressure regulating component 22.

[0069] Understandably, in related technologies, suspension systems are prone to inconsistent lifting rates between wheels due to varying loads at different wheels, affecting vehicle stability and reducing suspension comfort. This application addresses this issue by providing suspension adjustment components 1 connected one-to-one with each wheel. Each suspension adjustment component 1 can adjust one wheel, allowing for adaptive adjustments based on the actual load at each wheel. This enables independent control of wheel lifting, avoiding inconsistent lifting rates caused by uneven loads.

[0070] It is understandable that each wheel of a vehicle has a corresponding suspension, and the suspensions at different wheels together form the suspension system.

[0071] In some examples, the pressure regulator 22 is, for example, a brushless motor or a brushed motor or any other suitable pressure regulator.

[0072] It should be noted that hydraulic suspension is playing an increasingly important role in active suspension systems due to its unique advantages. However, current mainstream hydraulic suspensions have low integration, with the four-wheel controls being interconnected, making precise control difficult. This low integration also results in a heavy overall weight, and it fails to meet users' extreme demands in terms of ride comfort and functional versatility. Therefore, we designed a complete four-wheel independent adjustment suspension system, decoupling the four-wheel adjustments and significantly improving system performance and integration.

[0073] In some examples, the suspension adjustment assembly 1 includes a shock absorber 13, a pressure accumulator, a damping accumulator, a stiffness accumulator, a leveling valve, a bypass valve, a pressure sensor, and a main valve connected in sequence.

[0074] In some embodiments, see Figure 2 and Figure 3 At least two suspension adjustment components 1 are connected to the same oil delivery component 2.

[0075] It is understandable that one hydraulic fluid delivery component 2 can simultaneously deliver hydraulic fluid to at least two suspension adjustment components 1, thereby enabling the hydraulic fluid delivery component 2 to be shared, which helps to simplify the structure of the suspension system.

[0076] In some embodiments, see Figure 2 and Figure 3 At least two suspension adjustment assemblies 1 include at least two front wheel suspension adjustment assemblies 11, and the two front wheel suspension adjustment assemblies 11 are connected to the same oil delivery assembly 2.

[0077] It is understandable that one hydraulic fluid delivery component 2 can simultaneously deliver hydraulic fluid to at least two front wheel suspension adjustment components 11, thereby enabling the hydraulic fluid delivery component 2 to be shared, which helps to simplify the structure of the suspension system.

[0078] Understandably, the pressure regulating component 22 is used to adjust the pressure of the oil output by the oil pump 21, thereby changing the oil pressure at the front wheel suspension adjustment assembly 11 and controlling the suspension height adjustment rate. Then, the oil flow rate can be adjusted through the suspension adjustment assembly 1 to further adjust the suspension height adjustment rate, allowing for precise control of the suspension height adjustment rate.

[0079] In some embodiments, at least two suspension adjustment assemblies 1 include at least two rear wheel suspension adjustment assemblies 12, and the two rear wheel suspension adjustment assemblies 12 are connected to the same oil delivery assembly 2.

[0080] It is understandable that one hydraulic fluid delivery assembly 2 can simultaneously deliver hydraulic fluid to at least two rear wheel suspension adjustment assemblies 12, thereby enabling the hydraulic fluid delivery assembly 2 to be shared, which helps to simplify the structure of the suspension system.

[0081] Understandably, the pressure regulating component 22 is used to adjust the pressure of the oil output by the oil pump 21, thereby changing the oil pressure at the rear wheel suspension adjustment assembly 12 and controlling the suspension height adjustment rate. Then, the oil flow rate can be adjusted through the suspension adjustment assembly 1 to further adjust the suspension height adjustment rate, allowing for precise control of the suspension height adjustment rate.

[0082] In some embodiments, at least two suspension adjustment components 1 include a front wheel suspension adjustment component 11 and a rear wheel suspension adjustment component 12, which are connected to the same hydraulic delivery component 2.

[0083] Understandably, one hydraulic fluid delivery assembly 2 can simultaneously supply hydraulic fluid to both the front wheel suspension adjustment assembly 11 and the rear wheel suspension adjustment assembly 12, thus enabling the hydraulic fluid delivery assembly 2 to be shared, which helps to simplify the structure of the suspension system.

[0084] Understandably, the pressure regulating component 22 is used to adjust the pressure of the oil output by the oil pump 21, thereby changing the oil pressure at the front wheel suspension adjusting assembly 11 and the rear wheel suspension adjusting assembly 12, thus controlling the suspension height adjustment rate. Then, the oil flow rate can be adjusted through the suspension adjusting assembly 1 to further adjust the suspension height adjustment rate, allowing for precise control of the suspension height adjustment rate.

[0085] In some embodiments, see Figure 1 The number of oil delivery components 2 is at least two, and at least two oil delivery components 2 are connected to at least two suspension adjustment components 1 in a one-to-one correspondence.

[0086] It is understandable that each suspension adjustment component 1 is connected to a separate hydraulic supply component 2, meaning that each hydraulic supply component 2 is independent. The hydraulic supply component 2 can supply hydraulic fluid only to the corresponding suspension adjustment component 1. Consequently, the pressure regulating component 22 of the hydraulic supply component 2 can individually adjust the hydraulic pressure of the corresponding suspension adjustment component 1, thereby achieving individual control of the suspension height adjustment rate. This enables independent control of the lifting and lowering of different wheels, avoiding inconsistent lifting and lowering rates of different wheels due to uneven load factors. This ensures that the vehicle can lift and lower smoothly, improving the comfort of the suspension system.

[0087] It is understandable that the suspension system based on this embodiment can realize functions such as manual suspension height adjustment, automatic suspension height adjustment, and stiffness adjustment. Suspension height adjustment is a directly perceptible active suspension function. Since at least two shock absorbers 13, the same number as the wheels, participate in height adjustment simultaneously, the height adjustment rates of different shock absorbers 13 are inconsistent, even significantly different, due to factors such as vehicle load. For a single-pump motor system, with only one power source, it is difficult to control the height adjustment rate of all four wheels. This leads to a displacement difference between wheels that adjust faster and slower, causing stress on the chassis, deformation, abnormal noises, and other phenomena. Therefore, the entire height adjustment process is very uneven, affecting the user experience. The independent system for different wheels in this embodiment can effectively solve this problem through coordinated control and can bring more functions.

[0088] For example, when a vehicle has four wheels, the suspension system includes four suspension adjustment components and four hydraulic delivery components, with each of the four suspension adjustment components and the four hydraulic delivery components corresponding to one another.

[0089] In some embodiments, see Figure 1 The suspension adjustment assembly 1 includes a shock absorber 13, an oil passage 14, and a flow regulator 15. The oil passage 14 connects the shock absorber 13 and the oil delivery assembly 2. The flow regulator 15 is connected to the oil passage 14 and is used to adjust the oil flow rate in the oil passage 14.

[0090] Understandably, the oil delivery assembly 2 delivers oil to the shock absorber 13 through the oil passage 14, and the flow regulating component 15 can regulate the oil flow in the oil passage 14, thereby controlling the oil flow to the shock absorber 13, which in turn enables control of the suspension height adjustment rate and achieves fine control of the suspension height adjustment rate.

[0091] For details, please refer to Figure 1 The flow regulating component 15 includes a damping regulator 151, which is connected to the oil circuit 14. The damping regulator 151 is located between the shock absorber 13 and the oil delivery assembly 2. The damping regulator 151 is used to regulate the oil flow rate in the oil circuit 14.

[0092] Understandably, the damping regulator 151 can control the flow rate of the oil in the oil circuit 14 to control the flow rate of the oil flowing to the shock absorber 13, thereby controlling the height adjustment rate of the suspension.

[0093] In some embodiments, the pressure regulating component 22 includes a brushless motor connected to the oil pump 21, and the brushless motor is used to regulate the pressure of the oil output by the oil pump 21.

[0094] Understandably, brushless motors are highly controllable, and using a brushless motor as a pressure regulator makes it easy to adjust the output pressure of the oil pump 21.

[0095] According to a second aspect of this application, this application provides a vehicle including the suspension system described above.

[0096] Understandably, the hydraulic fluid delivery assembly 2 is used to deliver hydraulic fluid to the suspension adjustment assembly 1, while the pressure regulating component 22 regulates the pressure of the hydraulic fluid output by the hydraulic pump 21, thereby regulating the hydraulic fluid delivery of the hydraulic fluid delivery assembly 2. In other words, this application uses the pressure regulating component 22 to control and regulate the hydraulic fluid delivery of the hydraulic fluid delivery assembly 2, thereby controlling and regulating the hydraulic fluid delivered to the suspension adjustment assembly 1, and improving the suspension system's control over the hydraulic fluid.

[0097] In some examples, the vehicle may be a gasoline-powered vehicle, a plug-in hybrid electric vehicle, or a new energy vehicle, etc., and this application does not specifically limit this.

[0098] According to the third aspect of this application, see Figure 4 This application provides a suspension system control method. The suspension system includes a suspension adjustment assembly 1 and a hydraulic fluid delivery assembly 2. The hydraulic fluid delivery assembly 2 is connected to the suspension adjustment assembly 1. The hydraulic fluid delivery assembly 2 includes a hydraulic pump 21 and a pressure regulating component 22. The hydraulic pump 21 is used to deliver hydraulic fluid to the suspension adjustment assembly 1, and the pressure regulating component 22 is connected to the hydraulic pump 21 and is used to regulate the pressure of the hydraulic fluid output by the hydraulic pump 21. The suspension system control method includes:

[0099] Step 101: Control the pressure regulating component 22 to adjust the pressure of the oil output by the oil pump 21.

[0100] It is understandable that by controlling the pressure regulating component 22, the pressure of the oil output by the oil pump 21 can be controlled and regulated, thereby enabling the control and regulation of the oil delivered by the oil delivery component 2, and further enabling the control and regulation of the oil delivered to the suspension adjustment component 1, thus improving the suspension system's control capability over the oil.

[0101] In some embodiments, the step of controlling the pressure regulator 22 to regulate the pressure of the oil output by the oil pump 21 includes:

[0102] Determine the suspension height adjustment rate based on the suspension height;

[0103] Based on the suspension height adjustment rate, the control pressure regulator 22 adjusts the output pressure of the oil pump 21.

[0104] Understandably, the suspension height adjustment rate is first calculated based on the suspension height. Then, based on the suspension height adjustment rate, the pressure regulating component 22 is used to adjust the output pressure of the oil pump 21. Since the oil output by the oil pump 21 is delivered to the suspension adjustment component 1, the oil flow rate and pressure at the suspension adjustment component 1 can be adjusted. The oil flow rate and pressure at the suspension adjustment component 1 are related to the suspension height adjustment rate, thus enabling control of the suspension height adjustment rate.

[0105] It is understandable that when the pressure regulating component 22 adjusts the output pressure of the oil pump 21 based on the suspension height adjustment rate, the output pressure of the oil pump 21 can be adjusted only according to the suspension height adjustment rate, or the output pressure of the oil pump 21 can be adjusted by combining the suspension height adjustment rate and other factors.

[0106] In some embodiments, the step of controlling the pressure regulator 22 to adjust the output pressure of the oil pump 21 based on the suspension height adjustment rate includes:

[0107] Based on the difference between the target speed and the suspension height adjustment speed, the control pressure regulator 22 adjusts the output pressure of the oil pump 21.

[0108] It is understandable that the target rate is generally determined by the vehicle system or by the system itself, meaning that the target rate may not be consistent with the suspension height adjustment rate calculated based on the suspension height.

[0109] Therefore, the difference between the target speed and the suspension height adjustment speed is first determined, and then the pressure regulating component 22 is controlled to adjust the output pressure of the oil pump 21 according to the difference between the target speed and the suspension height adjustment speed, so as to ensure that the final suspension height adjustment speed is consistent with the target speed.

[0110] In some embodiments, the step of controlling the pressure regulator 22 to adjust the output pressure of the oil pump 21 based on the difference between the target rate and the suspension height adjustment rate includes:

[0111] When the difference between the target speed and the suspension height adjustment speed is greater than the first threshold, the pressure regulating component 22 adjusts the output pressure of the oil pump 21 based on the difference between the target speed and the suspension height adjustment speed.

[0112] Understandably, when the difference between the target speed and the suspension height adjustment speed is greater than the first threshold, it indicates that the suspension height adjustment speed determined based on the suspension height differs significantly from the target speed, and the suspension height adjustment speed needs to be adjusted. Therefore, based on the difference between the target speed and the suspension height adjustment speed, the pressure regulating component 22 is controlled to adjust the output pressure of the oil pump 21 to adjust the suspension height adjustment speed and reduce the difference between the target speed and the suspension height adjustment speed.

[0113] In some embodiments, the suspension adjustment assembly 1 includes a shock absorber 13, an oil passage 14, and a flow regulator 15. The oil passage 14 connects the shock absorber 13 and the oil delivery assembly 2. The flow regulator 15 is connected to the oil passage 14 and is used to regulate the oil flow rate in the oil passage 14. After the step of controlling the pressure regulator 22 to regulate the output pressure of the oil pump 21, the assembly further includes:

[0114] When the difference between the target speed and the suspension height adjustment speed is not greater than the first threshold and is greater than the second threshold, the flow control regulator 15 adjusts the oil flow in the oil circuit 14, wherein the first threshold is greater than the second threshold.

[0115] Understandably, when the difference between the target speed and the suspension height adjustment speed is greater than the first threshold, it indicates a large difference between them. Therefore, the pressure regulator 22 can be controlled to adjust the output pressure of the oil pump 21 to reduce the difference. Due to the inherent characteristics of the pressure regulator 22 and the oil pump 21, it is difficult to achieve very precise control of the suspension height adjustment speed. Therefore, when the difference between the target speed and the suspension height adjustment speed is between the first and second thresholds, the flow regulator 15 can be used to adjust the oil flow rate in the oil circuit 14 to achieve finer control of the suspension height adjustment speed, which is beneficial for further reducing the difference between the target speed and the suspension height adjustment speed.

[0116] In some embodiments, the number of oil delivery components 2 is at least two, and at least two oil delivery components 2 are connected to at least two suspension adjustment components 1 in a one-to-one correspondence.

[0117] The steps for determining the suspension height adjustment rate based on the suspension height include:

[0118] Based on the suspension height of different suspensions, determine the suspension height adjustment rate of different suspensions;

[0119] Based on the suspension height adjustment rate, the steps of controlling the pressure regulator 22 to adjust the output pressure of the oil pump 21 include:

[0120] Based on the suspension height adjustment rate of different suspensions, different pressure regulating components 22 are controlled to adjust the output pressure of the corresponding oil pump 21.

[0121] It is understood that each suspension adjustment component 1 is connected to a separate hydraulic supply component 2, that is, each hydraulic supply component 2 is independent. The hydraulic supply component 2 can supply hydraulic fluid only to the corresponding suspension adjustment component 1. In this way, the pressure regulating component 22 of the hydraulic supply component 2 can adjust the hydraulic pressure of the corresponding suspension adjustment component 1 independently, so as to achieve individual control of the suspension height adjustment rate.

[0122] Therefore, when determining the suspension height adjustment rate based on the suspension height, the suspension height adjustment rate for different suspensions can be determined according to the actual height of each suspension. Then, when controlling the pressure regulating component 22 to adjust the output pressure of the hydraulic pump 21 based on the suspension height adjustment rate, the operation of the corresponding hydraulic delivery component 22 is controlled specifically according to the suspension height adjustment rate of different suspensions. This allows the pressure regulating component 22 to adjust the output pressure of the corresponding hydraulic pump 21, achieving independent adjustment of different suspensions. This enables independent control of the lifting and lowering of different wheels, avoiding inconsistent lifting and lowering rates of different wheels due to uneven load factors, ensuring smooth vehicle lifting and lowering, and improving the comfort of the suspension system.

[0123] In some embodiments, at least two hydraulic delivery assemblies 2 include at least two front wheel hydraulic delivery assemblies 2, at least two suspension adjustment assemblies 1 include at least two front wheel suspension adjustment assemblies 11, and at least two front wheel hydraulic delivery assemblies 2 are connected to at least two front wheel suspension adjustment assemblies 11 in a one-to-one correspondence.

[0124] The steps for adjusting the output pressure of the corresponding oil pump 21 by controlling different pressure regulating components 22 to adjust the suspension height adjustment rate based on different suspensions include:

[0125] Based on the target adjustment rate of the front axle, the pressure regulating component 22 of the front wheel oil delivery assembly 2 is controlled to adjust the output pressure of the corresponding oil pump 21.

[0126] It is understood that each front wheel suspension adjustment component 11 is connected to a separate front wheel hydraulic supply component 2, meaning that each front wheel hydraulic supply component 2 is independent. The front wheel hydraulic supply component 2 can supply hydraulic fluid only to the corresponding front wheel suspension adjustment component 11. Consequently, the pressure regulating component 22 of the front wheel hydraulic supply component 2 can independently adjust the hydraulic pressure of the corresponding front wheel suspension adjustment component 11, thereby achieving individual control of the suspension height adjustment rate.

[0127] Because the load distribution between the front and rear axles of a vehicle may be uneven, and due to driving requirements, a slight tilt (lower front, higher rear) may be necessary to reduce wind resistance and improve overall performance. Therefore, this embodiment determines the difference between the target adjustment rate of the front axle and the suspension height adjustment rate corresponding to the front wheels based on the target adjustment rate of the front axle. Then, based on the difference, the pressure regulating component 22 of the front wheel hydraulic delivery assembly 2 adjusts the output pressure of the corresponding hydraulic pump 21 to achieve adjustment of the suspension height adjustment rate corresponding to the front wheels, thereby improving the consistency of the suspension height adjustment rates corresponding to at least two front wheels.

[0128] In some examples, the target adjustment rate of the front axle can be determined by the vehicle system based on the vehicle's driving needs, or it can be determined by the user.

[0129] In some embodiments, at least two hydraulic delivery assemblies 2 include at least two rear wheel hydraulic delivery assemblies 2, at least two suspension adjustment assemblies 1 include at least two rear wheel suspension adjustment assemblies 12, and at least two rear wheel hydraulic delivery assemblies 2 are connected to at least two rear wheel suspension adjustment assemblies 12 in a one-to-one correspondence.

[0130] The steps for adjusting the output pressure of the corresponding oil pump 21 by controlling different pressure regulating components 22 to adjust the suspension height adjustment rate based on different suspensions include:

[0131] Based on the target adjustment rate of the rear axle, the pressure regulating component 22 of the rear wheel oil delivery assembly 2 is controlled to adjust the output pressure of the corresponding oil pump 21.

[0132] It is understood that each rear wheel suspension adjustment component 12 is connected to a separate rear wheel hydraulic supply component 2, meaning that each rear wheel hydraulic supply component 2 is independent. The rear wheel hydraulic supply component 2 can supply hydraulic fluid only to the corresponding rear wheel suspension adjustment component 12. Consequently, the pressure regulating component 22 of the rear wheel hydraulic supply component 2 can independently adjust the hydraulic pressure of the corresponding rear wheel suspension adjustment component 12, thereby achieving individual control of the suspension height adjustment rate.

[0133] Because the load distribution between the front and rear axles of a vehicle may be uneven, and due to driving requirements, a slightly tilted position (lower front, higher rear) may be necessary to reduce wind resistance and improve overall performance. Therefore, this embodiment determines the difference between the target adjustment rate of the rear axle and the suspension height adjustment rate corresponding to the rear wheels based on the target adjustment rate of the rear axle. Then, based on the difference, the pressure regulating component 22 of the rear wheel hydraulic delivery assembly 2 adjusts the output pressure of the corresponding hydraulic pump 21 to achieve adjustment of the suspension height adjustment rate corresponding to the rear wheels, thereby improving the consistency of the suspension height adjustment rates corresponding to at least two rear wheels.

[0134] In some examples, the target adjustment rate of the rear axle can be determined by the vehicle system based on the vehicle's driving needs, or it can be determined by the user.

[0135] In some embodiments, at least two oil delivery assemblies 2 include at least two left wheel oil delivery assemblies 2, at least two suspension adjustment assemblies 1 include at least two left wheel suspension adjustment assemblies, and at least two left wheel oil delivery assemblies 2 are connected to at least two left wheel suspension adjustment assemblies in a one-to-one correspondence.

[0136] The steps for adjusting the output pressure of the corresponding oil pump 21 by controlling different pressure regulating components 22 to adjust the suspension height adjustment rate based on different suspensions include:

[0137] Based on the target adjustment rate on the left, the pressure regulating component 22 of the left wheel oil delivery assembly 2 is controlled to adjust the output pressure of the corresponding oil pump 21.

[0138] It is understandable that each left wheel suspension adjustment component is connected to a separate left wheel hydraulic supply component 2, meaning that each left wheel hydraulic supply component 2 is independent. The left wheel hydraulic supply component 2 can supply hydraulic fluid only to the corresponding left wheel suspension adjustment component, and thus the pressure regulating component 22 of the left wheel hydraulic supply component 2 can individually adjust the hydraulic pressure of the corresponding left wheel suspension adjustment component, thereby achieving individual control of the suspension height adjustment rate.

[0139] Because the load distribution on the left and right sides of a vehicle may be uneven, and due to driving requirements, a slight tilt may be necessary, such as when turning. Therefore, this embodiment determines the difference between the target adjustment rate of the left axle and the suspension height adjustment rate corresponding to the left wheel, based on the target adjustment rate of the left axle. Then, based on the difference, the pressure regulating component 22 of the left wheel hydraulic delivery assembly 2 adjusts the output pressure of the corresponding hydraulic pump 21 to adjust the suspension height adjustment rate corresponding to the left wheel, thereby improving the consistency of the suspension height adjustment rates corresponding to at least two left wheels.

[0140] In some examples, the target adjustment rate of the left axis can be determined by the vehicle system based on the vehicle's driving needs, or it can be determined by the user.

[0141] In some embodiments, at least two oil delivery assemblies 2 include at least two right wheel oil delivery assemblies 2, at least two suspension adjustment assemblies 1 include at least two right wheel suspension adjustment assemblies, and at least two right wheel oil delivery assemblies 2 are connected to at least two right wheel suspension adjustment assemblies in a one-to-one correspondence.

[0142] The steps for adjusting the output pressure of the corresponding oil pump 21 by controlling different pressure regulating components 22 to adjust the suspension height adjustment rate based on different suspensions include:

[0143] Based on the target adjustment rate on the right, the pressure regulating component 22 of the right wheel oil delivery assembly 2 is controlled to adjust the output pressure of the corresponding oil pump 21.

[0144] It is understood that each right wheel suspension adjustment component is connected to a separate right wheel hydraulic supply component 2, meaning that each right wheel hydraulic supply component 2 is independent. The right wheel hydraulic supply component 2 can supply hydraulic fluid only to the corresponding right wheel suspension adjustment component, and thus the pressure regulating component 22 of the right wheel hydraulic supply component 2 can individually adjust the hydraulic pressure of the corresponding right wheel suspension adjustment component, thereby achieving individual control of the suspension height adjustment rate.

[0145] Because the load distribution on the left and right sides of a vehicle may be uneven, and due to driving requirements, a slight tilt may be necessary, such as when turning. Therefore, this embodiment determines the difference between the target adjustment rate of the right axle and the suspension height adjustment rate corresponding to the right wheel based on the target adjustment rate of the right axle. Then, based on the difference, the pressure regulating component 22 of the right wheel hydraulic delivery assembly 2 adjusts the output pressure of the corresponding hydraulic pump 21 to adjust the suspension height adjustment rate corresponding to the right wheel, thereby improving the consistency of the suspension height adjustment rates corresponding to at least two right wheels.

[0146] In some examples, the target adjustment rate of the right axle can be determined by the vehicle system based on the vehicle's driving needs, or it can be determined by the user.

[0147] In some embodiments, at least two suspension adjustment assemblies 1 are connected to the same hydraulic delivery assembly 2;

[0148] Based on the suspension height adjustment rate, the steps of controlling the pressure regulator 22 to adjust the output pressure of the oil pump 21 include:

[0149] Based on the difference between the suspension height adjustment rate and the common target rate of at least two suspension adjustment components 1, the control pressure regulator 22 adjusts the output pressure of the oil pump 21.

[0150] It is understandable that one hydraulic fluid delivery component 2 can simultaneously deliver hydraulic fluid to at least two suspension adjustment components 1, thereby enabling the hydraulic fluid delivery component 2 to be shared, which helps to simplify the structure of the suspension system.

[0151] Since the hydraulic fluid delivery assembly 2 simultaneously supplies hydraulic fluid to at least two suspension adjustment assemblies 1, meaning the hydraulic fluid delivery assembly 2 simultaneously adjusts the suspension height adjustment rate corresponding to at least two suspension adjustment assemblies 1, a common target rate for at least two suspension adjustment assemblies 1 sharing a single hydraulic fluid delivery assembly 2 can be determined first, along with a common suspension height adjustment rate for at least two suspensions corresponding to at least two suspension adjustment assemblies 1. Then, based on the difference between the common target rate and the common suspension height adjustment rate, the pressure regulating component 22 of the hydraulic fluid delivery assembly 2 is controlled to adjust the output pressure of the hydraulic pump 21, thereby achieving common adjustment of at least two suspensions.

[0152] See below. Figure 5 and Figure 6 The suspension system control method of this application is described in detail below:

[0153] First, let's explain the relationship between the brushless motor speed and the height adjustment rate of each branch. The main working relationship of the hydraulic suspension is as follows: the brushless motor outputs power to the pump, which draws hydraulic oil from the hydraulic tank into the pipeline. The oil in the pipeline enters the accumulator and the shock absorber 13 branch through the regulating valve. Since the damper can control the displacement of the oil circuit 14, we can increase or decrease the flow rate of a single branch by applying an adjustment signal. The oil passing through the damper drives the shock absorber 13 to adjust the height. The height sensor detects the height change of the suspension and sends the signal to the suspension ECU for suspension logic control, controlling the opening and closing of the leveling valve and the switching on and off of the brushless motor.

[0154] The brushless motor maintains a constant rotational speed based on the pump's output pressure, ensuring a uniform increase in overall pressure. We can monitor whether the pump pressure increase rate meets the target to regulate the brushless motor's speed. This establishes a matching relationship between the pump's output oil pressure increase rate and the brushless motor's speed. The pump pressure increase rate can be expressed as follows:

[0155]

[0156] Where P is the oil pressure, t is time, and v is... p This refers to the rate of increase in oil pressure. In practical systems, the rate of increase in oil pressure is directly proportional to the rotational speed of the brushless motor, i.e.

[0157] v p =kf(rpm) (2)

[0158] Where rpm is the rotational speed of the brushless motor, f is the relationship between the brushless motor speed and the rate of increase in oil pressure (generally a direct proportional relationship), and k is a coefficient. On the other hand, the actual lifting rate is approximately proportional to the rate of increase in oil pressure, i.e.

[0159] v h_x =αv p (3)

[0160] Among them, v h_x Let x be the actual lifting rate of each wheel (x can be fl, fr, rl, rr), and α be a proportional coefficient related to load, then the relationship between the overall vehicle lifting rate and the brushless motor control speed is:

[0161] v h_x =βf(rpm) (4)

[0162] Where β=αk is the system correlation coefficient, it is obvious that we can obtain different single-wheel lifting rates v by adjusting the speed of the brushless motor. h_x However, as Figure 3 As shown, when the motor speeds of the four wheels are set to be the same, the height adjustment rate of each wheel will not be consistent with the ideal height adjustment rate due to the different and changing load distribution of the vehicle. This will lead to systemic problems such as uneven lifting and abnormal noise caused by stress.

[0163] The suspension controller first acquires vehicle height adjustment signals and sensor signals, and processes these signals. After processing, the signals enter the suspension height adjustment suppression detection and fault identification module. When suppression or fault is detected, corresponding suppression or fault handling is performed. After processing, the suspension height adjustment control strategy is implemented. Since the system we proposed is a four-motor system, it needs to be coordinated and controlled. Finally, the actuators are executed based on the strategy results.

[0164] We can use the control of four independent brushless motors for coarse adjustment of the lifting rate. First, we calculate the adjustment rate of each wheel; the suspension ECU can calculate the lifting rate of each part of the suspension based on the suspension height.

[0165]

[0166] Where H_fl, H_fr, H_rl, and H_rr are the heights of the various parts of the suspension, t is time, and v is the height of the suspension components. h_fl v h_fr v h_rl v h_rr This corresponds to the lifting rate of each part of the suspension. However, the ideal overall vehicle adjustment rate v h This adjustment rate is controlled by the system or the user, and its speed can be varied to improve the user experience. Next, we calculate the error e of the adjustment rate for each round by comparing the target adjustment rate and the actual adjustment rate. h_fl e h_fr e h_rl e g_rr These error signals are then fed into the vehicle feedback control calculation module for calculation. Vehicle feedback control can be PID regulation or expert control, etc. The calculated output of the vehicle feedback control is sent to the single-wheel brushless motor speed control module to control the adjustment rate of each branch brushless motor. Of course, the vehicle feedback control calculation module can also further jump to the vehicle's adjustment target rate, so that if the load difference is too large, the vehicle's adjustment target rate can be adjusted appropriately. Finally, the corresponding height adjustment is completed according to the termination condition of the adjustment control strategy.

[0167] Furthermore, since the lifting rate of each branch can be controlled by the brushless motor speed, the height adjustment rate can be regulated within a relatively large range. However, for more precise rate adjustment, damping valves can be used for further control. Because adjusting the damping valves can change the pipe diameter, we can enter the fine-tuning logic control when the error between the adjustment rate of each wheel and the target adjustment rate is less than a threshold error1. The main adjustment range is when the error between the adjustment rate of each wheel and the target adjustment rate is between error1 and error2. When the error of the adjustment rate of each wheel is within this range, the single-wheel feedback control calculation module is activated to adjust the current value of each damper. This adjustment strategy and the whole-vehicle feedback control can both use PID regulation or expert control algorithms. Therefore, combining error1 and error2 allows for more precise adjustment.

[0168] Next, we can control the front and rear axles, or left and right axles, separately in pairs. This is useful in certain special operating conditions or when the actual travel is inconsistent, in order to lift simultaneously and reduce system stress. This requires different rates of control. In particular, many vehicles have uneven load distribution between the front and rear axles, and due to driving requirements, they may need to maintain a slightly tilted position (lower front, higher rear) to reduce wind resistance and improve overall performance. Therefore, this special consideration is needed when adjusting the suspension. More generally, we can control all four wheels independently, allowing for more advanced functional designs based on different adjustment rates.

[0169] In summary, our control strategy offers significant advantages in terms of smoothness during vehicle height adjustment. It achieves smooth height adjustment by combining coarse adjustment with damper fine adjustment via independent four-wheel brushless motor control. This four-wheel independent control scheme is unaffected by wheel loads, enabling steady vehicle height increase and decrease at variable rates, thus improving comfort. The scheme can further adjust the rate of each wheel using damping accumulators for even smoother operation. The independent and coordinated control of different wheel height increase rates can be used to build complex functions such as vehicle swaying and separate adjustments.

[0170] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0171] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0172] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0173] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A suspension system, characterized in that, include: Suspension adjustment components; An oil delivery assembly is connected to the suspension adjustment assembly. The oil delivery assembly includes an oil pump and a pressure regulator. The oil pump is used to deliver oil to the suspension adjustment assembly, and the pressure regulator is connected to the oil pump and is used to adjust the pressure of the oil output by the oil pump.

2. The suspension system according to claim 1, characterized in that, The number of suspension adjustment components is at least two, and at least two suspension adjustment components are connected to at least two wheels in a one-to-one correspondence. Each suspension adjustment component is connected to the oil delivery component.

3. The suspension system according to claim 2, characterized in that, At least two of the suspension adjustment assemblies are connected to the same hydraulic delivery assembly.

4. The suspension system according to claim 3, characterized in that, At least two of the suspension adjustment assemblies include at least two front wheel suspension adjustment assemblies, and the two front wheel suspension adjustment assemblies are connected to the same hydraulic delivery assembly; and / or, At least two of the suspension adjustment assemblies include at least two rear wheel suspension adjustment assemblies, and the two rear wheel suspension adjustment assemblies are connected to the same hydraulic delivery assembly; and / or, At least two of the suspension adjustment assemblies include a front wheel suspension adjustment assembly and a rear wheel suspension adjustment assembly, the front wheel suspension adjustment assembly and the rear wheel suspension adjustment assembly being connected to the same hydraulic delivery assembly.

5. The suspension system according to claim 2, characterized in that, The number of the oil delivery components is at least two, and the at least two oil delivery components are connected to the at least two suspension adjustment components in a one-to-one correspondence.

6. The suspension system according to any one of claims 1 to 5, characterized in that, The suspension adjustment assembly includes a shock absorber, an oil circuit, and a flow regulator. The oil circuit connects the shock absorber and the oil delivery assembly, and the flow regulator is connected to the oil circuit and is used to adjust the oil flow rate in the oil circuit.

7. The suspension system according to claim 6, characterized in that, The flow regulating component includes a damping regulator connected to the oil circuit. The damping regulator is located between the shock absorber and the oil delivery assembly, and is used to regulate the oil flow rate in the oil circuit.

8. The suspension system according to any one of claims 1 to 5, characterized in that, The pressure regulating component includes a brushless motor, which is connected to the oil pump and is used to regulate the pressure of the oil output by the oil pump.

9. A vehicle, characterized in that, Including the suspension system as described in claims 1 to 8.

10. A suspension system control method, characterized in that, The suspension system includes a suspension adjustment assembly and a hydraulic fluid delivery assembly. The hydraulic fluid delivery assembly is connected to the suspension adjustment assembly. The hydraulic fluid delivery assembly includes a hydraulic pump and a pressure regulating component. The hydraulic pump is used to deliver hydraulic fluid to the suspension adjustment assembly. The pressure regulating component is connected to the hydraulic pump and is used to regulate the pressure of the hydraulic fluid output by the hydraulic pump. The suspension system control method includes: The pressure regulating component is used to adjust the pressure of the oil output by the oil pump.

11. The suspension system control method according to claim 10, characterized in that, The step of controlling the pressure regulating component to adjust the pressure of the oil output by the oil pump includes: Determine the suspension height adjustment rate based on the suspension height; Based on the suspension height adjustment rate, the pressure regulating component is controlled to adjust the output pressure of the oil pump.

12. The suspension system control method according to claim 11, characterized in that, The step of controlling the pressure regulating component to adjust the output pressure of the oil pump based on the suspension height adjustment rate includes: Based on the difference between the target rate and the suspension height adjustment rate, the pressure regulator is controlled to adjust the output pressure of the oil pump.

13. The suspension system control method according to claim 12, characterized in that, The step of controlling the pressure regulator to adjust the output pressure of the oil pump based on the difference between the target rate and the suspension height adjustment rate includes: When the difference between the target speed and the suspension height adjustment speed is greater than a first threshold, the pressure regulator is controlled to adjust the output pressure of the oil pump based on the difference between the target speed and the suspension height adjustment speed.

14. The suspension system control method according to claim 13, characterized in that, The suspension adjustment assembly includes a shock absorber, an oil circuit, and a flow regulator. The oil circuit connects the shock absorber and the oil delivery assembly. The flow regulator is connected to the oil circuit and is used to adjust the oil flow rate in the oil circuit. After the step of controlling the pressure regulator to adjust the output pressure of the oil pump, the method further includes: When the difference between the target speed and the suspension height adjustment speed is not greater than the first threshold and is greater than the second threshold, the flow regulator is controlled to adjust the oil flow rate in the oil circuit, wherein the first threshold is greater than the second threshold.

15. The suspension system control method according to any one of claims 11 to 14, characterized in that, The number of the oil delivery components is at least two, and the at least two oil delivery components are connected to the at least two suspension adjustment components in a one-to-one correspondence. The step of determining the suspension height adjustment rate based on the suspension height includes: Based on the suspension height of different suspensions, determine the suspension height adjustment rate of different suspensions; The step of controlling the pressure regulating component to adjust the output pressure of the oil pump based on the suspension height adjustment rate includes: Based on the different suspension height adjustment rates of different suspensions, the output pressure of the corresponding oil pump is adjusted by controlling different pressure regulating components.

16. The suspension system control method according to claim 15, characterized in that, At least two of the said hydraulic supply assemblies include at least two front wheel hydraulic supply assemblies, at least two of the said suspension adjustment assemblies include at least two front wheel suspension adjustment assemblies, and at least two of the said front wheel hydraulic supply assemblies are connected to at least two of the said front wheel suspension adjustment assemblies in a one-to-one correspondence; The step of controlling different pressure regulating components to adjust the output pressure of the corresponding oil pump based on different suspension height adjustment rates includes: Based on the target adjustment rate of the front axle, the pressure regulating component of the front wheel oil delivery assembly is controlled to adjust the output pressure of the corresponding oil pump.

17. The suspension system control method according to claim 15, characterized in that, At least two of the hydraulic fluid delivery assemblies include at least two rear wheel hydraulic fluid delivery assemblies, at least two of the suspension adjustment assemblies include at least two rear wheel suspension adjustment assemblies, and at least two of the rear wheel hydraulic fluid delivery assemblies are connected to at least two of the rear wheel suspension adjustment assemblies in a one-to-one correspondence. The step of controlling different pressure regulating components to adjust the output pressure of the corresponding oil pump based on different suspension height adjustment rates includes: Based on the target adjustment rate of the rear axle, the pressure regulating component of the rear wheel oil delivery assembly is controlled to adjust the output pressure of the corresponding oil pump.

18. The suspension system control method according to claim 15, characterized in that, At least two of the said hydraulic supply assemblies include at least two left wheel hydraulic supply assemblies, at least two of the said suspension adjustment assemblies include at least two left wheel suspension adjustment assemblies, and at least two of the said left wheel hydraulic supply assemblies are connected to at least two of the said left wheel suspension adjustment assemblies in a one-to-one correspondence; The step of controlling different pressure regulating components to adjust the output pressure of the corresponding oil pump based on different suspension height adjustment rates includes: Based on the target adjustment rate on the left, the pressure regulating component of the left wheel oil delivery assembly is controlled to adjust the output pressure of the corresponding oil pump.

19. The suspension system control method according to claim 15, characterized in that, At least two of the hydraulic fluid delivery assemblies include at least two right wheel hydraulic fluid delivery assemblies, at least two of the suspension adjustment assemblies include at least two right wheel suspension adjustment assemblies, and at least two of the right wheel hydraulic fluid delivery assemblies are connected to at least two of the right wheel suspension adjustment assemblies in a one-to-one correspondence; The step of controlling different pressure regulating components to adjust the output pressure of the corresponding oil pump based on different suspension height adjustment rates includes: Based on the target adjustment rate on the right, the pressure regulating component of the right wheel oil delivery assembly is controlled to adjust the output pressure of the corresponding oil pump.

20. The suspension system control method according to any one of claims 11 to 14, characterized in that, At least two of the suspension adjustment assemblies are connected to the same hydraulic delivery assembly; The step of controlling the pressure regulating component to adjust the output pressure of the oil pump based on the suspension height adjustment rate includes: Based on the difference between the suspension height adjustment rate and the common target rate of at least two of the suspension adjustment components, the pressure regulator is controlled to adjust the output pressure of the oil pump.

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