Air suspension static leveling method, apparatus and device, and readable storage medium

Abstract

Provided are an air suspension static leveling method, apparatus and device, and a readable storage medium. The air suspension static leveling method comprises: when a vehicle is in a static state, determining a vehicle body attitude on the basis of the transverse acceleration and the longitudinal acceleration of the vehicle (S11); on the basis of the vehicle body attitude and the heights of air springs, detecting whether there is a target spring set, wherein the target spring set is two air springs arranged side by side in a transverse direction or a longitudinal direction, and a vehicle body is inclined towards one side where the air spring having a larger height value is located (S12); and for the target spring set, controlling the air spring having a larger height value to inflate, and controlling the air spring having a smaller height value to deflate, so that the vehicle body attitude becomes stable (S13).

Description

Air suspension static leveling method, device, equipment and readable storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202311294865.9 filed on October 7, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to the technical field of air suspension, and in particular to an air suspension static leveling method, device, equipment and readable storage medium. Background Art

[0004] With the advancement of automotive technology, the prevalence of air suspension on passenger vehicles has gradually increased. In addition to providing excellent ride comfort, vehicles equipped with air suspension can adjust the vehicle's height according to driver needs and perform leveling as the vehicle's load changes. However, current air suspension leveling methods fail to account for the impact of the road surface on vehicle posture. When the vehicle is parked on uneven surfaces, the leveling operation may exacerbate vehicle tilt, resulting in a poor driving experience for the user.

[0005] Summary of the Invention

[0006] The present disclosure provides an air suspension static leveling method, device, apparatus, and readable storage medium. By utilizing one or more embodiments of the present disclosure, the technical problem in the prior art that a leveling operation may aggravate vehicle body tilt can be solved.

[0007] According to a first aspect of the present disclosure, a static leveling method for an air suspension is provided, the static leveling method for an air suspension comprising: when a vehicle is at rest, determining the vehicle body posture according to the lateral acceleration and longitudinal acceleration of the vehicle; detecting whether a target spring group exists according to the vehicle body posture and the height of the air spring, the target spring group being two air springs arranged side by side in the lateral or longitudinal direction, and the vehicle body being tilted toward the side where the air spring with the larger height value is located; and for the target spring group, controlling the air spring with the larger height value to inflate, and controlling the air spring with the smaller height value to deflate, so as to make the vehicle body posture tend to be stable.

[0008] According to a second aspect of the present disclosure, an air suspension static leveling device is provided, which includes: a posture determination module, which is used to determine the body posture of the vehicle according to the lateral acceleration and longitudinal acceleration of the vehicle when the vehicle is at rest; a target detection module, which is used to detect whether there is a target spring group according to the body posture and the height of the air spring, wherein the target spring group is two air springs arranged side by side in the lateral or longitudinal direction, and the body is tilted toward the side where the air spring with the larger height value is located; and a leveling module, which is used to control the inflation of the air spring with the larger height value and the deflation of the air spring with the smaller height value for the target spring group, so as to make the body posture tend to be stable.

[0009] According to a third aspect of the present disclosure, an air suspension static leveling device is provided, which includes a processor, a memory, and an air suspension static leveling program stored in the memory and executable by the processor. When the air suspension static leveling program is executed by the processor, it prompts the processor to implement the steps of the above-mentioned air suspension static leveling method.

[0010] According to a fourth aspect of the present disclosure, a readable storage medium is provided, on which an air suspension static leveling program is stored. When the air suspension static leveling program is executed by a processor, it prompts the processor to implement the steps of the above-mentioned air suspension static leveling method. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] FIG1 is a schematic diagram showing a flow chart of a static leveling method for an air suspension according to some embodiments of the present disclosure;

[0012] FIG2 shows a schematic diagram of functional modules of an air suspension static leveling device according to some embodiments of the present disclosure;

[0013] FIG3 shows a schematic diagram of the hardware structure of an air suspension static leveling device according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0014] To help those skilled in the art better understand the present disclosure, the following will provide a clear and complete description of the technical solutions in the embodiments of the present disclosure, in conjunction with the accompanying drawings. It is clear that the described embodiments are only a portion of the embodiments of the present disclosure, not all of them. All other embodiments derived by those skilled in the art based on the embodiments of the present disclosure without creative effort are within the scope of protection of the present disclosure.

[0015] The terms "including" and "having" and any variations thereof in the specification and claims of the present disclosure and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to be different types.

[0016] In the description of the embodiments of the present disclosure, the words "exemplary," "for example," or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary," "for example," or "for example" in the embodiments of the present disclosure should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "for example," or "for example" is intended to present the relevant concepts in a concrete manner.

[0017] In the description of the embodiments of the present disclosure, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present disclosure, “multiple” refers to two or more than two.

[0018] In some processes described in the embodiments of the present disclosure, multiple operations or steps are included that appear in a specific order. However, it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present disclosure or may be executed in parallel. The sequence numbers of the operations are only used to distinguish different operations and the sequence numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0019] In order to make the objectives, technical solutions and advantages of the present disclosure more clear, the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings.

[0020] According to a first aspect of the present disclosure, a static leveling method for an air suspension is provided. FIG1 shows a flow chart of a static leveling method for an air suspension according to some embodiments of the present disclosure.

[0021] 1 , in some embodiments, the air suspension static leveling method may include the following steps S11 to S13 .

[0022] In step S11 , when the vehicle is at rest, the vehicle body posture is determined based on the lateral acceleration and longitudinal acceleration of the vehicle.

[0023] In this embodiment, the longitudinal direction refers to the front-to-back direction of the vehicle, and the lateral direction refers to the left-to-right direction of the vehicle. When the vehicle is stationary and the vehicle body tilts, gravity will cause a corresponding acceleration. In some embodiments, when the vehicle body tilts rearward, that is, when the rear side of the vehicle body is lower than the front side, a longitudinal backward acceleration will be generated. The vehicle's lateral and longitudinal accelerations can be obtained from the ESC (Electronic Stability Control) system.

[0024] In some embodiments, the step of determining the vehicle body posture based on the vehicle's lateral acceleration and longitudinal acceleration may include: if the absolute value of the lateral acceleration is greater than the lateral tilt threshold, and the absolute value of the longitudinal acceleration is less than or equal to the longitudinal tilt threshold, then determining that the vehicle body is tilted laterally; if the absolute value of the longitudinal acceleration is greater than the longitudinal tilt threshold, and the absolute value of the lateral acceleration is less than or equal to the lateral tilt threshold, then determining that the vehicle body is tilted longitudinally; if the absolute value of the lateral acceleration is greater than the lateral tilt threshold, and the absolute value of the longitudinal acceleration is greater than the longitudinal tilt threshold, then determining that the vehicle body is tilted simultaneously laterally and longitudinally; and if the absolute value of the lateral acceleration is less than or equal to the lateral tilt threshold, and the absolute value of the longitudinal acceleration is less than or equal to the longitudinal tilt threshold, then determining that the vehicle body is stable.

[0025] In this embodiment, tilt determination is performed based on the comparison between acceleration and a corresponding tilt threshold value, and obvious tilt posture is identified, thereby avoiding misjudgment caused by acceleration measurement error and frequent adjustments caused by slight tilt.

[0026] In step S12, whether a target spring group exists is detected based on the vehicle body posture and the height of the air spring. The target spring group is two air springs arranged side by side in the transverse or longitudinal direction, and the vehicle body is tilted toward the side where the air spring with the larger height value is located.

[0027] In this embodiment, the height value of the air spring is measured by the corresponding height sensor and is used to represent the distance between the corresponding wheel and the vehicle body. When the vehicle is parked on a horizontal road, the vehicle body posture and the height of the air spring are matched. In some embodiments, when the height of the air spring on the front side of the vehicle body is lower than the height of the air spring on the rear side, the vehicle body tilts toward the front. When the vehicle is parked on a non-horizontal road, the vehicle body posture and the height of the air spring will not match. In some embodiments, when the vehicle is parked on a slope, even if the heights of the four air springs are the same, the vehicle body posture is tilted. In some embodiments, when individual wheels press on protrusions or pits, the load distribution of the vehicle body will change, and an obvious mismatch will occur. In some embodiments, when the left wheel presses on the shoulder of the road, the vehicle body posture tilts toward the right (higher on the left and lower on the right), but the height value of the air spring on the left will be lower than the height value of the air spring on the right. This obvious mismatch is what the present disclosure is directed to.

[0028] In some embodiments, if the vehicle body tilts laterally or tilts simultaneously laterally and longitudinally, the left or right tilt direction of the vehicle body is determined according to the positive or negative sign of the lateral acceleration; if the vehicle body tilts toward the left, and the height value of the left front air spring is greater than the height value of the right front air spring, the left front air spring and the right front air spring are determined to be the target spring group; if the vehicle body tilts toward the left, and the height value of the left rear air spring is greater than the height value of the right rear air spring, the left rear air spring and the right rear air spring are determined to be the target spring group; if the vehicle body tilts toward the right, and the height value of the left front air spring is less than the height value of the right front air spring, the left front air spring and the right front air spring are determined to be the target spring group; and if the vehicle body tilts toward the right, and the height value of the left rear air spring is less than the height value of the right rear air spring, the left rear air spring and the right rear air spring are determined to be the target spring group.

[0029] In some embodiments, if the vehicle body is tilted laterally or tilted laterally and longitudinally at the same time, and the lateral acceleration is positive, it can be determined that the vehicle body is tilted toward the right; if the vehicle body is tilted laterally or tilted laterally and longitudinally at the same time, and the lateral acceleration is negative, it can be determined that the vehicle body is tilted toward the left.

[0030] In this embodiment, for both lateral and simultaneous lateral and longitudinal tilt, only the two laterally aligned air spring groups are targeted for detection. This is because longitudinal tilt is more likely caused by a sloped road surface, while lateral tilt is more likely caused by protrusions or potholes, giving lateral leveling priority. Furthermore, this approach ensures that the same air spring will not appear in both target spring groups during a single round of detection, preventing conflicts in subsequent adjustments.

[0031] In some embodiments, if the vehicle body is tilted longitudinally, the front and rear tilt direction of the vehicle body is determined according to the positive and negative longitudinal acceleration; if the vehicle body is tilted toward the front, and the height value of the left front air spring is greater than the height value of the left rear air spring, the left front air spring and the left rear air spring are determined to be the target spring group; if the vehicle body is tilted toward the front, and the height value of the right front air spring is greater than the height value of the right rear air spring, the right front air spring and the right rear air spring are determined to be the target spring group; if the vehicle body is tilted toward the rear, and the height value of the left front air spring is less than the height value of the left rear air spring, the left front air spring and the left rear air spring are determined to be the target spring group; and if the vehicle body is tilted toward the rear, and the height value of the right front air spring is less than the height value of the right rear air spring, the right front air spring and the right rear air spring are determined to be the target spring group.

[0032] In some embodiments, if the vehicle body is tilted longitudinally and the longitudinal acceleration is positive, it can be determined that the vehicle body is tilted toward the front; if the vehicle body is tilted longitudinally and the longitudinal acceleration is negative, it can be determined that the vehicle body is tilted toward the rear.

[0033] In this embodiment, only when the vehicle body is tilted longitudinally but not tilted laterally, the two groups of air springs arranged side by side in the longitudinal direction are used as target detection objects.

[0034] In some embodiments, if the vehicle body is stable, it is determined that the target spring set does not exist.

[0035] In step S13 , for the target spring group, the air springs with larger height values ​​are controlled to be inflated, and the air springs with smaller height values ​​are controlled to be deflated, so as to stabilize the vehicle body posture.

[0036] In this embodiment, the vehicle height is lower on the side with the larger air spring, while the vehicle height is higher on the side with the smaller air spring. Conventional adjustments typically reduce the height difference between these two springs, further increasing the height difference and exacerbating vehicle tilt. The control strategy of this embodiment reduces this height difference, stabilizing the vehicle's posture.

[0037] Therefore, through this embodiment, when the non-level road surface causes the vehicle body posture to be obviously mismatched with the height of the air spring, the target spring group is determined, and the target spring group is controlled to be inflated and deflated in a manner different from the conventional strategy, so that the vehicle body posture tends to be stable, thereby improving the user's driving experience.

[0038] It should be noted that the detection and leveling operations disclosed herein can be performed multiple times to avoid a situation where a single adjustment is not in place.

[0039] In some embodiments, the step of controlling the inflation of the air spring with the larger height value and the deflation of the air spring with the smaller height value for the target spring group to stabilize the vehicle body posture may include: for the target spring group, defining the air spring with the larger height value as a first air spring and the air spring with the smaller height value as a second air spring, recording the initial height value of the first air spring as the first height value, and recording the initial height value of the second air spring as the second height value; calculating the vehicle body height difference according to the acceleration in the arrangement direction of the target spring group, the acceleration of gravity, and the wheelbase; calculating the difference between the tensile limit height value of the air spring and the first height value to obtain the maximum tensile stroke, and calculating the difference between the second height value and the compression limit height value of the air spring to obtain the maximum compression stroke; determining the inflation adjustment amount of the first air spring and the deflation adjustment amount of the second air spring according to the vehicle body height difference, the maximum tensile stroke, and the maximum compression stroke, wherein the inflation adjustment amount is less than or equal to the maximum tensile stroke, and the deflation adjustment amount is less than or equal to the maximum compression stroke; and controlling the inflation of the first air spring according to the inflation adjustment amount, and controlling the deflation of the second air spring according to the deflation adjustment amount, to stabilize the vehicle body posture.

[0040] During implementation, the vehicle height difference can be either the lateral height difference or the longitudinal height difference. For example, the lateral height difference can be calculated using the target spring lateral acceleration Lat and the acceleration of gravity g, using the formula α = arctan(Lat * g) to determine the vehicle lateral inclination angle α. Furthermore, the lateral height difference H1 can be calculated using the formula H1 = L * sinα based on the vehicle lateral inclination angle α and the wheelbase L.

[0041] Taking the calculation of the longitudinal height difference of the vehicle body as an example, the longitudinal inclination angle β of the vehicle body can be calculated according to the target spring longitudinal acceleration Lgt and the gravity acceleration g using the formula β=arctan(Lgt*g), and then the longitudinal height difference H2 of the vehicle body can be calculated according to the lateral inclination angle β and the wheelbase R using the formula H2=R*sinβ.

[0042] In this embodiment, the vehicle body height difference, the maximum extension stroke, and the maximum compression stroke are used as the basis for setting the inflation and deflation adjustment amount, ensuring efficient and accurate leveling while avoiding spring tension or compression damage.

[0043] In some embodiments, the step of determining the inflation adjustment amount of the first air spring and the deflation adjustment amount of the second air spring based on the vehicle body height difference, the maximum extension stroke and the maximum compression stroke may include: dividing the vehicle body height difference by 2 to obtain a reference adjustment amount; determining the smaller of the maximum extension stroke and the reference adjustment amount as the inflation adjustment amount of the first air spring; and determining the smaller of the maximum compression stroke and the reference adjustment amount as the deflation adjustment amount of the second air spring.

[0044] In this embodiment, half of the vehicle height difference is used as a reference adjustment amount, which further improves the leveling efficiency and accuracy.

[0045] According to a second aspect of the present disclosure, an air suspension static leveling device is provided. FIG2 shows a schematic diagram of functional modules of an air suspension static leveling device according to some embodiments of the present disclosure.

[0046] 2 , in some embodiments, the air suspension static leveling device may include: a posture determination module 10, for determining the vehicle body posture according to the lateral acceleration and longitudinal acceleration of the vehicle when the vehicle is stationary; a target detection module 20, for detecting whether there is a target spring group according to the vehicle body posture and the height of the air spring, wherein the target spring group is two air springs arranged side by side in the lateral or longitudinal direction, and the vehicle body is tilted toward the side where the air spring with the larger height value is located; and a leveling module 30, for controlling the inflation of the air spring with the larger height value and the deflation of the air spring with the smaller height value for the target spring group, so as to make the vehicle body posture tend to be stable.

[0047] In some embodiments, the posture determination module 10 can also be used to: if the absolute value of the lateral acceleration is greater than the lateral tilt threshold, and the absolute value of the longitudinal acceleration is less than or equal to the longitudinal tilt threshold, then determine that the vehicle body is tilted laterally; if the absolute value of the longitudinal acceleration is greater than the longitudinal tilt threshold, and the absolute value of the lateral acceleration is less than or equal to the lateral tilt threshold, then determine that the vehicle body is tilted longitudinally; if the absolute value of the lateral acceleration is greater than the lateral tilt threshold, and the absolute value of the longitudinal acceleration is greater than the longitudinal tilt threshold, then determine that the vehicle body is tilted simultaneously laterally and longitudinally; and if the absolute value of the lateral acceleration is less than or equal to the lateral tilt threshold, and the absolute value of the longitudinal acceleration is less than or equal to the longitudinal tilt threshold, then determine that the vehicle body is stable.

[0048] In some embodiments, the target detection module 20 can also be used for: if the vehicle body is tilted laterally or the vehicle body is tilted simultaneously laterally and longitudinally, the left or right tilt direction of the vehicle body is determined according to the positive or negative sign of the lateral acceleration; if the vehicle body is tilted to the left, and the height value of the left front air spring is greater than the height value of the right front air spring, the left front air spring and the right front air spring are determined to be the target spring group; if the vehicle body is tilted to the left, and the height value of the left rear air spring is greater than the height value of the right rear air spring, the left rear air spring and the right rear air spring are determined to be the target spring group; if the vehicle body is tilted to the right, and the height value of the left front air spring is less than the height value of the right front air spring, the left front air spring and the right front air spring are determined to be the target spring group; and if the vehicle body is tilted to the right, and the height value of the left rear air spring is less than the height value of the right rear air spring, the left rear air spring and the right rear air spring are determined to be the target spring group.

[0049] Furthermore, in one embodiment, the target detection module 20 can also be used to: if the vehicle body is tilted longitudinally, determine the front and rear tilt direction of the vehicle body according to the positive and negative longitudinal acceleration; if the vehicle body is tilted toward the front, and the height value of the left front air spring is greater than the height value of the left rear air spring, determine the left front air spring and the left rear air spring as the target spring group; if the vehicle body is tilted toward the front, and the height value of the right front air spring is greater than the height value of the right rear air spring, determine the right front air spring and the right rear air spring as the target spring group; if the vehicle body is tilted toward the rear, and the height value of the left front air spring is less than the height value of the left rear air spring, determine the left front air spring and the left rear air spring as the target spring group; and if the vehicle body is tilted toward the rear, and the height value of the right front air spring is less than the height value of the right rear air spring, determine the right front air spring and the right rear air spring as the target spring group.

[0050] In some embodiments, the target detection module 20 may also be configured to determine that the target spring group does not exist if the vehicle body is stable.

[0051] In some embodiments, the leveling module 30 can also be used for: for the target spring group, defining the air spring with a larger height value as the first air spring, and defining the air spring with a smaller height value as the second air spring, recording the initial height value of the first air spring as the first height value, and recording the initial height value of the second air spring as the second height value; calculating the vehicle body height difference according to the acceleration in the arrangement direction of the target spring group, the acceleration of gravity and the wheelbase; calculating the difference between the stretching limit height value of the air spring and the first height value to obtain the maximum stretching stroke, and calculating the difference between the second height value and the compression limit height value of the air spring to obtain the maximum compression stroke; determining the inflation adjustment amount of the first air spring and the deflation adjustment amount of the second air spring according to the vehicle body height difference, the maximum stretching stroke and the maximum compression stroke, wherein the inflation adjustment amount is less than or equal to the maximum stretching stroke, and the deflation adjustment amount is less than or equal to the maximum compression stroke; and controlling the inflation of the first air spring according to the inflation adjustment amount, and controlling the deflation of the second air spring according to the deflation adjustment amount, so as to make the vehicle body posture tend to be stable.

[0052] In some embodiments, the leveling module 30 can also be used to: divide the vehicle height difference by 2 to obtain a reference adjustment amount; determine the smaller of the maximum extension stroke and the reference adjustment amount as the inflation adjustment amount of the first air spring; and determine the smaller of the maximum compression stroke and the reference adjustment amount as the deflation adjustment amount of the second air spring.

[0053] The functional implementation of each module in the above-mentioned air suspension static leveling device corresponds to each step in the above-mentioned air suspension static leveling method embodiment, and their functions and implementation processes are not repeated here one by one.

[0054] According to a third aspect of the present disclosure, an air suspension static leveling device is provided. The air suspension static leveling device may be a device with a data processing function, such as a personal computer (PC), a laptop computer, or a server.

[0055] FIG3 shows a schematic diagram of the hardware structure of an air suspension static leveling device according to some embodiments of the present disclosure.

[0056] 3 , in an embodiment of the present disclosure, an air suspension static leveling device may include a processor, a memory, a communication interface, and a communication bus. The communication bus may be of any type for interconnecting the processor, the memory, and the communication interface.

[0057] Communication interfaces include input / output (I / O) interfaces, physical interfaces, and logical interfaces, used to interconnect components within the air suspension static leveling system, as well as interfaces used to interconnect the air suspension static leveling system with other devices (such as other computing devices or user devices). Physical interfaces can be Ethernet, fiber, or ATM interfaces; user devices can be displays or keyboards.

[0058] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0059] The processor may be a general-purpose processor that can invoke an air suspension static leveling program stored in memory and execute the air suspension static leveling method provided by the embodiments of the present disclosure. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the air suspension static leveling program is invoked can be referred to in the various embodiments of the air suspension static leveling method disclosed herein and will not be further described here.

[0060] Those skilled in the art will understand that the hardware structure shown in FIG3 does not constitute a limitation on the present disclosure, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0061] According to a fourth aspect of the present disclosure, a readable storage medium is provided.

[0062] The readable storage medium of the present disclosure stores an air suspension static leveling program. When the air suspension static leveling program is executed by a processor, it prompts the processor to implement the steps of the air suspension static leveling method as described above.

[0063] The method implemented when the air suspension static leveling program is executed can refer to the various embodiments of the air suspension static leveling method disclosed in the present invention, and will not be described in detail here.

[0064] It should be noted that the serial numbers of the above-mentioned embodiments of the present disclosure are only for description and do not represent the advantages or disadvantages of the embodiments.

[0065] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course, by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device to execute the methods described in each embodiment of the present disclosure.

[0066] In the present disclosure, when the vehicle is at rest, the vehicle body posture is determined based on the lateral acceleration and longitudinal acceleration of the vehicle; based on the vehicle body posture and the height of the air spring, it is detected whether there is a target spring group, which is two air springs arranged side by side in the lateral or longitudinal direction, and the vehicle body is tilted toward the side where the air spring with the larger height value is located; for the target spring group, the air spring with the larger height value is controlled to be inflated, and the air spring with the smaller height value is controlled to be deflated, so that the vehicle body posture tends to be stable. Through the present disclosure, when the non-horizontal road surface causes the vehicle body posture to be obviously mismatched with the height of the air spring, the target spring group is determined, and the target spring group is controlled to be inflated and deflated in a manner different from the conventional strategy, so that the vehicle body posture tends to be stable, thereby improving the user's driving experience.

[0067] The above are only preferred embodiments of the present disclosure and are not intended to limit the patent scope of the present disclosure. Any equivalent structure or equivalent process transformation made using the contents of the present disclosure and the drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present disclosure.

Claims

1. A static leveling method for an air suspension, comprising: When the vehicle is stationary, the body posture is determined based on the lateral acceleration and longitudinal acceleration of the vehicle; Detecting whether there is a target spring group based on the vehicle body posture and the height of the air spring. The target spring group is two air springs arranged side by side in the transverse or longitudinal direction, and the vehicle body is tilted toward the side where the air spring with a larger height value is located; as well as For the target spring group, the air spring with a larger height value is controlled to be inflated, and the air spring with a smaller height value is controlled to be deflated, so as to stabilize the vehicle body posture.

2. The static leveling method of air suspension according to claim 1, wherein: The step of determining the vehicle body posture according to the lateral acceleration and longitudinal acceleration of the vehicle comprises: If the absolute value of the lateral acceleration is greater than the lateral tilt threshold, and the absolute value of the longitudinal acceleration is less than or equal to the longitudinal tilt threshold, then it is determined that the vehicle body is tilted lateraly; If the absolute value of the longitudinal acceleration is greater than the longitudinal tilt threshold, and the absolute value of the lateral acceleration is less than or equal to the lateral tilt threshold, then the longitudinal tilt of the vehicle body is determined; If the absolute value of the lateral acceleration is greater than the lateral tilt threshold, and the absolute value of the longitudinal acceleration is greater than the longitudinal tilt threshold, it is determined that the vehicle body is tilted both laterally and longitudinally; and If the absolute value of the lateral acceleration is less than or equal to the lateral tilt threshold, and the absolute value of the longitudinal acceleration is less than or equal to the longitudinal tilt threshold, it is determined that the vehicle body is stable.

3. The static leveling method of air suspension according to claim 2, wherein: The step of detecting whether there is a target spring group according to the vehicle body posture and the height of the air spring comprises: If the vehicle body tilts laterally or tilts both longitudinally and laterally, the left-right tilt direction of the vehicle body is determined based on the positive or negative sign of the lateral acceleration; If the vehicle body tilts to the left, and the height value of the left front air spring is greater than the height value of the right front air spring, the left front air spring and the right front air spring are determined to be the target spring group; If the vehicle body tilts toward the left side, and the height value of the left rear air spring is greater than the height value of the right rear air spring, the left rear air spring and the right rear air spring are determined to be the target spring group; If the vehicle body is tilted toward the right side, and the height value of the left front air spring is less than the height value of the right front air spring, the left front air spring and the right front air spring are determined to be the target spring group; and If the vehicle body tilts toward the right side, and the height value of the left rear air spring is smaller than the height value of the right rear air spring, the left rear air spring and the right rear air spring are determined to be the target spring group.

4. The static leveling method of air suspension according to claim 2, wherein: The step of detecting whether there is a target spring group according to the vehicle body posture and the height of the air spring comprises: If the vehicle body tilts longitudinally, the front-to-back tilt direction of the vehicle body is determined according to the positive or negative longitudinal acceleration; If the vehicle body is tilted toward the front, and the height value of the left front air spring is greater than the height value of the left rear air spring, the left front air spring and the left rear air spring are determined to be the target spring group; If the vehicle body is tilted toward the front side, and the height value of the right front air spring is greater than the height value of the right rear air spring, the right front air spring and the right rear air spring are determined to be the target spring group; If the vehicle body is tilted toward the rear side, and the height value of the left front air spring is less than the height value of the left rear air spring, then the left front air spring and the left rear air spring are determined to be the target spring group; and If the vehicle body is tilted toward the rear, and the height value of the right front air spring is smaller than the height value of the right rear air spring, the right front air spring and the right rear air spring are determined to be the target spring group.

5. The static leveling method of air suspension according to claim 2, characterized in that: The step of detecting whether there is a target spring group according to the vehicle body posture and the height of the air spring comprises: If the vehicle body is stable, it is determined that the target spring set does not exist.

6. The static leveling method of air suspension according to claim 1, wherein: The step of controlling the inflation of the air spring with a larger height value and the deflation of the air spring with a smaller height value for the target spring group so as to stabilize the vehicle body posture comprises: For the target spring group, define the air spring with a larger height value as the first air spring, define the air spring with a smaller height value as the second air spring, record the initial height value of the first air spring as the first height value, and record the initial height value of the second air spring as the second height value; The vehicle height difference is calculated based on the acceleration in the target spring group arrangement direction, the gravity acceleration and the wheelbase; The difference between the stretch limit height value of the air spring and the first height value is calculated to obtain the maximum stretch stroke, and the difference between the second height value and the compression limit height value of the air spring is calculated to obtain the maximum compression stroke; Determining an inflation adjustment amount of the first air spring and an deflation adjustment amount of the second air spring according to the vehicle body height difference, the maximum extension stroke, and the maximum compression stroke, wherein the inflation adjustment amount is less than or equal to the maximum extension stroke, and the deflation adjustment amount is less than or equal to the maximum compression stroke; and The inflation of the first air spring is controlled according to the inflation adjustment amount, and the deflation of the second air spring is controlled according to the deflation adjustment amount, so that the vehicle body posture tends to be stable.

7. The static leveling method of air suspension according to claim 6, wherein: The step of determining the inflation adjustment amount of the first air spring and the deflation adjustment amount of the second air spring according to the vehicle body height difference, the maximum extension stroke and the maximum compression stroke comprises: Divide the vehicle height difference by 2 to obtain the reference adjustment amount; Determine the smaller of the maximum extension stroke and the reference adjustment amount as the inflation adjustment amount of the first air spring; and The smaller one of the maximum compression stroke and the reference adjustment amount is determined as the deflation adjustment amount of the second air spring.

8. An air suspension static leveling device, comprising: A posture determination module is used to determine the body posture according to the lateral acceleration and longitudinal acceleration of the vehicle when the vehicle is stationary; The target detection module is used to detect whether there is a target spring group according to the body posture and the height of the air spring. The target spring group is two air springs arranged side by side in the transverse or longitudinal direction, and the body is tilted toward the side where the air spring with a larger height value is located; as well as The leveling module is used to control the inflation of the air spring with a larger height value and the deflation of the air spring with a smaller height value for the target spring group, so as to stabilize the vehicle body posture.

9. An air suspension static leveling device, comprising a processor, a memory, and an air suspension static leveling program stored in the memory and executable by the processor, wherein when the air suspension static leveling program is executed by the processor, the processor is prompted to implement the steps of the air suspension static leveling method as described in any one of claims 1 to 7.

10. A readable storage medium having an air suspension static leveling program stored thereon, wherein when the air suspension static leveling program is executed by a processor, the processor is prompted to implement the steps of the air suspension static leveling method according to any one of claims 1 to 7.

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