Vehicle jump control method and apparatus, as well as system and vehicle

Abstract

A method and apparatus for controlling an active suspension, as well as a vehicle, are provided. The method, upon receiving a jump command, stores energy in an energy accumulator until the energy stored in the energy accumulator reaches a set first stored energy. When the energy stored in the energy accumulator reaches the first stored energy, the active suspension is controlled to drive the vehicle body to jump and release the first stored energy. The initial jump force of the vehicle body includes a first acting force applied by the energy accumulator and corresponding to the first stored energy, and a second acting force applied by the shock absorber of the active suspension, the initial jump force enabling the upward velocity of the vehicle body to be greater than zero when the wheels leave the ground.

Description

Technical Field

[0001] Cross - reference to Related Applications This disclosure claims the priority of Chinese Patent Application No. 202310382073.0, titled "VEHICLE JUMP CONTROL METHOD AND APPARATUS, SYSTEM AND VEHICLE", filed on March 31, 2023, the entire content of which is incorporated herein by reference.

[0002] This disclosure relates to the field of electric vehicle control technology, and particularly to vehicle jump control methods and apparatuses, as well as systems and vehicles.

[0003] Background Art A vehicle suspension system is connected between the vehicle body and the tires and is used to transmit forces between the wheels and the vehicle body. The main functions of the suspension system include buffering, vibration filtering, and guiding. The suspension system can be classified into passive suspension, semi - active suspension, and fully active suspension based on the control type. Passive suspension generally refers to a suspension with a fixed damping force, which can only be forced to move by the wheels. Semi - active suspension implements a passively adjustable damping force by adding electronic control components. Active suspension can be dynamically and adaptively adjusted according to the driving conditions of the vehicle (such as the running conditions of the vehicle and the road conditions). In active suspension, the height of the vehicle body is currently mainly sag - adjusted according to the road conditions.

[0004] Disclosure Content The objective of the embodiments of this disclosure is to provide a control method for an active suspension to implement the vehicle jump function.

[0005] According to a first aspect of this disclosure, an embodiment of a vehicle jump control method is provided. The method includes, upon receiving a jump command, accumulating energy in an accumulator until the energy stored in the accumulator reaches a designated first stored energy, and, when the energy stored in the accumulator reaches the first stored energy, controlling an active suspension to drive the vehicle body to jump in order to release the first stored energy. The initial jump force of the vehicle body includes a first force applied by the accumulator and corresponding to the first stored energy, and a second force applied by the shock absorbers of the active suspension. The initial jump force allows the upward velocity of the vehicle body to be greater than zero when the wheels leave the ground.

[0006] Optionally, the accumulator includes a plurality of springs, and the active suspension includes a plurality of shock absorbers, and the step of accumulating energy in the accumulator until the energy stored in the accumulator reaches a specified first stored energy includes the step of accumulating energy in the plurality of springs until the energy stored together in the plurality of springs reaches a specified first stored energy. The second force applied by the shock absorbers of the active suspension is the force applied together by the plurality of shock absorbers of the active suspension.

[0007] Optionally, the accumulator is a spring of the active suspension, and the step of accumulating energy in the accumulator until the energy stored in the accumulator reaches a specified first stored energy includes the step of controlling the active suspension to perform a first energy storage action, which compresses the spring until the energy stored in the spring reaches a specified first stored energy. The initial jump force of the vehicle body includes a first acting force applied by the spring and corresponding to the first stored energy, and a second acting force applied by the shock absorber, so that the upward velocity of the vehicle body is greater than 0 when the wheels leave the ground.

[0008] The first force is arbitrarily greater than the second force.

[0009] Optionally, the initial jump force allows the upward velocity of the vehicle to be greater than zero when the active suspension reaches its maximum stroke.

[0010] Optionally, the shock absorber applies an upward force to the vehicle body during the process of releasing the first stored energy by the accumulator.

[0011] Optionally, the velocity of the active suspension during energy storage by the accumulator is smaller than the initial velocity of the active suspension during the release of the first stored energy by the accumulator.

[0012] After optionally controlling the active suspension to drive the vehicle body to jump, the method further includes the step of controlling the active suspension to perform a wheel-lifting action that pulls the wheels toward the vehicle body once the wheels are off the ground.

[0013] The step of optionally controlling the active suspension to perform a wheel-lifting action, which pulls the wheels toward the vehicle body, when the wheels leave the ground, includes the step of controlling the active suspension to perform a wheel-lifting action when the wheels leave the ground and the vehicle body's jump speed decreases to a specified speed threshold, which is greater than 0.

[0014] The method includes, optionally controlling the active suspension to perform a wheel-lifting action that pulls the wheels toward the vehicle body, then, when the wheels touch down, accumulating energy in the accumulator until the energy stored in the accumulator reaches a specified second stored energy, the second stored energy being greater than the first stored energy, and, once the energy stored in the accumulator reaches the second stored energy, controlling the active suspension to drive the vehicle body to jump in order to release the second stored energy.

[0015] Optionally, the velocity of the active suspension during the accumulation of a second energy by the accumulator is greater than the velocity of the active suspension during the accumulation of a first energy by the accumulator.

[0016] The method optionally controls the active suspension to perform a wheel-lifting action that pulls the wheel toward the vehicle body, and then, once the wheel has landed, the method further includes the steps of obtaining the velocity of a movable component of a shock absorber that is connected to the vehicle body, the velocity of which includes the velocity and direction of movement, and controlling the shock absorber to output an action force against vibrations of the vehicle body based on the velocity of the movable component of the shock absorber.

[0017] After optionally controlling the active suspension to perform a wheel-lifting action that pulls the wheels toward the vehicle body, the method further includes the step of controlling the shock absorber to a passive state without actively adjusting its output as the vehicle height decreases.

[0018] A second aspect of this disclosure provides an embodiment of a vehicle jump control device. The device includes an energy storage control module configured to store energy in an accumulator until the energy stored in the accumulator reaches a specified first stored energy upon receiving a jump command, and a jump control module configured to control the active suspension to drive the vehicle body to jump in order to release the first stored energy once the energy stored in the accumulator reaches the first stored energy. The initial jump force of the vehicle body includes a first force applied by the accumulator and corresponding to the first stored energy, and a second force applied by the shock absorbers of the active suspension. The initial jump force allows the upward velocity of the vehicle body to be greater than zero as the wheels leave the ground.

[0019] A third aspect of this disclosure provides another embodiment of a vehicle jump control device. The control device includes a memory and a processor. The memory stores executable instructions, which are configured to control the processor to perform operations for performing the control method according to the first aspect of this disclosure.

[0020] According to a fourth aspect of this disclosure, an embodiment of an active suspension system is provided. The system includes an active suspension comprising shock absorbers for connecting a vehicle body to wheels, accumulators configured to connect a vehicle body to wheels, and a control device, which is a control device as described in a second or third aspect of this disclosure.

[0021] A vehicle is further provided according to a fifth aspect of the present disclosure. The vehicle includes an active suspension system according to a fourth aspect of the present disclosure, wherein shock absorbers and accumulators are connected between the vehicle body and the wheels.

[0022] One beneficial effect of the embodiments of the present disclosure is that, according to the control method of the embodiments of the present disclosure, upon receiving a jump command, the control device can store energy in an accumulator in accordance with the jump command, so that the accumulator, together with the shock absorbers of the active suspension, has the ability to drive the vehicle body to jump. When the energy stored in the accumulator reaches a first stored energy that enables the accumulator to have this ability, the control device controls the active suspension to drive the vehicle body to jump in order to release the first stored energy. Here, the shock absorbers and accumulator of the active suspension may impart an upward jump force to the vehicle body. Thus, the vehicle body jumps upward due to the action of the jump force. In this case, the initial jump force imparted to the vehicle body by the shock absorbers and accumulator can make the upward velocity of the vehicle body greater than 0 when the wheels leave the ground, so that the wheels leave the ground as the vehicle body jumps and the vehicle jump can be completed. According to the control method in the embodiments of this disclosure, a vehicle jump function can be performed using the active suspension of the wheels, which expands the application scenarios of the active suspension and fully utilizes the value of the active suspension.

[0023] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the attached drawings. [Brief explanation of the drawing]

[0024] [Figure 1] This is a diagram illustrating the structure of an active suspension system according to several embodiments. [Figure 2] This is a diagram showing the structure of an active suspension according to several embodiments. [Figure 3] This is a schematic flowchart of an active suspension control method according to several embodiments. [Figure 4]Schematic flowchart of an active suspension control method according to some other embodiments. [Figure 5] Diagram of the operation of a vehicle jump process according to some embodiments. [Figure 6] Diagram of the structural configuration of a control device for an active suspension according to some embodiments. [Figure 7] Diagram of the structural configuration of a control device for an active suspension according to some other embodiments. [Figure 8] Diagram of the hardware structure of a control device for an active suspension according to some embodiments. [Figure 9] Diagram of the structural configuration of a vehicle according to some embodiments.

[0025] Explanation of reference numerals AS: Active suspension system, 1: Active suspension, 2600 and 800: Control devices, 3: Accumulator, 11: Spring, 12: Shock absorber, 121: Actuating cylinder, 122: Piston assembly, 1221: Compression relief valve, 1222: Rebound relief valve, 123: Piston rod, 124: Bidirectional pump, 125: Motor, 126: Energy storage device, 900: Vehicle

[0026] Modes for carrying out the invention Exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specified, the components and steps, numerical expressions and relative arrangements of values described in these embodiments do not limit the scope of the present disclosure.

[0027] The following description of at least one exemplary embodiment is merely exemplary in nature and is not intended to limit the present disclosure, its application or uses.

[0028] Techniques, methods, and apparatus known to those skilled in the art may not be discussed in detail. Where appropriate, such techniques, methods, and apparatus should be considered as part of this specification.

[0029] In all examples shown and discussed herein, any particular values ​​should be interpreted as examples only and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0030] Note that in the attached drawings below, similar reference numbers and letters indicate the same items. Therefore, once an item is defined in one of the attached drawings, it does not need to be considered further in the following attached drawings.

[0031] Embodiments of this disclosure relate to the application of active suspension when performing a vehicle jump function. To realize this application, one embodiment of this disclosure provides a vehicle jump control method. Figure 1 is a diagram of the configuration structure of an active suspension system to which the vehicle jump control method according to one embodiment of this disclosure may be applied.

[0032] As shown in Figure 1, the active suspension system AS may include an active suspension 1, a control device 2, and an accumulator 3. The control device 2 is configured to control the operation of the shock absorber of the active suspension 1 and the accumulator 3 to perform a vehicle jump.

[0033] The accumulator 3 may be a device of any structure capable of storing energy. For example, the accumulator 3 may be any type of elastic member capable of storing elastic latent energy. When the control method in this embodiment of the disclosure is implemented to control a vehicle to jump, the accumulator 3 provides the force for the vehicle body to jump by releasing the stored energy.

[0034] The active suspension 1 includes at least a shock absorber. The shock absorber includes a fastening component and a movable component that can move relative to the fastening component. When the shock absorber is connected to the vehicle body and the wheels, the movable component of the shock absorber may be connected to the vehicle body, and the fastening component of the shock absorber may be connected to the wheels. The height of the vehicle body can be adjusted by movement, including raising and lowering of the movable component.

[0035] In some embodiments, the active suspension 1 further includes a spring, and the accumulator 3 includes at least the spring of the active suspension 1. For example, the spring of the active suspension 1 may be used directly as the accumulator 3. In another example, the accumulator 3 may alternatively include the spring of the active suspension 1 and another device that is additionally arranged and has an energy storage capability independent of the active suspension 1, the other device being, for example, a spring. In some other embodiments, the active suspension 1 may alternatively not include a spring, and the accumulator 3 is of the active suspension system AS and is an assembly independent of the active suspension 1. The springs referred to herein may be any type of elastically deformable elastic element and are not limited to coil springs, air springs, etc.

[0036] Figure 2 shows the suspension assembly of the active suspension 1. The suspension assembly of the active suspension 1 includes a spring 11 and a shock absorber 12. The spring 11 and shock absorber 12 are the assembly of the active suspension 1 for connecting the vehicle body and the wheels.

[0037] The active suspension 1 may be an independent suspension. Accordingly, the active suspension 1 includes multiple sets of suspension assemblies, as shown in Figure 2. Each set of suspension assemblies corresponds to one wheel, and each set of suspension assemblies is connected between the vehicle body and the corresponding wheel. Each set of suspension assemblies can operate independently under the control of the control device 2. This type of independent suspension has greater adjustment flexibility.

[0038] The active suspension 1 may be a non-independent suspension. For example, the active suspension 1 may include a set of suspension assemblies as shown in Figure 2. The suspension assemblies may be connected to each wheel of the vehicle via a transmission mechanism to transmit force between the wheels and the vehicle body.

[0039] For an active suspension including a spring and shock absorber, please refer to Figure 2. The spring 11 and shock absorber 12 may occupy separate and distinct mounting spaces. The mounting space can be reduced by sleeve-connecting the spring 11 to the shock absorber 12. Alternatively, the spring 11 may be connected in series with the shock absorber 12, with one end connected to the wheel and the other end connected to the shock absorber, and the output end of the shock absorber connected to the vehicle body. This is not limited herein.

[0040] The control method in this embodiment of the Disclosure is applicable to any shock absorber whose output can be actively adjusted by the action of a power member, but is not limited herein. In some embodiments, the shock absorber 12 is directly implemented as a power member. For example, the shock absorber is a linear motor or electric cylinder, and the movable component of the shock absorber is the output shaft of the motor or electric cylinder. In some other embodiments, the movable component of the shock absorber 12 needs to be driven by a power member. For example, a hydraulic shock absorber requires a motor to drive a bidirectional pump for driving. The movable component of the hydraulic shock absorber is a piston rod, and the fastening component of the hydraulic shock absorber is an operating cylinder.

[0041] The active suspension system AS may further include a control circuit for driving the shock absorber 12 to actuate. The control circuit may be an integrated controller or may be formed by connected separate electronic components. This is not limited herein. The control device 2 may output control signals to the control circuit and control the operation of the active suspension 1 via the control circuit. For example, the power member of the active suspension is a motor. The control circuit is a motor control circuit, such as a motor controller. The control device is connected to the motor controller and outputs control signals to the motor controller, which then controls the motor to rotate at a desired rotational speed and output a desired torque.

[0042] Figure 2 shows the structure of a suspension assembly of an active suspension 1 according to several embodiments. In these embodiments, as shown in Figure 2, the shock absorber 12 is a hydraulic shock absorber, and the shock absorber 12 includes an operating cylinder 121, a piston assembly 122, and a piston rod 123. The piston body of the piston assembly 122 is connected to the inner wall of the operating cylinder 121 so as to be slidable and cooperative. The piston assembly 122 divides the internal cavity of the operating cylinder 121 into an upper cavity 1211 and a lower cavity 1212. The piston rod 123 is connected to the piston body and moves with the piston body. The piston rod 123 extends outward through the upper cavity of the operating cylinder 121. The shock absorber 12 is connected to the vehicle body using the piston rod 123 and to the wheels using the operating cylinder 121. Here, the lower end of the spring 11 and the operating cylinder 121 may be connected to the wheels via fastening to a connecting structure such as a swing arm or steering knuckle.

[0043] In the embodiment shown in Figure 2, the shock absorber 12 further includes a bidirectional pump 124. The bidirectional pump 124 communicates with the upper cavity 1211 of the working cylinder 121 via a first pipeline and with the lower cavity 1212 of the working cylinder 121 via a second pipeline. The shock absorber 12 further includes a motor 125 for driving the bidirectional pump 124 to actuate. For example, when the motor 125 rotates forward and pulls the bidirectional pump 124 forward, the bidirectional pump 124 transfers the liquid in the upper cavity of the working cylinder 121 through the pipeline to the lower cavity of the working cylinder 121, thereby performing the recoil of the shock absorber 12. Correspondingly, when the motor 125 rotates backward and drives the bidirectional pump 124 backward, the bidirectional pump 124 transfers the liquid in the lower cavity of the working cylinder 121 through the pipeline to the upper cavity of the working cylinder 121, thereby performing the compression of the shock absorber 12. The reverse is also true, and I will not go into detail here.

[0044] In the embodiment shown in Figure 2, the piston assembly 122 further includes a compression relief valve 1221 and a rebound relief valve 1222 located within the piston body, thereby enabling the control of the maximum hydraulic pressure within the shock absorber 12 using the compression relief valve 1221 and the rebound relief valve 1222. Here, hydraulic pressure is the pressure applied to the piston assembly 122 by the liquid medium (such as hydraulic fluid) within the shock absorber 12. When the hydraulic pressure within the shock absorber 12 exceeds a specified maximum hydraulic pressure threshold, the relief valves open to prevent damage to the shock absorber 12. For example, when the bidirectional pump 124 transfers the medium from the lower cavity to the upper cavity to perform compression, if the hydraulic pressure in the upper cavity exceeds the cracking threshold of the compression relief valve 1221, the compression relief valve 1221 opens to limit the continuous increase in hydraulic pressure in the upper cavity. In another example, when the bidirectional pump 124 transfers a medium from the upper cavity to the lower cavity to perform repulsion, if the hydraulic pressure in the lower cavity exceeds the opening threshold of the repulsion relief valve 1222, the repulsion relief valve 1222 opens, thereby limiting the continuous increase of hydraulic pressure in the lower cavity.

[0045] The active suspension system AS may further include a detection device. The detection device is configured to detect the vehicle status and output a detection signal that reflects the vehicle status. The control device receives the detection signal output by the detection device and, based on the detection signal, outputs a control signal to control the operation of the active suspension 1, thereby performing a vehicle jump via the active suspension 1.

[0046] The vehicle conditions detected by the detection device include, for example, at least one of the following: vehicle height, vehicle speed, vehicle acceleration, moving speed of the movable components of the shock absorber, wheel height, wheel force, hydraulic pressure in the upper cavity of the shock absorber, and hydraulic pressure in the lower cavity of the shock absorber. The detection device includes at least one sensor. For example, the detection device includes an acceleration sensor, a speed sensor, a pressure sensor, a height sensor, a hydraulic pressure sensor, and the like. One sensor is configured to detect at least one vehicle condition of the vehicle. The types of sensors included in the detection device may be set based on the needs of the control device 2 for performing the control method according to this embodiment of the disclosure, and are not limited herein.

[0047] Figure 3 is a schematic flowchart of an active suspension control method according to several embodiments. This control method may be performed by the control device 2 in Figure 1. The active suspension system AS in Figure 1 is used as an example to illustrate the control method in this embodiment.

[0048] As shown in Figure 3, the control method in this embodiment includes the following steps S310 and S320.

[0049] Step S310: When a jump command is received, energy is accumulated in the accumulator until the energy stored in the accumulator reaches a specified first stored energy.

[0050] A jump command may be triggered by the user via a jump button set on the wheels, or via a touchscreen on an in-vehicle terminal, etc. This is not limited to the foregoing.

[0051] When the control device 2 receives a jump command, it executes the control method in this embodiment according to the jump command to complete the vehicle jump via the active suspension 1.

[0052] In step S310, when the control device 2 receives a jump command, it prepares to drive the vehicle body to jump by accumulating energy in the accumulator 3 in the first stage until the energy stored in the accumulator 3 reaches a specified first stored energy.

[0053] In one embodiment where the accumulator 3 is a spring of the active suspension 1, in step S310, the active suspension may be controlled to perform a first energy storage operation, which compresses the spring until the energy stored in the spring of the active suspension reaches a specified first stored energy. Specifically, this is a shock absorber 12, which is controlled to retract a movable component connected to the vehicle body, so that the vehicle body is pulled downward toward the wheels using the shock absorber 12, and by pulling the vehicle body, the spring 11 connected between the vehicle body and the wheels is compressed and spring energy is stored.

[0054] In one embodiment, where the accumulator 3 is a device independent of the active suspension, both the accumulator 3 and the shock absorber 12 are connected between the vehicle body and the wheels. Therefore, in step S310, the control device 2 can also control the active suspension 1 to perform a first energy storage operation, which compresses the accumulator 3 until the energy stored in the accumulator 3 reaches a specified first stored energy. Specifically, the control device 2 controls the movable component of the shock absorber 12 to retract, so that the vehicle body is pulled downward toward the wheels using the shock absorber 12, thereby pulling the vehicle body and compressing the accumulator 3 to complete energy storage. In this embodiment, the control device 2 can alternatively store energy in the accumulator 3 by controlling another power output device independent of the active suspension 1, and is not limited herein.

[0055] A hydraulic shock absorber 12, shown in Figure 2, is used as an example. When the piston rod 123 of the shock absorber 12 is set to extend outward, both the motor 125 and the bidirectional pump 124 rotate forward. When the piston rod 123 retracts inward, both the motor 125 and the bidirectional pump 124 rotate backward. The specified cracking hydraulic pressure for the rebound relief valve 1222 is P02 MPa, and the specified cracking hydraulic pressure for the compression relief valve 1221 is P01 MPa. The maximum stroke of the active suspension is L. In the first stage of step S310, the motor 125 is controlled to rotate backward at a rotational speed n1. In this case, the bidirectional pump 124 also rotates backward. The bidirectional pump 124 transfers a medium from the lower cavity 1212 of the working cylinder 121 to the upper cavity 1211 of the working cylinder 121, thereby driving the piston rod 123 to retract into the shock absorber. In the first energy storage operation, the motion speed V1 of the piston rod 123 is linearly positively correlated with the rotational speed n1 of the motor, that is, V1 = n1 × C / A1(1).

[0056] Here, C is the displacement of the bidirectional pump 124, and A1 is the surface area of ​​the piston assembly 122 in the upper cavity.

[0057] Equation (1) indicates that the greater the rotational speed n1 of the motor, the greater the motion speed V1 of the piston rod 123 in the first energy storage operation.

[0058] In some embodiments, the accumulator 3 includes a plurality of springs. At least some of the plurality of springs are springs of the active suspension 1, or the plurality of springs are arranged independently of the active suspension 1. In these embodiments, step S310, which stores energy in the accumulator until the energy stored in the accumulator reaches a specified first stored energy, may include a step of storing energy in the plurality of springs until the energy stored together in the plurality of springs reaches a specified first stored energy. That is, if the accumulator 3 includes a plurality of springs, the number of springs is not limited as long as the energy stored together in the plurality of springs reaches the first stored energy. For control convenience, for example, the plurality of springs of the accumulator may be set to produce the same amount of compression in the first stage. In this way, the required minimum amount of compression can be determined based on the elastic modulus of each spring and the specified first stored energy. It is also possible to generate different amounts of compression in different springs by combining the vehicle body posture and the vehicle's moving mechanism, so that the vehicle can jump smoothly. In the first stage, the control device 2 compresses the accumulator 3, thereby enabling the accumulator 3 to store energy, and as a result, the accumulator 3 generates an elastic deformation corresponding to the first stored energy. Step S320: When the energy stored in the accumulator reaches the first stored energy, the active suspension is controlled to drive the vehicle body to jump in order to release the first stored energy.

[0059] In step S320, when the energy stored in the accumulator in the first stage reaches a specified first stored energy, the control device 2 controls the active suspension 1 to drive the vehicle body to jump in order to release the first stored energy.

[0060] After accumulating energy in the accumulator 3 in the first stage, and performing a first energy storage operation, for example, by controlling the shock absorber 12 of the active suspension 1 to compress the accumulator 3, the control device 2 controls the active suspension 1 to drive the vehicle body to jump in the second stage. In this case, the accumulator 3 releases the first stored energy. The shock absorber 12 and accumulator 3 of the active suspension 1 impart a jump force to the vehicle body in the second stage, which drives the vehicle body to jump. The initial jump force imparted to the vehicle body by the shock absorber 12 and accumulator 3 includes a first force applied by the accumulator 3, corresponding to the first stored energy, and a second force applied by the shock absorber 12. The initial jump force provides the maximum acceleration for the vehicle body to move upward. A larger initial jump force indicates a higher jump height for the vehicle body, given the same operating time of the jump force, which helps in performing the vehicle jump.

[0061] The initial jump force should allow the upward velocity of the vehicle body to be greater than 0 when the wheels leave the ground. In this way, the vehicle body can continue to move upward when the wheels leave the ground, and as a result, the corresponding wheels are driven via the active suspension 1 to leave the ground completely, enabling the vehicle to perform a jump.

[0062] In one embodiment in which the active suspension includes a plurality of shock absorbers 12, the second force applied by the shock absorbers of the active suspension 1 is the force applied collectively by the plurality of shock absorbers of the active suspension.

[0063] In the case of an independent suspension including multiple sets of suspension assemblies, the control method according to this embodiment of the disclosure can perform vehicle jumps in which one wheel leaves the ground, two wheels leave the ground, or all wheels leave the ground. In the case of a non-independent suspension, the control method according to this embodiment of the disclosure can achieve a vehicle jump in which all wheels leave the ground.

[0064] In a vehicle jump where one wheel leaves the ground based on independent suspension, an example is used in which the left front wheel is the target wheel. In the first stage, when energy is stored in the accumulator, the control device 2 stores at least energy in the accumulator assembly corresponding to the left front wheel, and when energy is stored in the accumulator assembly corresponding to the other wheel, the energy stored in the accumulator assembly corresponding to the left front wheel is greater than the energy stored in the accumulator assembly corresponding to the other wheel. In the second stage, the control device 2 may control the shock absorber corresponding to the left front wheel to lift the left front of the vehicle body upward. In this case, the accumulator assembly corresponding to the left front wheel releases the stored energy, and the shock absorber and accumulator assembly corresponding to the left front wheel impart a jumping force to the left front of the vehicle body, resulting in the left front of the vehicle body jumping and being driven to further lift the left front wheel off the ground. If energy is also stored in the accumulator assembly corresponding to another wheel in the first stage, then in the second stage, the shock absorber corresponding to the other wheel may also be controlled to lift the vehicle upward, but by a smaller amount than the amount lifted relative to the left front of the vehicle. In this case, the accumulator assembly corresponding to the other wheel releases the stored energy to provide an auxiliary force to the vehicle as one wheel leaves the ground. In the control of one wheel leaving the ground, the initial jump force can allow the upward velocity of the vehicle to be greater than zero when the target wheel leaves the ground.

[0065] In a vehicle jump where two wheels leave the ground based on independent suspension, an example is used in which the left front wheel and the right front wheel are the target wheels. In the first stage, when energy is stored in the accumulator, the control device 2 stores at least energy in the accumulator assembly corresponding to the target wheel. If energy is stored in the accumulator assembly corresponding to another wheel, the energy stored in the accumulator assembly corresponding to the target wheel is greater than the energy stored in the accumulator assembly corresponding to the other wheel. In the second stage, the control device 2 may control the shock absorber corresponding to the target wheel to lift the front half of the vehicle upward. In this case, the accumulator assembly corresponding to the target wheel releases the stored energy, and the shock absorber and accumulator assembly corresponding to the target wheel impart a jumping force to the front half of the vehicle, resulting in the front half of the vehicle jumping and further driving the left front wheel and the right front wheel off the ground. If energy is also stored in the accumulator assembly corresponding to another wheel in the first stage, then in the second stage, the shock absorber corresponding to the other wheel may also be controlled to lift the vehicle upward, but by a smaller amount than the amount lifted relative to the left front of the vehicle. In this case, the accumulator assembly corresponding to the other wheel releases the stored energy to provide an auxiliary force to the vehicle as the two wheels leave the ground. In the control of the two wheels leaving the ground, the initial jump force can allow the upward velocity of the vehicle to be greater than zero when the target wheel leaves the ground.

[0066] In a vehicle jump where all wheels leave the ground, control device 2 is for the accumulator and in the first stage stores energy in all accumulator assemblies corresponding to multiple wheels. In the second stage, control device 2 is for the active suspension 1 and controls all shock absorbers corresponding to multiple wheels (independent suspensions include multiple shock absorbers, while non-independent suspensions may include only one shock absorber) to lift the vehicle upward. In this case, the stored energy is released by the accumulator, and the shock absorbers of the active suspension 1 and accumulator 3 impart a jump force to the vehicle, causing it to jump and drive all wheels off the ground. In control where all wheels leave the ground, the initial jump force can allow the upward velocity of the vehicle to be greater than 0 when the target wheels leave the ground, and the initial jump force should be greater than the gravity of the vehicle. An example is used in which accumulator 3 is formed by spring 11 of the active suspension 1. To improve the stability and safety of the active suspension 1, the spring 11 is pre-tightened, so that when the active suspension 1 extends to its maximum stroke, the spring 11 is still compressed or in a free state without elastic deformation but not extended. In this way, in the second stage of control, the accumulator 3 continues to recover from elastic deformation and releases energy through the gradual extension of the active suspension 1. Therefore, the maximum extension stroke of the active suspension in the second stage determines the amount of energy that the accumulator 3 can release. The maximum stroke of the active suspension is related to the amount of elastic deformation recovery of the accumulator 3. If the elastic modulus is not changed, a larger amount of elastic deformation recovery indicates that more energy is released. The maximum extension stroke of the active suspension in the second stage depends on the stroke setting of the shock absorber 12. When the movable component of the shock absorber 12 reaches its maximum extension stroke, the spring 11 stops recovering from deformation.In some embodiments, to make full use of the first stored energy accumulated in the accumulator 3, the active suspension 1 may be controlled to reach its maximum stroke in the second stage of operation. In this case, the energy released by the accumulator 3 reaches its maximum value, and the initial jump force makes it possible to make the upward motion velocity of the vehicle greater than zero when the active suspension reaches its maximum stroke. When the active suspension 1 reaches its maximum stroke, if the vehicle continues to move upward, the wheels can be driven off the ground via the active suspension to perform a vehicle jump.

[0067] The initial jump force is provided by the accumulator 3 and includes a first force corresponding to the first stored energy and a second force provided by the shock absorber 12. Therefore, by designing various parameters related to the output of the first stored energy and the shock absorber 12, an initial jump force that satisfies the requirements for a vehicle jump can be obtained.

[0068] The control device 2 can detect whether the energy stored in the accumulator during the first energy storage operation has reached a first stored energy level, via a first detection signal output by the detection device, which reflects the stored energy of the accumulator.

[0069] The first detection signal may be a detection signal relating to the stored energy of the accumulator, and may be, for example, a detection signal relating to spring force, a detection signal relating to the upper cavity hydraulic pressure and lower cavity hydraulic pressure of the shock absorber 12, a detection signal relating to the motion speed of the movable components of the shock absorber 12, a detection signal relating to the vehicle height between the vehicle body and the wheels, etc. This is not limited to the foregoing.

[0070] If it is determined via a detection signal of the motion speed of the movable components of the shock absorber 12 whether the energy stored in the accumulator 3 has reached a first stored energy, the specified cracking hydraulic pressure P01 of the compression relief valve 1221 may be set to match the specified first stored energy. When the shock absorber 12 performs the first energy storage operation, the hydraulic pressure in the upper cavity of the operating cylinder 121 increases and the hydraulic pressure in the lower cavity decreases. When the hydraulic pressure in the upper cavity reaches the specified cracking hydraulic pressure P01 of the compression relief valve 1221, the compression relief valve 1221 opens, stopping the rise in the hydraulic pressure in the upper cavity and stopping the movement of the piston rod 123 of the shock absorber 12. In this case, it means that the energy stored in the accumulator has reached the specified first stored energy.

[0071] The initial jump force further includes a second force applied by the shock absorber 12. Therefore, the force output by the shock absorber 12 when releasing the first stored energy may be set based on a specified force distribution ratio between the accumulator 3 and the shock absorber 12 to obtain an initial jump force that satisfies the vehicle jump.

[0072] To simplify the mechanical design and reduce the loss of parts and components of the shock absorber of the active suspension 1 at high speed and high torque rotation, in some embodiments, the first force applied by the accumulator 3 may be set to be greater than the second force applied by the shock absorber 12. In this case, the accumulator 3 plays a leading role in driving the vehicle body to jump, provided that it can apply an upward second force in the initial stage when the shock absorber 12 releases the first stored energy.

[0073] Furthermore, when the accumulator 3 is determined, the jump height of the vehicle may be controlled by adjusting the force output by the shock absorber 12 when driving the vehicle body to jump. Therefore, in some embodiments, the jump height may be set by the user. If the jump command indicates a jump height, the control device 2 can determine the force that needs to be output by the shock absorber 12 and that corresponds to the indicated jump height, based on pre-set mapping data. The mapping data reflects the forces that need to be output by the shock absorber 12 corresponding to different jump heights. If the jump command does not indicate a jump height, the shock absorber 12 may be controlled based on default settings.

[0074] In some embodiments, the shock absorber 12 may be controlled to impart an upward force to the vehicle body during the process of releasing the first stored energy by the accumulator 3. An example is used in which the accumulator 3 is formed by the spring 11 of the active suspension 1. The amount of elastic deformation recovery of the accumulator 3 per unit time is related to the extension stroke of the shock absorber 12 per unit time. Therefore, so that the shock absorber 12 does not limit the recovery of the accumulator 3 from elastic deformation, the upward motion speed of the movable component of the shock absorber 12 may be set to exceed the deformation recovery rate that would lift the vehicle body with only the spring 11 based on the first stored energy. In this way, during the entire process of releasing the first stored energy by the accumulator 3, the shock absorber 12 can assist in driving the accumulator 3 to jump upward through the vehicle body, without consuming the energy released by the accumulator 3 in order to pull the movable component of the shock absorber 12 upward together with the vehicle body. Furthermore, if the energy stored in the accumulator is the same in the first stage, the vehicle can achieve a higher jump height in the second stage.

[0075] As described above, the movable components of the shock absorber 12 can move at high speed during the release of the first stored energy, which helps drive the active suspension 1 to jump. The main purpose of the first energy storage operation is to store sufficient elastic latent energy in the accumulator 3. Therefore, in some embodiments, the motion speed of the active suspension 1 during energy storage by the accumulator (i.e., in the first energy storage operation described above) is at least lower than the initial motion speed of the active suspension 1 during the release of the first stored energy by the accumulator, thereby reducing the loss of parts and components of the shock absorber 12 and switch devices of the active suspension 1 in the control circuit at high speeds, and thereby extending the life of the active suspension system.

[0076] For the purposes of this example, we will use the hydraulic shock absorber 12 shown in Figure 2. In the second stage of step S320, the motor 125 is controlled to rotate in the forward direction at a rotational speed n2. In this case, the bidirectional pump 124 also rotates in the forward direction. The bidirectional pump 124 transfers the medium from the upper cavity 1211 of the working cylinder 121 to the lower cavity 1212 of the working cylinder 121, thereby driving the piston rod 123 to extend outward relative to the working cylinder 121. The motion speed V2 of the piston rod 123 during the release of the first stored energy by the accumulator 3 is linearly positively correlated with the rotational speed n2 of the motor. If the torque output by the motor does not change, the rotational speed n2 of the motor is positively correlated with the power output by the motor. Therefore, in order to obtain a large motion speed V2, for example, in the second stage, the motor 125 should be controlled to operate at a specified maximum output.

[0077] When the medium is transferred from the upper cavity 1211 to the lower cavity 1212 of the working cylinder 121, the hydraulic pressure in the lower cavity of the working cylinder 121 is greater than the hydraulic pressure in the upper cavity. In this case, the hydraulic pressure in the lower cavity P2 rises sharply, and the hydraulic pressure in the upper cavity P1 falls sharply. When the hydraulic pressure in the lower cavity P2 reaches the cracking hydraulic pressure P02 specified by the rebound relief valve 1222, the piston rod of the shock absorber 12 applies an upward force F2 to the vehicle body. F2 = P2 × A2 - P1 × A1(2).

[0078] Here, A2 is the surface area of ​​the piston assembly 122 in the lower cavity, and A1 is the surface area of ​​the piston assembly 122 in the upper cavity.

[0079] At this time, the force F2 acting on the shock absorber 12 and the force F1 acting on the accumulator 3 act together on the vehicle body, giving the vehicle body a jump acceleration.

[0080] From steps S310 and S320 of the control method in this embodiment of the disclosure, a vehicle jump function can be performed via the active suspension 1, which expands the application scenarios of the active suspension and fully utilizes the values ​​of the active suspension.

[0081] In some embodiments, after controlling the active suspension to initiate the step of driving the vehicle body to jump in step S320 above, in order to allow the vehicle to complete the jump over a wider range, the method may further include the following step S330, i.e., the step in which the active suspension is controlled to perform a wheel-lifting action that pulls the wheels toward the vehicle body once the wheels are off the ground.

[0082] In these embodiments, when the controller detects, using a detection device, that the vehicle has left the ground, the controller performs a third control step. That is, the controller controls the active suspension 1 to perform a wheel-lifting action that pulls the wheels toward the vehicle body.

[0083] The control device 2 can determine whether the wheels have left the ground by reflecting the wheel position and receiving a second detection signal output by the detection device.

[0084] The second detection signal may be a detection signal relating to wheel position, for example, a detection signal relating to wheel height, a detection signal relating to tire pressure change, or a detection signal relating to vehicle height. The reference vehicle height at which the wheels leave the ground may be pre-calibrated based on the detection signals relating to vehicle height to determine whether the wheels leave the ground, etc. This is not limited herein.

[0085] The control device 2 may control the active suspension 1 to perform a wheel-lifting operation, pulling the wheel toward the vehicle body, if it determines that the wheel has left the ground, or after the wheel has left the ground. That is, the control device 2 controls the movable component of the shock absorber 12 to move inward relative to the fastening component. In this case, the shock absorber 12 uses the fastening component connected to the wheel to pull the wheel upward, increasing the wheel's ground clearance.

[0086] For reference, the hydraulic shock absorber 12 shown in Figure 2 is used as an example. In the third stage of control, the control device 2 controls the motor 125 to rotate in the reverse direction at a rotational speed n3. In this case, the bidirectional pump 124 also rotates in the reverse direction. The bidirectional pump 124 transfers the medium from the lower cavity 1212 of the operating cylinder 121 to the upper cavity 1211 of the operating cylinder 121, thereby driving the piston rod 123 to retract into the shock absorber and achieving the control objective of pulling the wheel upward.

[0087] Due to the time limit for the vehicle to jump into the air, in the third stage, the control device 2 can control the motor 125 to rotate in the reverse direction at a specified maximum rotational speed in order to lift the wheels as quickly as possible.

[0088] In some embodiments, when the wheels leave the ground and the vehicle's jump speed decreases to a specified speed threshold, the control device 2 controls the active suspension 1 to perform a wheel-lifting action, where the specified speed threshold is greater than 0. The vehicle's jump speed decreases to the specified speed threshold, which indicates that the accumulator 3 has released its first stored energy. In this case, the active suspension 1 is controlled to perform a wheel-lifting action, which allows for full utilization of the energy stored in the active suspension 1 during the first energy storage action.

[0089] In these embodiments, the control device 2 can determine, in relation to the vehicle speed and based on the detection signal output by the detection device, whether the vehicle's jump speed has decreased to a specified speed threshold.

[0090] In some embodiments, after controlling the active suspension to perform a wheel-lifting operation that pulls the wheels toward the vehicle body, the method may further include the following steps S340 and S350.

[0091] Step S340: When the wheels touch down, the speed of movement of the movable components connected to the vehicle body, which are those of the shock absorbers, is obtained.

[0092] The motion velocity of a movable component includes both the velocity and the direction of movement.

[0093] In step S340, the control device 2 may obtain the moving speed of the movable components of the shock absorber 12 by using a detection device.

[0094] In step S340, the control device 2 may, when the wheel lands, acquire the moving speed of the movable components of the shock absorber 12 at a specified sampling frequency and perform active vibration resistance force adjustment based on the real-time moving state of the active suspension 1 after the wheel lands.

[0095] Step S350: The shock absorber is controlled to output a force acting against the vibration of the vehicle body based on the speed of movement of the movable components of the shock absorber.

[0096] In step S350, the control device 2 may acquire the necessary force to be applied to the movable component and to suppress its movement, based on the moving speed of the movable component. After the wheels touch down, the vehicle body vibrates together with the accumulator 3, and the movable component of the shock absorber 12 vibrates in accordance with the vibration of the vehicle body. Therefore, this corresponds to acquiring the necessary force to resist the vibration of the vehicle body, and the torque and rotational speed of the motor are determined based on that force to complete the corresponding control, and as a result the vehicle body is quickly stabilized.

[0097] In other embodiments, in step S350, the active force required to resist the vibration of the vehicle body may be determined based on the moving speed of the movable components of the shock absorber. If the required active force is greater than the maximum damping force that the shock absorber 12 can provide, the shock absorber is controlled to output a force to resist the vibration of the vehicle body. If the required active force is less than or equal to the maximum damping force that the shock absorber 12 can provide, a switch valve on the connecting pipeline of the shock absorber 12 can be switched off to prevent the medium from flowing between the upper and lower cavities. In this way, the vibration of the vehicle body is suppressed simply by utilizing the damping force, and the external energy consumption required to suppress the vibration of the vehicle body is reduced.

[0098] Steps S340 and S350 allow the vehicle body to be quickly stabilized after the wheels touch down, thereby improving user comfort at the end of the jump.

[0099] In some embodiments, in order to improve the impact resistance of the active suspension during vehicle jumps and landings and to effectively protect the active suspension and other vehicle components from damage, after the active suspension is controlled in step S330 above to perform a wheel-lifting operation that pulls the wheels toward the vehicle body, the following steps may be further included, namely, the step of controlling the shock absorber to be in a passive state without actively adjusting its output as the vehicle descends. In these embodiments, at the moment the vehicle lands, the active suspension provides cushioning mainly based on the spring 11, and the shock absorber 12 is in a passive state, i.e., a passive state in which the power member is not acting, without actively adjusting its output.

[0100] In some embodiments, in this control method, the vehicle may alternatively be driven to jump multiple times via the active suspension 1. After controlling the active suspension to perform a wheel-lifting operation that pulls the wheels toward the vehicle body in step S330 described above, the method further includes the steps of: when the wheels touch down, controlling the active suspension to perform a second energy storage operation in which energy is stored in an accumulator, for example, compressing a spring until the energy stored in the accumulator reaches a designated second stored energy; and when the energy stored in the accumulator reaches the second stored energy, controlling the active suspension to drive the vehicle body to jump in order to release the second stored energy.

[0101] In these embodiments, after the vehicle completes the first jump based on steps S310-330, the vehicle can control a second jump after the wheels have touched down. Furthermore, during the control of the second jump, the vehicle maintains downward kinetic inertia upon landing, thereby accumulating elastic latent energy in the accumulator 3 through the movement of the vehicle. Thus, the second accumulated energy can be greater than the first accumulated energy. This indicates that if the control device controls the active suspension to drive the vehicle to jump in order to release the second accumulated energy, the vehicle can achieve a higher jump height. By analogy, the control device 2 can control the vehicle to jump multiple times in succession in order to jump. Once the number of jumps corresponding to the jump command has been reached, the landing adjustment control can be completed in order to jump in order to jump in order to jump. Further details are again not described herein.

[0102] In some embodiments, the control device 2 can control the motion speed of the active suspension 1 during the accumulation of the second stored energy by the accumulator 3 (corresponding to the active suspension 1 performing the second energy storage operation) to be greater than the motion speed of the active suspension 1 during the accumulation of the first stored energy by the accumulator 3 (corresponding to the active suspension 1 performing the first energy storage operation) in order to fully utilize the downward motion inertia of the vehicle body to complete the energy storage.

[0103] Figure 4 is a schematic flowchart of a vehicle jump control method according to several other embodiments. In these embodiments, the accumulator 3 is formed by the spring 11 of the active suspension 1. As shown in Figure 4, the control method may include the following steps.

[0104] Step S410: The active suspension is controlled to perform a first energy storage operation in accordance with the received jump command, compressing the spring until the energy stored in the spring reaches a specified first stored energy.

[0105] Step S420: When the energy stored in the spring reaches a first stored energy, the active suspension is controlled to drive the vehicle body to jump in order to release the first stored energy.

[0106] The initial jump force applied to the vehicle body by the active suspension by releasing the first stored energy includes a first force applied by the spring 11 and corresponding to the first stored energy, and a second force applied by the shock absorber 12. The initial jump force makes it possible to increase the upward velocity of the vehicle body to a value greater than 0 when the wheels leave the ground.

[0107] Step S430: When the wheels leave the ground, the active suspension is controlled to perform a wheel-lifting action that pulls the wheels towards the vehicle body.

[0108] Step S440: When the vehicle height is reduced, the shock absorber is controlled to a passive state without actively adjusting its output.

[0109] Step S450: When the wheel lands, the speed of movement of the movable component of the shock absorber, which is connected to the vehicle body, is obtained, and the shock absorber is controlled to output a force acting against the vibration of the vehicle body based on the speed of movement of the movable component of the shock absorber.

[0110] Figure 5 shows the operation of the vehicle jump process according to several embodiments. Combined with the active suspension 1 of Figure 2, as shown in Figure 5, the first stage is the energy storage stage, in which the control device 2 controls the active suspension 1 to perform a first energy storage operation by compressing the spring 11. The shock absorber 12 applies a force to the vehicle body, pulling the vehicle body downward and compressing the active suspension 1 (including the spring 11 and shock absorber 12) to a first height h1, as shown in Figure 5(a). In this case, the energy stored in the active suspension 1 reaches a specified first stored energy.

[0111] The second stage is the jump stage, which corresponds to Figures 5(b), (c), and (d). When the energy stored in the spring 11 reaches the first stored energy, the control device 2 controls the shock absorber 12 to cancel out the downward pulling force on the vehicle body and to apply a second upward force to the vehicle body. In this case, the spring 11 applies a first force to the vehicle body corresponding to the first stored energy. The second force and the first force work together on the vehicle body, causing the vehicle body to be rapidly lifted upward at acceleration a. During the upward lifting process, the active suspension 1 gradually extends, and as the energy stored in the spring 11 is released, the jump force F applied to the vehicle body by the second force and the first force gradually decreases. In Figure 5(b), the height of the active suspension 1 has reached the second height h2, which is greater than the first height h1. In this case, the wheels do not leave the ground.

[0112] When the active suspension 1 is extended to its maximum stroke, the upward velocity Vc1 of the vehicle body is still greater than 0, meaning the vehicle body continues to move upward and the wheels are driven off the ground via the active suspension 1. In this case, the height of the active suspension 1 is the third height h3 in Figure 5(c), and the height difference between the third height h3 and the first height h1 is △h31. Here, based on the gravity of the vehicle body, an initial jump force may be obtained that is required by the vehicle body to maintain the upward velocity Vc1 greater than 0 at a height of △h31.

[0113] After leaving the ground, the wheels continue to move upward with the vehicle body. As shown in Figure 5(d), the wheels remain off the ground. In this case, the height of the active suspension 1 remains at the third height h3 in Figure 5(c).

[0114] After the jump force F imparted by the active suspension 1 to the vehicle body falls below the gravity of the vehicle body, the upward speed of the vehicle body begins to decrease. When the upward speed of the vehicle body decreases to a specified speed threshold Vc2, the control device 2 may control the active suspension 1 to perform a wheel-lifting operation that pulls the wheels toward the vehicle body. In this case, the active suspension 1 is compressed from a third height h3 in Figure 5(d) to a fourth height h4 in Figure 5(e). The fourth height h4 may be equal to the first height h1 or greater than the first height h1, and is not limited herein.

[0115] As the vehicle height decreases, the control device 2 controls the shock absorber 12 to a passive state without actively adjusting its output, further mitigating the impact force at the moment the vehicle touches the ground. After the wheels touch down, landing adjustments may be made based on step S450, or through the damping force of the shock absorber 12.

[0116] The operation process and corresponding control steps shown in Figure 5 are applicable to the aforementioned vehicle jumps in which one wheel leaves the ground, vehicle jumps in which two wheels leave the ground, and vehicle jumps in which all wheels leave the ground, provided that the corresponding suspension assembly and accumulator are controlled based on the corresponding control steps to complete the corresponding operation. Further details are again not described herein.

[0117] According to the control method of steps S410 to S450, the vehicle may be driven to jump via the active suspension, and the vehicle body can be quickly stabilized by controlling the active suspension during the jump and landing, thereby improving the comfort, safety, and controllability of the vehicle.

[0118] Figure 6 is a diagram showing the configuration structure of an active suspension control device according to several embodiments. As shown in Figure 6, the control device 600 may include an energy storage control module 610 and a jump control module 620.

[0119] When the energy storage control module 610 receives a jump command, it is configured to store energy in the accumulator until the energy stored in the accumulator reaches a specified first storage energy.

[0120] The jump control module 620 is configured to control the active suspension to drive the vehicle to jump in order to release the first stored energy when the energy stored in the accumulator reaches a first stored energy. The initial jump force of the vehicle includes a first force applied by the accumulator and corresponding to the first stored energy, and a second force applied by the shock absorbers of the active suspension. The initial jump force allows the upward velocity of the vehicle to be greater than zero when the wheels leave the ground.

[0121] In some embodiments, as shown in Figure 7, the control device 600 further includes a wheel lift control module 630. After the jump control module 620 controls the active suspension to initiate a step that drives the vehicle body to jump, once the wheels are off the ground, the wheel lift control module 630 controls the active suspension to perform a wheel lift operation that pulls the wheels toward the vehicle body.

[0122] In some embodiments, when the wheels leave the ground and the jump speed of the vehicle body decreases to a specified speed threshold, the wheel lift control module 630 can control the active suspension to perform a wheel lift operation, where the specified speed threshold is greater than 0.

[0123] In some embodiments, the energy storage control module 610 is further configured to store energy in the accumulator until the energy stored in the accumulator reaches a specified second stored energy, after the wheel lift control module 630 has controlled the active suspension to perform a wheel lift operation in which the wheels are pulled toward the vehicle body and the wheels have touched down. The second stored energy is greater than the first stored energy. In these embodiments, the jump control module 620 is further configured to control the active suspension to drive the vehicle body to jump in order to release the second stored energy once the energy stored in the accumulator has reached the second stored energy.

[0124] In some embodiments, as shown in Figure 7, the control device 600 further includes a landing adjustment module 640. After the wheel lift control module 630 controls the active suspension to perform a wheel lift operation that pulls the wheels toward the vehicle body, and the wheels have landed, the landing adjustment module 640 obtains the moving speed of the movable components of the shock absorber, which are connected to the vehicle body, and controls the shock absorber to output a force acting against the vibration of the vehicle body based on the moving speed of the movable components of the shock absorber.

[0125] In some embodiments, the landing adjustment module 640 is further configured to control the shock absorbers to a passive state without actively adjusting their output once the vehicle height has decreased, after the wheel lift control module 630 has controlled the active suspension to perform a wheel lift operation that pulls the wheels toward the vehicle body.

[0126] Figure 8 shows the hardware configuration of a control device according to several other embodiments. As shown in Figure 8, the control device 800 includes a memory 820 and a processor 810. The memory 820 stores a computer program, which is configured to control the processor to perform operations for performing a control method according to any embodiment of the present disclosure.

[0127] Embodiments of the present disclosure further provide a vehicle. As shown in Figure 9, the vehicle 900 includes an active suspension system 910. The active suspension of the active suspension system is connected between the body and the wheels of the vehicle 900. The active suspension system 910 includes the active suspension, an accumulator, and a control device. The active suspension includes at least a shock absorber. If the active suspension includes a spring, the accumulator may include the spring of the active suspension. The accumulator and the active suspension are an assembly of the active suspension system for connecting the body and the wheels. The active suspension system 910 may have the same or similar structure as the active suspension system AS of Figure 1.

[0128] The control device may be any of the embodiments shown in Figures 6 to 8. Based on the detection signal output by the detection device, the control device outputs a control signal to control the operation of the shock absorber and complete the vehicle jump.

Claims

1. Upon receiving a jump command, the process involves accumulating energy in the accumulator until the energy stored in the accumulator reaches a specified first stored energy, A vehicle jump control method comprising the steps of: when the energy stored in the accumulator reaches the first stored energy, controlling the active suspension to drive the vehicle body to jump in order to release the first stored energy, A vehicle jump control method wherein the initial jump force of the vehicle body includes a first force applied by the accumulator and corresponding to the first stored energy, and a second force applied by the shock absorber of the active suspension, and the initial jump force enables the upward velocity of the vehicle body to be greater than zero when the wheels leave the ground.

2. The accumulator comprises a plurality of springs, the active suspension comprises a plurality of shock absorbers, and the step of accumulating energy in the accumulator until the energy stored in the accumulator reaches the designated first stored energy is: The step includes storing energy in the plurality of springs until the energy stored together in the plurality of springs reaches the designated first stored energy, The control method according to claim 1, wherein the second force applied by the shock absorber of the active suspension is a force applied collectively by the plurality of shock absorbers of the active suspension.

3. The accumulator is a spring of the active suspension, and the step of accumulating energy in the accumulator until the energy stored in the accumulator reaches the designated first stored energy is: A control method according to claim 1 or 2, comprising the step of controlling the active suspension to perform a first energy storage operation, which involves compressing the spring until the energy stored in the spring reaches a designated first stored energy, wherein the initial jump force of the vehicle body includes a first force provided by the spring and corresponding to the first stored energy, and a second force provided by the shock absorber, such that the upward velocity of the vehicle body is greater than zero when the wheels leave the ground.

4. The control method according to any one of claims 1 to 3, wherein the first force is greater than the second force.

5. The control method according to any one of claims 1 to 4, wherein the initial jump force enables the upward motion velocity of the vehicle body to be greater than 0 when the active suspension reaches its maximum stroke.

6. The control method according to any one of claims 1 to 5, wherein the shock absorber applies an upward force to the vehicle body during the process of releasing the first stored energy by the accumulator.

7. The control method according to any one of claims 1 to 6, wherein the motion speed of the active suspension during energy storage by the accumulator is smaller than the initial motion speed of the active suspension during the release of the first stored energy by the accumulator.

8. After controlling the active suspension to drive the vehicle body to jump, the method The control method according to any one of claims 1 to 7, further comprising the step of controlling the active suspension to perform a wheel-lifting operation that pulls the wheel toward the vehicle body when the wheel leaves the ground.

9. The step of controlling the active suspension to perform a wheel-lifting operation that pulls the wheel toward the vehicle body when the wheel leaves the ground is: The control method according to claim 8, comprising the step of controlling the active suspension to perform a wheel lifting operation when the wheels leave the ground and the jump speed of the vehicle body decreases to a specified speed threshold, wherein the specified speed threshold is greater than 0.

10. After controlling the active suspension to perform the wheel-lifting operation that pulls the wheel toward the vehicle body, the method Steps include: when the wheel lands, accumulating energy in the accumulator until the energy stored in the accumulator reaches a specified second stored energy, wherein the second stored energy is greater than the first stored energy; The control method according to claim 8 or 9, comprising the step of controlling the active suspension to drive the vehicle body to jump in order to release the second stored energy when the energy stored in the accumulator reaches the second stored energy.

11. The control method according to claim 10, wherein the motion speed of the active suspension during the accumulation of the second stored energy by the accumulator is greater than the motion speed of the active suspension during the accumulation of the first stored energy by the accumulator.

12. After controlling the active suspension to perform the wheel-lifting operation that pulls the wheel toward the vehicle body, the method The control method according to any one of claims 8 to 11, further comprising the step of controlling the shock absorber to a passive state without actively adjusting the output when the vehicle height is reduced.

13. An energy storage control module is configured to receive a jump command and store energy in the accumulator until the energy stored in the accumulator reaches a specified first stored energy, A vehicle jump control device comprising: a jump control module configured to control the active suspension to drive the vehicle body to jump in order to release the first stored energy when the energy stored in the accumulator reaches the first stored energy, A vehicle jump control device wherein the initial jump force of the vehicle body includes a first force applied by the accumulator and corresponding to the first stored energy, and a second force applied by the shock absorber of the active suspension, and the initial jump force enables the upward velocity of the vehicle body to be greater than zero when the wheels leave the ground.

14. A vehicle jump control device comprising a memory and a processor, wherein the memory stores executable instructions, and the instructions are configured to control the processor to perform an operation for executing the control method described in any one of claims 1 to 12.

15. An active suspension comprising a shock absorber for connecting the vehicle body and the wheels, and an accumulator configured to connect the vehicle body and the wheels, An active suspension system comprising a control device, which is the control device according to claim 13 or 14.

16. A vehicle comprising the active suspension system according to claim 15, wherein the shock absorber and the accumulator are connected between the vehicle body and the wheels.

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