Control system, method, apparatus, and medium for air suspension

Abstract

The embodiment of the application provides a kind of air suspension control system, method, equipment and medium, belong to air suspension control field.The application includes: power supply unit, gas supply unit, respectively connected to left side air bag inflation and deflation control valve and right side air bag inflation and deflation control valve by gas distribution block, for providing inflation gas source for left and right air bags;Data acquisition unit, air suspension intelligent control module, its input end connects data acquisition unit, and its output end is connected left side air bag inflation and deflation control valve and right side air bag inflation and deflation control valve respectively;For judging current vehicle driving condition according to each sensor acquisition data, and according to different driving condition control left side air bag inflation and deflation control valve and right side air bag inflation and deflation control valve action, to adjust the air pressure of left side air bag and right side air bag;Execution unit, display unit.The air suspension air bag pressure is adjusted to coordinate the load distribution between air suspension and leaf spring suspension.

Description

Technical Field

[0001] This invention relates to the field of air suspension control technology, and more specifically to an air suspension control system, method, device, and medium. Background Technology

[0002] In recent years, multi-axle heavy vehicles have been used more and more widely, and more and more models use air suspension and leaf spring suspension together.

[0003] However, in actual driving, vehicles equipped with air suspension may experience untimely inflation and deflation of airbags, leading to uneven axle loads, severe wear on individual tires, and even tire blowouts, which can cause rollover accidents in severe cases. When the vehicle is on uneven or muddy roads, the axle loads can cause the tires to slip, reducing the overall vehicle passability. Summary of the Invention

[0004] The purpose of this invention is to provide a control system, method, device and medium for air suspension, which aims to intelligently determine the driving conditions by using vehicle driving state parameters, automatically adjust the air pressure of each airbag, and achieve reasonable load distribution between the air suspension and the leaf spring suspension.

[0005] To achieve the above objectives, embodiments of the present invention provide an air suspension control system applied to heavy-duty vehicles equipped with a combination of air suspension and leaf spring suspension, comprising: The power supply unit is connected to the air suspension intelligent control module to provide working power; The air supply unit is connected to the left airbag inflation / deflation control valve and the right airbag inflation / deflation control valve respectively via the air distribution block, and is used to provide inflation air source for the left and right airbags. A data acquisition unit, installed on the vehicle, is used to collect vehicle status parameters in real time and send them to the air suspension intelligent control module. The air suspension intelligent control module has its input end connected to the data acquisition unit and its output end connected to the left airbag inflation / deflation control valve and the right airbag inflation / deflation control valve, respectively. It is configured to: determine the current vehicle driving condition based on the data collected by the various sensors, and output corresponding control signals according to different driving conditions to independently control the operation of the left airbag inflation / deflation control valve and the right airbag inflation / deflation control valve, so as to adjust the air pressure of the left airbag and the right airbag. The execution unit includes a left airbag inflation / deflation control valve and a right airbag inflation / deflation control valve, which are respectively set in the air path between the air distribution block and the left airbag and the right airbag, and are used to control the corresponding side airbag to inflate or deflate according to the control signal output by the air suspension intelligent control module. The display unit is connected to the output of the air suspension intelligent control module and is used to display the current working status of the system to the driver; The air suspension intelligent control module acquires the vehicle's driving status parameters through the data acquisition unit, analyzes them, and outputs control commands to drive the execution unit to adjust the air pressure of the air suspension airbags, thereby transferring the vehicle load to the drive axle supported by the leaf spring suspension to coordinate the load distribution between the air suspension and the leaf spring suspension.

[0006] Optionally, the power supply unit is connected to the air suspension intelligent control module via a fuse from the positive terminal of the vehicle's DC24V power supply. The air supply unit is connected to the air distribution block via a vehicle air source and a shut-off valve. The air distribution block has an air distribution block air passage one and an air distribution block air passage two, which are respectively connected to the right airbag inflation / deflation control valve and the left airbag inflation / deflation control valve. The data acquisition unit transmits the acquired data to the wireless receiver of the control system via wireless transmission. The data acquisition unit includes at least: The left and right airbag pressure sensors are installed on the left and right airbags respectively to detect the air pressure of each airbag. The left airbag load sensor and the right airbag load sensor are installed on the left airbag and the right airbag respectively, and are used to detect the load on each airbag. The left and right airbag height sensors are mounted on the vehicle frame and are used to detect the distance between the vehicle frame and the ground. The left tire pressure sensor and the right tire pressure sensor are installed in the left tire and the right tire of the axle, respectively, to detect tire pressure. Vehicle speed sensor, used to detect vehicle speed; Gravity center of gravity sensor, mounted on the vehicle frame, is used to detect the position of the vehicle's center of gravity; Inter-axle differential locks and inter-wheel differential locks are used to monitor the working status of the differential locks; The input end of the air suspension intelligent control module is connected to the wireless receiver of the control system, and its output end has module output circuit one, module output circuit two, module output circuit three and module output circuit four, wherein module output circuit one and module output circuit two are connected to the left airbag inflation and deflation control valve, and module output circuit three and module output circuit four are connected to the right airbag inflation and deflation control valve. The display unit includes a control system working indicator light and a control system fault indicator light, which are connected to the output terminal of the air suspension intelligent control module.

[0007] Secondly, the present invention also provides a method for controlling an air suspension, applied to a heavy-duty vehicle equipped with a combination of air suspension and leaf spring suspension, comprising: Collect vehicle status parameters and send the vehicle status parameters to the air suspension intelligent control module; The air suspension intelligent control module determines the current driving condition of the vehicle based on the vehicle status parameters. According to the driving conditions, the airbag inflation / deflation control valve is controlled to inflate or deflate the corresponding side airbags to adjust the air pressure of each airbag to the target state.

[0008] Optionally, the vehicle status parameters include the air suspension airbag pressure, load, height, tire pressure, vehicle speed, center of gravity position, and differential lock status; the driving conditions include at least normal road conditions, muddy road conditions, and uneven road conditions.

[0009] Optionally, based on the driving conditions, the airbag inflation / deflation control valve is controlled to inflate or deflate the corresponding side airbags to adjust the air pressure of each airbag to the target state, including: Under normal road conditions, the air suspension intelligent control module controls the inflation and deflation of the airbags according to the airbag load and airbag pressure, so that the airbag pressure is consistent with the load. When the airbag height exceeds the preset maximum value, the airbag is deflated. When the airbag height is below the preset minimum value and the load is normal, no inflation or deflation operation is performed; when the airbag height is below the preset minimum value and the load is too small, the airbag is controlled to inflate rapidly. When the vehicle speed exceeds the preset maximum vehicle speed threshold, the air suspension intelligent control module issues a vehicle speed too high warning. When the tire pressure is lower than the preset normal value, a tire pressure warning will be issued; When the differential lock is detected to be not disengaged, a differential lock status abnormality warning is issued.

[0010] Optionally, based on the driving conditions, the airbag inflation / deflation control valve is controlled to inflate or deflate the corresponding side airbags to adjust the air pressure of each airbag to the target state, including: When the vehicle is driving on a muddy road and the tires of the leaf spring suspension drive axle slip, the intelligent control module controls the airbag inflation / deflation control valve to deflate the air suspension airbags based on the differential lock engagement signal, vehicle speed signal, load sensor signal, height sensor signal, and tire pressure sensor signal, so as to reduce the load on the axle supported by the air suspension and transfer the load to the wheels of the leaf spring suspension drive axle. After the vehicle leaves the muddy road, switch to normal road condition control mode and inflate the airbags until the airbag pressure returns to the target load state.

[0011] Optionally, based on the driving conditions, the airbag inflation / deflation control valve is controlled to inflate or deflate the corresponding side airbags to adjust the air pressure of each airbag to the target state, including: When a vehicle is driving on an uneven road surface and one tire enters a pothole, the air suspension intelligent control module receives the pressure value signal detected by the airbag pressure sensor on the side of the pothole, the signal of the increased distance between the vehicle frame and the ground detected by the height sensor, and the signal of the vehicle's center of gravity shifting towards the side with the increased distance between the vehicle frame and the ground detected by the gravity center of gravity sensor, and determines that the vehicle is in a rollover danger state. The air suspension intelligent control module controls the airbag inflation / deflation control valve on the side of the vehicle frame with the smaller distance from the ground to deflate, thereby reducing the height of the airbag on that side and decreasing the difference between the vehicle frame distance from the ground detected by the height sensors on both sides until the vehicle returns to a balanced state. After the vehicle leaves the uneven road surface, switch to normal road condition control mode and inflate the airbags until the airbag pressure returns to the target state.

[0012] Optionally, when the vehicle is traveling on an inclined road, the air suspension intelligent control module controls the airbags on the side of the center of gravity offset to inflate and the airbags on the side of the center of gravity deviate to deflate, in order to correct the center of gravity to the centered position.

[0013] Thirdly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the air suspension control method described above.

[0014] Fourthly, the present invention also provides a storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the air suspension control method described above.

[0015] The above technical solution identifies the current driving conditions by vehicle status parameters and independently adjusts the air pressure of the left and right airbags according to different conditions. This achieves automatic adjustment of the airbag air pressure and intelligent coordination of load distribution between the air suspension and leaf spring suspension, eliminating the need for manual operation by the driver and reducing the risk of misoperation.

[0016] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of a control system for an air suspension provided in an embodiment of the present invention; Figure 2This is a flowchart of an air suspension control method provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the hardware structure of a terminal provided in an embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures 1. DC24V power supply positive terminal; 2. Fuse; 3. Air suspension intelligent control module; 4. Module output circuit one; 5. Module output circuit three; 6. Module output circuit two; 7. Module output circuit four; 8. Right airbag inflation / deflation control valve; 9. Air source; 10. Shut-off valve; 11. Air distribution block air path one; 12. Air distribution block air path two; 13. Air distribution block; 14. Left airbag inflation / deflation control valve; 15. Left airbag tubing one; 16. Left airbag tubing two; 17. Left airbag tubing three; 18. Left airbag safety valve; 19. Left airbag height sensor; 20. Left airbag load sensor; 21. Left airbag; 22. 23. Left tire pressure sensor; 24. Left airbag pressure sensor; 25. Chassis; 26. Gravity center sensor; 27. Axle; 28. Right airbag; 29. ​​Right airbag load sensor; 30. Right airbag pressure sensor; 31. Right airbag height sensor; 32. Right airbag line three; 33. Right tire pressure sensor; 34. Right airbag line one; 35. Right airbag line two; 36. Right airbag safety valve; 37. Control system wireless receiver; 38. Vehicle speed sensor; 39. Inter-axle differential lock; 40. Inter-wheel differential lock; 41. Control system working indicator light; 42. Control system fault indicator light. Detailed Implementation

[0019] Various embodiments of this disclosure will be described more fully in the following detailed description. This disclosure may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of this disclosure to the specific embodiments disclosed herein, but rather this disclosure should be understood to cover all adjustments, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments of this disclosure.

[0020] In the following, the terms “comprising” or “may include”, which may be used in various embodiments of this disclosure, indicate the presence of the disclosed functions or operations and do not limit the addition of one or more functions or operations. Furthermore, as used in various embodiments of this disclosure, the terms “comprising,” “having,” and their cognates are intended only to indicate a specific feature, number, step, operation, or combination of the foregoing and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, or combinations of the foregoing, or the possibility of adding one or more features, numbers, steps, operations, or combinations of the foregoing.

[0021] In various embodiments of this disclosure, the expression "or" or "at least one of A and / or B" includes any combination or all combinations of the words listed simultaneously. For example, the expression "A or B" or "at least one of A and / or B" may include A, may include B, or may include both A and B.

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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 are within the scope of protection of the present invention.

[0023] See Figure 1 The diagram shown is a schematic diagram of an air suspension control system provided in an embodiment of the present invention, comprising: The power supply unit is connected to the air suspension intelligent control module 3 to provide working power; The air supply unit is connected to the left airbag inflation / deflation control valve 14 and the right airbag inflation / deflation control valve 8 via the air distribution block 13, and is used to provide inflation air source for the left and right airbags. The data acquisition unit, installed on the vehicle, is used to collect vehicle status parameters in real time and send them to the air suspension intelligent control module 3; The air suspension intelligent control module 3 has its input end connected to the data acquisition unit and its output end connected to the left airbag inflation / deflation control valve 14 and the right airbag inflation / deflation control valve 8, respectively. It is configured to: determine the current vehicle driving condition based on the data collected by each sensor, and output corresponding control signals according to different driving conditions, so as to independently control the action of the left airbag inflation / deflation control valve 14 and the right airbag inflation / deflation control valve 8 to adjust the air pressure of the left airbag 21 and the right airbag 27. The execution unit includes a left airbag inflation / deflation control valve 14 and a right airbag inflation / deflation control valve 8, which are respectively disposed in the air passage between the air distribution block 13 and the left airbag 21 and the right airbag 27. The left airbag inflation / deflation control valve 14 is connected to the left airbag 21 through the left airbag tube 15 and the left airbag tube 26. The left airbag safety valve 18 is connected to the left airbag 21 through the left airbag tube 26 and the left airbag tube 37. The right airbag inflation / deflation control valve 8 is connected to the right airbag 27 through the right airbag tube 133 and the right airbag tube 31. The right airbag safety valve 35 is connected to the right airbag 27 through the right airbag tube 31 and the right airbag tube 24. It is used to control the corresponding side airbag to inflate or deflate through the corresponding side airbag tube according to the control signal output by the air suspension intelligent control module 3.

[0024] The display unit is connected to the output of the air suspension intelligent control module 3 and is used to display the current working status of the system to the driver. The air suspension intelligent control module 3 acquires the vehicle driving status parameters through the data acquisition unit, analyzes them, and outputs control commands to drive the execution unit to adjust the air pressure of the air suspension airbags, so as to transfer the vehicle load to the drive axle borne by the leaf spring suspension, thereby coordinating the load distribution between the air suspension and the leaf spring suspension.

[0025] More specifically, the power supply unit is connected to the air suspension intelligent control module 3 via the positive terminal 1 of the vehicle DC24V power supply and fuse 2; the air supply unit is connected to the air distribution block 13 via the vehicle air source 9 and shut-off valve 10. The air distribution block 13 has air distribution block air passage 11 and air distribution block air passage 2 12, which are respectively connected to the right airbag inflation / deflation control valve 8 and the left airbag inflation / deflation control valve 14; the data acquisition unit transmits the acquired data to the control system wireless receiver 36 via wireless transmission.

[0026] The data acquisition unit includes at least: The left airbag pressure sensor 23 and the right airbag pressure sensor 29 are respectively installed on the left airbag 21 and the right airbag 27 to detect the air pressure of each airbag; the left airbag load sensor 20 and the right airbag load sensor 28 are respectively installed on the left airbag 21 and the right airbag 27 to detect the load-bearing capacity of each airbag; the left airbag height sensor 19 and the right airbag height sensor 30 are installed on the frame 24 to detect the distance between the frame and the ground; the left tire pressure sensor 22 and the right tire pressure sensor 32 are respectively installed in the left and right tires of the axle 26 to detect tire pressure; the vehicle speed sensor 37 is used to detect the vehicle speed; the gravity center sensor 25 is installed on the frame 24 to detect the position of the vehicle's center of gravity; the inter-axle differential lock 38 and the inter-wheel differential lock 39 are used to monitor the working status of the differential locks.

[0027] The input end of the air suspension intelligent control module 3 is connected to the wireless receiver 36 of the control system, and its output end has module output circuit 1 4, module output circuit 2 6, module output circuit 3 5 and module output circuit 4 7. Module output circuit 1 4 and module output circuit 2 6 are connected to the left airbag inflation / deflation control valve 14, and module output circuit 3 5 and module output circuit 4 7 are connected to the right airbag inflation / deflation control valve 8.

[0028] The display unit includes a control system working indicator light 40 and a control system fault indicator light 41, which are connected to the output terminal of the air suspension intelligent control module 3.

[0029] The air suspension airbag inflation and deflation control system collects and analyzes data to determine when a vehicle's power and passability are insufficient on uneven or muddy road surfaces. The intelligent control system then controls the airbag pressure to safely and effectively transfer part of the air suspension load to the drive axle, increasing the positive pressure on the drive axle tires to increase tire friction and effectively prevent tire slippage. This helps the vehicle exit uneven or muddy road surfaces. After exiting, the system automatically adjusts the airbag pressure according to normal road conditions, ensuring the airbag pressure reaches the optimal load-bearing and driving state.

[0030] See Figure 2 The diagram shows a flowchart of an air suspension control method in a specific embodiment, including the following execution steps: Step 200: Collect vehicle status parameters and send the vehicle status parameters to the air suspension intelligent control module.

[0031] Specifically, the vehicle status parameters include the air suspension airbag pressure, load, height, tire pressure, vehicle speed, center of gravity position, and differential lock status.

[0032] Step 201: The air suspension intelligent control module determines the current driving condition of the vehicle based on the vehicle status parameters.

[0033] Specifically, the driving conditions include at least normal road conditions, muddy road conditions, and uneven road conditions.

[0034] Furthermore, when performing step 201, the following steps can be specifically performed: The air suspension intelligent control module determines that the current driving condition is a normal road condition when all of the following conditions are met simultaneously: The readings of each airbag pressure sensor are within the preset normal operating pressure range; the readings of each airbag load sensor are within the preset normal load range; the readings of each airbag height sensor are within the preset normal operating height range; the readings of each tire pressure sensor are within the preset normal tire pressure range; the readings of the vehicle speed sensor are within the preset normal driving speed range; the center of gravity position detected by the gravity center sensor is within the preset centering range; and both the inter-axle differential lock and the inter-wheel differential lock are in the disengaged state.

[0035] The air suspension intelligent control module determines that the current driving condition is a muddy road condition when all of the following conditions are met simultaneously: The vehicle speed detected by the vehicle speed sensor is lower than the preset vehicle speed threshold; the inter-axle differential lock and / or the inter-wheel differential lock are engaged; the detection values ​​of each airbag load sensor are within the normal range; the detection values ​​of each tire pressure sensor are within the normal range; the detection values ​​of each airbag height sensor are within the normal range; the difference between the vehicle speed sensor and each wheel speed sensor indicates that the drive wheel has a tendency to slip or has already slipped, that is, the speed of the drive wheel is greater than the speed of the driven wheel and the difference exceeds the preset slip rate threshold.

[0036] Among the above conditions, if the vehicle speed is below the preset threshold and the differential lock is engaged, it indicates that the driver has judged that the vehicle is in a bad road condition and has taken corresponding measures; if the drive wheels have a tendency to slip, it indicates that the vehicle has insufficient driving force on the muddy road surface and special working condition control needs to be activated.

[0037] When the air suspension intelligent control module detects the following conditions, it determines that the current driving condition is an uneven road surface condition: The airbag height sensor on one side detects a sudden increase in value relative to the coaxial airbag height sensor on the other side, meaning the distance between the vehicle frame and the ground on one side suddenly increases, and the difference exceeds a preset threshold. The airbag pressure sensor on the same side detects a synchronous decrease in value relative to the coaxial airbag pressure sensor on the other side, meaning the airbag on the side that entered the dent experiences a pressure reduction due to stretching. The gravity center sensor detects that the vehicle's center of gravity has shifted towards the side where the distance between the vehicle frame and the ground has increased, and the amount of center of gravity shift exceeds a preset shift threshold.

[0038] When all three conditions are met, the air suspension intelligent control module determines that the vehicle is in a state where one tire is in a ditch, and there is a risk of rollover.

[0039] When the air suspension intelligent control module detects the following conditions, it determines that the current driving condition is a sloping road surface condition: The gravity center of gravity sensor detects a position that deviates from the preset centering range, and the duration of this deviation exceeds a preset time threshold, thus excluding instantaneous center of gravity fluctuations caused by uneven road surfaces; the vehicle speed sensor detects a vehicle speed within the normal driving speed range, which is different from the low-speed state under muddy road conditions; the differential lock is in the disengaged state, which is different from the muddy road conditions.

[0040] When the above conditions are met, it is determined that the vehicle is traveling on a long-distance inclined road surface, and the center of gravity needs to be actively corrected. In addition, if the center of gravity position continues to shift in the same direction, and the detection values ​​of the height sensors on both sides are stable within the working range but have a fixed difference, then it is further confirmed as an inclined road surface condition.

[0041] Step 202: Based on the driving conditions, control the airbag inflation / deflation control valve to inflate or deflate the corresponding side airbags to adjust the air pressure of each airbag to the target state.

[0042] Specifically, when executing step 202, the following operating conditions apply: A. Under normal road conditions: When the vehicle is driving on a normal road, the air suspension intelligent control module 3 receives data collected by various sensors through the control system wireless receiver 36, and adjusts the airbag pressure according to the following control logic: The air suspension intelligent control module 3 controls the left airbag inflation / deflation control valve 14 and the right airbag inflation / deflation control valve 8 to inflate or deflate based on the load values ​​detected by the left airbag load sensor 20 and the right airbag load sensor 28, as well as the pressure values ​​detected by the left airbag pressure sensor 23 and the right airbag pressure sensor 29, through the module output circuit, so that the air pressure of each airbag is matched with the load.

[0043] When the left airbag height sensor 19 or the right airbag height sensor 30 detects that the airbag height exceeds the preset maximum value, the air suspension intelligent control module 3 controls the corresponding side airbag inflation / deflation control valve to open the exhaust port to deflate the airbag and prevent the airbag from being overstretched and damaged.

[0044] When the height sensor detects that the airbag height is lower than the preset minimum value and the load is normal, the air suspension intelligent control module 3 does not perform inflation or deflation operations; when the airbag height is lower than the preset minimum value and the load is less than the preset lower threshold, the airbag inflation / deflation control valve is controlled to connect the air source for rapid inflation, so that the airbag can quickly return to the normal working height.

[0045] When the vehicle speed sensor 37 detects that the vehicle speed exceeds the preset maximum speed threshold, the air suspension intelligent control module 3 controls the system fault indicator 41 to illuminate, reminding the driver to reduce the vehicle speed. The fault indicator extinguishes once the vehicle speed drops to the set range.

[0046] When the left tire pressure sensor 22 or the right tire pressure sensor 32 detects that the tire pressure is lower than the preset normal value, the air suspension intelligent control module 3 issues a tire pressure insufficient warning (e.g., controls the working indicator light to flash) to remind the driver to inflate the tires in time.

[0047] When the inter-axle differential lock 38 or the inter-wheel differential lock 39 is detected to be not disengaged, the air suspension intelligent control module 3 issues a differential lock status abnormality warning (e.g., a control malfunction indicator light flashes), reminding the driver to disengage the differential lock. The warning is deactivated once the differential lock is disengaged.

[0048] Under normal road conditions, the indicator light 40 of the air suspension intelligent control module 3 system remains constantly lit, indicating to the driver that the system is working normally and the air pressure of each airbag is in an ideal state.

[0049] B. Under conditions of muddy road surface: When a vehicle is driving on a muddy road, and the tires of the leaf spring suspension drive axle slip due to insufficient positive pressure, preventing the vehicle from moving out normally, the working process of the air suspension intelligent control module 3 is as follows: The air suspension intelligent control module 3 receives data from various sensors through the control system wireless receiver 36 and makes a comprehensive judgment: the airbag load is normal as detected by the left airbag load sensor 20 and the right airbag load sensor 28; the tire pressure is normal as detected by the left tire pressure sensor 22 and the right tire pressure sensor 32; the distance between the frame 24 and the ground is normal as detected by the left airbag height sensor 19 and the right airbag height sensor 30; the vehicle speed is lower than the preset value as detected by the vehicle speed sensor 37; and the differential locks are engaged as detected by the inter-axle differential lock 38 and the inter-wheel differential lock 39.

[0050] When all the above conditions are met, the air suspension intelligent control module 3 activates the special working condition control mode. The left airbag inflation / deflation control valve 14 is controlled via module output circuit 2 6 to deflate the left airbag 21 through left airbag tubing 1 15 and left airbag tubing 2 16; the right airbag inflation / deflation control valve 8 is controlled via module output circuit 4 7 to deflate the right airbag 27 through right airbag tubing 3 31 and right airbag tubing 1 33.

[0051] During the deflation process, the air suspension intelligent control module 3 also uses data from the gravity center sensor 25, the left airbag height sensor 19, the right airbag height sensor 30, the left airbag pressure sensor 23, and the right airbag pressure sensor 29 to balance and control the deflation volume of the left and right airbags, ensuring the stability of the vehicle's center of gravity and preventing the vehicle from rolling over.

[0052] Specifically, during the deflation process, the air suspension intelligent control module 3 receives data in real time from the gravity center sensor 25, the left airbag height sensor 19, the right airbag height sensor 30, the left airbag pressure sensor 23, and the right airbag pressure sensor 29, and balances the deflation amount of the left and right airbags in the following manner: The air suspension intelligent control module 3 first determines the current center of gravity offset direction based on the vehicle's center of gravity position detected by the gravity center of gravity sensor 25: when the center of gravity is within the preset center range, the vehicle is determined to be in a balanced state, and the left and right airbags deflate synchronously at the same deflation rate; when the center of gravity shifts to the left and the offset exceeds the preset offset threshold, the vehicle is determined to have a tendency to tilt to the left. At this time, the deflation volume of the left airbag 21 should be reduced or the left airbag deflation should be stopped, while the deflation volume of the right airbag 27 should be increased to make the vehicle's center of gravity shift back to the right; when the center of gravity shifts to the right and the offset exceeds the preset offset threshold, the vehicle is determined to have a tendency to tilt to the right. At this time, the deflation volume of the right airbag 27 should be reduced or the right airbag deflation should be stopped, while the deflation volume of the left airbag 21 should be increased to make the vehicle's center of gravity shift back to the left.

[0053] While adjusting the left and right air release volume according to the center of gravity offset direction, the air suspension intelligent control module 3 calculates the height difference between the left and right sides based on the distance between the vehicle frame and the ground detected by the left airbag height sensor 19 and the right airbag height sensor 30: when the height difference between the left and right sides is less than the preset first height difference threshold, the current air release rate is maintained and adjustment continues according to the center of gravity offset direction; when the height difference between the left and right sides reaches the preset first height difference threshold but is less than the preset second height difference threshold, the air release rate is reduced and fine-tuning mode is entered, gradually adjusting the left and right air release volume in small steps; when the height difference between the left and right sides reaches or exceeds the preset second height difference threshold, it is determined that the vehicle is in danger of rollover, the air release is immediately stopped, the current airbag status is maintained, and the air release is resumed after the left and right height difference falls back below the first height difference threshold.

[0054] Among them, the preset second height difference threshold is greater than the preset first height difference threshold.

[0055] The air suspension intelligent control module 3 also applies pressure constraints to the deflation process based on the airbag pressure detected by the left airbag pressure sensor 23 and the right airbag pressure sensor 29: When the airbag pressure on one side is lower than the preset minimum airbag pressure threshold, deflation on that side is stopped to prevent damage to the airbag due to over-deflating. When the pressure difference between the left and right airbags exceeds the preset pressure difference threshold, deflation on the side with lower pressure is paused and resumed only after the pressure difference returns to a safe range. When the pressure on both airbags is close to the preset minimum airbag pressure threshold, all deflation is stopped and a warning is issued to the driver.

[0056] The air suspension intelligent control module 3 comprehensively judges the above-mentioned center of gravity offset signal, left-right height difference signal, and left-right pressure difference signal, and executes control according to the following priorities: First priority: When the left-right height difference reaches the second height difference threshold, or the airbag pressure on one side is lower than the minimum airbag pressure threshold, immediately stop deflation to ensure that the vehicle does not roll over or the airbags are damaged. Second priority: Within a safe range, with the direction of center of gravity offset as the main control target, gradually move the vehicle's center of gravity back to the center position by "deflating less on the offset side and deflating more on the deviated side". Third priority: When the center of gravity is within the center range and the left-right height difference and left-right pressure difference are both within a safe range, the left and right airbags deflate synchronously at the same deflation rate until the target deflation volume is reached.

[0057] By deflating the airbags in the air suspension, the load on the axle supported by the air suspension is reduced, and the load is safely and effectively transferred to the wheels of the leaf spring suspension drive axle. This increases the normal pressure and friction between the drive axle tires and the ground, effectively preventing tire slippage and helping the vehicle drive out of muddy roads.

[0058] After the vehicle leaves the muddy road, the air suspension intelligent control module 3 switches to the normal road condition control mode and inflates the airbags until the air pressure of each airbag is restored to the target load state.

[0059] C. Under conditions of uneven road surfaces: When a vehicle is driving on an uneven road surface and one tire enters a pothole, the anti-rollover control process of the air suspension intelligent control module 3 is as follows: Taking the right tire entering a ditch as an example: the right airbag pressure sensor 29 detects a decrease in the pressure value of the right airbag 27, the right airbag height sensor 30 detects an increase in the distance between the right side of the frame 24 and the ground, and the gravity center sensor 25 detects that the vehicle's center of gravity has shifted to the right (i.e., the side where the distance between the frame and the ground has increased). The air suspension intelligent control module 3 combines the above three signals to determine that the vehicle is in a rollover hazard state.

[0060] At this time, the air suspension intelligent control module 3 controls the left airbag inflation / deflation control valve 14 to deflate the left airbag 21, reducing the height of the left airbag and causing the left side of the frame 24 to drop, thereby reducing the difference between the distance values ​​of the frame from the ground detected by the left and right height sensors until the vehicle returns to a balanced state, effectively preventing the vehicle from overturning.

[0061] For example, when the vehicle is driving on an uneven road surface and the right tire enters a pothole, the air suspension intelligent control module 3 calculates the current left-right height difference based on the distance values ​​from the ground on both sides of the frame 24 detected by the left airbag height sensor 19 and the right airbag height sensor 30. With the goal of restoring this height difference to a preset safe height difference range, it queries the pre-stored airbag pressure-height-volume correspondence based on the current airbag pressure value detected by the left airbag pressure sensor 23 to infer the target deflation volume of the left airbag 21. Subsequently, the module output circuit 26 controls the left airbag inflation / deflation control valve 14 to deflate the left airbag 21. The deflation process adopts a graded control method. When the left-right height difference is greater than a preset first height difference threshold, the left airbag inflation / deflation control valve 14 is controlled to open the exhaust port at a first opening to deflate. When the left-right height difference drops to between the preset first height difference threshold and the preset second height difference threshold, the left airbag inflation / deflation control valve 14 is controlled to open the exhaust port at a second opening to deflate. When the second opening is less than the first opening, and the left-right height difference drops to within the preset second height difference threshold, the left airbag inflation / deflation control valve 14 is controlled to close the exhaust port and stop deflation. During the deflation process, feedback data from the left airbag height sensor 19, the right airbag height sensor 30, and the gravity center sensor 25 are received in real time at a preset sampling period. When the rate of decrease of the left-right height difference is lower than the preset rate threshold, the opening of the left airbag inflation / deflation control valve 14 is increased. When the rate of decrease of the left-right height difference is higher than the preset rate threshold, the opening of the left airbag inflation / deflation control valve 14 is decreased. When the gravity center sensor 25 detects that the vehicle's center of gravity has shifted back to the preset center range, deflation is stopped. At the same time, when the pressure detected by the left airbag pressure sensor 23 is lower than the preset minimum airbag pressure threshold, or the height detected by the left airbag height sensor 19 is lower than the preset minimum height threshold, deflation is stopped to prevent airbag damage and excessive descent of the left side of the frame 24, thereby reducing the height difference between the left and right sides until the vehicle returns to a balanced state and prevents the vehicle from overturning.

[0062] After the vehicle leaves the uneven road surface, the air suspension intelligent control module 3 switches to the normal road condition control mode and inflates the airbags until the air pressure of each airbag returns to the target state.

[0063] D. Under conditions of inclined road surface: When the vehicle is traveling on an inclined surface, the gravity center sensor 25 detects a shift in the vehicle's center of gravity. The air suspension intelligent control module 3, based on the direction of this shift, controls the airbags on the side of the shift to inflate and the airbags on the side of the shift to deflate, restoring the vehicle's center of gravity to its centered position. For example, when the vehicle tilts to the left, the left airbag inflates and the right airbag deflates, correcting the vehicle's posture to a balanced state.

[0064] In one specific embodiment, when the vehicle is traveling on an inclined road surface, the gravity center sensor 25 detects that the vehicle's center of gravity deviates from a preset centering range and the duration of the deviation exceeds a preset time threshold. The air suspension intelligent control module 3 determines the inflation / deflation target based on the direction of the center of gravity deviation, i.e., controls the airbag on the side of the center of gravity deviation to inflate and the airbag on the side of the center of gravity deviation to deflate. It also queries a pre-stored correspondence between center of gravity deviation, target inflation volume, and target deflation volume to determine the target inflation volume of the airbag on the side of the deviation and the target deflation volume of the airbag on the side of the deviation, respectively. During the inflation / deflation process, the air suspension intelligent control module 3 receives the center of gravity position signal from the gravity center sensor 25, the height values ​​of the left airbag height sensor 19 and the right airbag height sensor 30, and the pressure values ​​of the left airbag pressure sensor 23 and the right airbag pressure sensor 29 in real time at a preset sampling period. It uses a proportional-integral-derivative closed-loop control algorithm to adaptively correct the inflation / deflation volume, i.e., using the center of gravity deviation as the control deviation and the inflation rate of the airbag on the side of the deviation as the control error. The inflation / deflation rate is used as a control output. It determines the reference value of the inflation / deflation rate based on the proportional term of the center of gravity offset, eliminates steady-state center of gravity deviation based on the integral term of the center of gravity offset, and suppresses overshoot and oscillation during the center of gravity return process based on the differential term of the center of gravity offset. When the center of gravity offset increases, the inflation rate on the offset side and the deflation rate on the deviated side increase simultaneously. When the center of gravity offset decreases, the inflation rate on the offset side and the deflation rate on the deviated side decrease simultaneously. When the center of gravity approaches the preset centering range, the inflation / deflation rate decreases to avoid overshoot. At the same time, when the pressure of the airbag on the offset side is higher than the preset maximum airbag pressure threshold, or the pressure of the airbag on the deviated side is lower than the preset minimum airbag pressure threshold, the inflation / deflation on the corresponding side is stopped. When the height difference between the left and right sides exceeds the preset safe height difference threshold, inflation / deflation is paused and resumed after the height difference falls back to the safe range. When the gravity center of gravity sensor 25 detects that the center of gravity of the whole vehicle has returned to the preset centering range and the duration exceeds the preset stabilization time threshold, inflation / deflation is stopped and the current airbag state is maintained, so that the center of gravity of the whole vehicle returns to the center position and the vehicle body attitude is corrected to a balanced state.

[0065] In this embodiment, the air pressure of the left and right airbags is independently adjusted according to different operating conditions, realizing automatic adjustment of the air suspension airbag pressure and intelligent coordination of load distribution between the air suspension and the leaf spring suspension. This eliminates the need for manual operation by the driver and reduces the risk of misoperation.

[0066] Figure 3 This is a schematic diagram of the structure of a terminal 300 provided in an embodiment of the present invention. The terminal 300 can be used to execute the air suspension control method provided in the embodiment of the present invention.

[0067] The terminal 300 may include a processor 310, a memory 320, and a communication module 330. These components communicate via one or more buses. Those skilled in the art will understand that the server structure shown in the figure does not constitute a limitation of the present invention. It may be a bus topology or a star topology, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0068] The memory 320 can be used to store the execution instructions of the processor 310. The memory 320 can be implemented by any type of volatile or non-volatile memory terminal or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. When the execution instructions in the memory 320 are executed by the processor 310, the terminal 300 is able to perform some or all of the steps in the above method embodiments.

[0069] The processor 310 serves as the control center of the storage terminal, connecting various parts of the electronic terminal via various interfaces and lines. It executes software programs and / or modules stored in the memory 320, and calls data stored in the memory to perform various functions of the electronic terminal and / or process data. The processor can be composed of integrated circuits (ICs), such as a single packaged IC or multiple packaged ICs with the same or different functions connected together. For example, the processor 310 may consist only of a central processing unit (CPU). In this embodiment of the invention, the CPU may have a single processing core or include multiple processing cores.

[0070] The communication module 330 is used to establish a communication channel, enabling the storage terminal to communicate with other terminals. It receives user data sent by other terminals or sends user data to other terminals.

[0071] The present invention also provides a computer storage medium, wherein the computer storage medium may store a program, which, when executed, may include some or all of the steps provided in the embodiments of the present invention. The storage medium may be a magnetic disk, an optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0072] Those skilled in the art will clearly understand that the techniques in the embodiments of the present invention can be implemented using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions in the embodiments of the present invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium such as a USB flash drive, mobile hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, or other media capable of storing program code. It includes several instructions to cause a computer terminal (which may be a personal computer, server, or a second terminal, network terminal, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0073] The same or similar parts between the various embodiments in this specification can be referred to mutually. In particular, the terminal embodiments are basically similar to the method embodiments, so the description is relatively simple, and the relevant parts can be referred to the description in the method embodiments.

[0074] In the embodiments provided by this invention, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between systems or modules may be electrical, mechanical, or other forms.

[0075] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0076] In addition, the functional modules in the various embodiments of the present invention can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module.

[0077] Although the present invention has been described in detail with reference to the accompanying drawings and preferred embodiments, the present invention is not limited thereto. Various equivalent modifications or substitutions can be made to the embodiments of the present invention by those skilled in the art without departing from the spirit and essence of the invention, and such modifications or substitutions should all be within the scope of the present invention. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should also be covered within the protection scope of the present invention.

Claims

1. A control system for an air suspension of a heavy vehicle equipped with a combination of an air suspension and a leaf spring suspension, characterized in that, include: The power supply unit is connected to the air suspension intelligent control module to provide working power; The air supply unit is connected to the left airbag inflation / deflation control valve and the right airbag inflation / deflation control valve respectively via the air distribution block, and is used to provide inflation air source for the left and right airbags. A data acquisition unit, installed on the vehicle, is used to collect vehicle status parameters in real time and send them to the air suspension intelligent control module. The air suspension intelligent control module has its input end connected to the data acquisition unit and its output end connected to the left airbag inflation / deflation control valve and the right airbag inflation / deflation control valve, respectively. It is configured to: determine the current vehicle driving condition based on the data collected by the various sensors, and output corresponding control signals according to different driving conditions to independently control the operation of the left airbag inflation / deflation control valve and the right airbag inflation / deflation control valve, so as to adjust the air pressure of the left airbag and the right airbag. The execution unit includes a left airbag inflation / deflation control valve and a right airbag inflation / deflation control valve, which are respectively set in the air path between the air distribution block and the left airbag and the right airbag, and are used to control the corresponding side airbag to inflate or deflate according to the control signal output by the air suspension intelligent control module. The display unit is connected to the output of the air suspension intelligent control module and is used to display the current working status of the system to the driver; The air suspension intelligent control module acquires the vehicle's driving status parameters through the data acquisition unit, analyzes them, and outputs control commands to drive the execution unit to adjust the air pressure of the air suspension airbags, thereby transferring the vehicle load to the drive axle supported by the leaf spring suspension to coordinate the load distribution between the air suspension and the leaf spring suspension.

2. The control system of an air suspension according to claim 1, characterized by, The power supply unit is connected to the air suspension intelligent control module via a fuse from the positive terminal of the vehicle DC24V power supply. The air supply unit is connected to the air distribution block via a vehicle air source and a shut-off valve. The air distribution block has an air distribution block air passage one and an air distribution block air passage two, which are respectively connected to the right airbag inflation / deflation control valve and the left airbag inflation / deflation control valve. The data acquisition unit transmits the acquired data to the wireless receiver of the control system via wireless transmission. The data acquisition unit includes at least: The left and right airbag pressure sensors are installed on the left and right airbags respectively to detect the air pressure of each airbag. The left airbag load sensor and the right airbag load sensor are installed on the left airbag and the right airbag respectively, and are used to detect the load on each airbag. The left and right airbag height sensors are mounted on the vehicle frame and are used to detect the distance between the vehicle frame and the ground. The left tire pressure sensor and the right tire pressure sensor are installed in the left tire and the right tire of the axle, respectively, to detect tire pressure. Vehicle speed sensor, used to detect vehicle speed; Gravity center of gravity sensor, mounted on the vehicle frame, is used to detect the position of the vehicle's center of gravity; Inter-axle differential locks and inter-wheel differential locks are used to monitor the working status of the differential locks; The input end of the air suspension intelligent control module is connected to the wireless receiver of the control system, and its output end has module output circuit one, module output circuit two, module output circuit three and module output circuit four, wherein module output circuit one and module output circuit two are connected to the left airbag inflation and deflation control valve, and module output circuit three and module output circuit four are connected to the right airbag inflation and deflation control valve. The display unit includes a control system working indicator light and a control system fault indicator light, which are connected to the output terminal of the air suspension intelligent control module.

3. A control method of an air suspension applied to a heavy vehicle equipped with a combination of an air suspension and a leaf spring suspension, characterized by, include: Collect vehicle status parameters and send the vehicle status parameters to the air suspension intelligent control module; The air suspension intelligent control module determines the current driving condition of the vehicle based on the vehicle status parameters. According to the driving conditions, the airbag inflation / deflation control valve is controlled to inflate or deflate the corresponding side airbags to adjust the air pressure of each airbag to the target state.

4. The control method of an air suspension according to claim 3, characterized by, The vehicle status parameters include the air suspension airbag pressure, load, height, tire pressure, vehicle speed, center of gravity position, and differential lock status; the driving conditions include at least normal road conditions, muddy road conditions, and uneven road conditions.

5. The control method of an air suspension according to claim 4, characterized by, Based on the driving conditions, the airbag inflation / deflation control valve is controlled to inflate or deflate the corresponding side airbags to adjust the airbag pressure to the target state, including: Under normal road conditions, the air suspension intelligent control module controls the inflation and deflation of the airbags according to the airbag load and airbag pressure, so that the airbag pressure is consistent with the load. When the airbag height exceeds the preset maximum value, the airbag is deflated. When the airbag height is below the preset minimum value and the load is normal, no inflation or deflation operation is performed; when the airbag height is below the preset minimum value and the load is too small, the airbag is controlled to inflate rapidly. When the vehicle speed exceeds the preset maximum vehicle speed threshold, the air suspension intelligent control module issues a vehicle speed too high warning. When the tire pressure is lower than the preset normal value, a tire pressure warning will be issued; When the differential lock is detected to be not disengaged, a differential lock status abnormality warning is issued.

6. The control method of an air suspension according to claim 4, characterized by, Based on the driving conditions, the airbag inflation / deflation control valve is controlled to inflate or deflate the corresponding side airbags to adjust the airbag pressure to the target state, including: When the vehicle is driving on a muddy road and the tires of the leaf spring suspension drive axle slip, the intelligent control module controls the airbag inflation / deflation control valve to deflate the air suspension airbags based on the differential lock engagement signal, vehicle speed signal, load sensor signal, height sensor signal, and tire pressure sensor signal, so as to reduce the load on the axle supported by the air suspension and transfer the load to the wheels of the leaf spring suspension drive axle. After the vehicle leaves the muddy road, switch to normal road condition control mode and inflate the airbags until the airbag pressure returns to the target load state.

7. The control method of an air suspension according to claim 4, characterized by, Based on the driving conditions, the airbag inflation / deflation control valve is controlled to inflate or deflate the corresponding side airbags to adjust the airbag pressure to the target state, including: When a vehicle is driving on an uneven road surface and one tire enters a pothole, the air suspension intelligent control module receives the pressure value signal detected by the airbag pressure sensor on the side of the pothole, the signal of the increased distance between the vehicle frame and the ground detected by the height sensor, and the signal of the vehicle's center of gravity shifting towards the side with the increased distance between the vehicle frame and the ground detected by the gravity center of gravity sensor, and determines that the vehicle is in a rollover danger state. The air suspension intelligent control module controls the airbag inflation / deflation control valve on the side of the vehicle frame with the smaller distance from the ground to deflate, thereby reducing the height of the airbag on that side and decreasing the difference between the vehicle frame distance from the ground detected by the height sensors on both sides until the vehicle returns to a balanced state. After the vehicle leaves the uneven road surface, switch to normal road condition control mode and inflate the airbags until the airbag pressure returns to the target state.

8. The control method of an air suspension according to claim 3, characterized by, When the vehicle is traveling on a sloping road, the air suspension intelligent control module controls the airbags on the side of the center of gravity offset to inflate and the airbags on the side of the center of gravity deviate to deflate, in order to correct the center of gravity to the centered position.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the air suspension control method as described in any one of claims 3 to 8.

10. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the air suspension control method as described in any one of claims 3 to 8.

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