Vehicle control method and vehicle

Abstract

The present application provides a vehicle control method and a vehicle, and aims to solve the problem in existing vehicles of there being a risk of chassis collision when exiting a hill hold function. For this purpose, the control method of the present application comprises: when an instruction to exit a hill hold function is received, adjusting the height of an axle of a vehicle to an initial height by means of a fully active suspension, the initial height being the height of the axle prior to activation of the hill hold function, and the axle comprising a front axle and / or a rear axle of the vehicle; and inflating and / or deflating an air spring suspension, so that the air spring suspension supports the axle in place of the fully active suspension.

Description

Vehicle control method and vehicle

[0001] This application claims priority to Chinese patent application CN202311767949.X, filed on December 20, 2023, entitled “Vehicle Control Method and Vehicle”. The entire contents of the above Chinese patent application are incorporated into this application by reference. Technical Field

[0002] The present application relates to the field of vehicle technology, and specifically provides a vehicle control method and a vehicle. Background Art

[0003] In scenarios like camping, vehicles need to be parked on slopes for extended periods. Because the tilt of the vehicle body can affect the comfort of the driver and passengers, existing vehicles have added a hill hold function. When the hill hold function is activated, the vehicle adjusts the height of the front and rear axles to eliminate the height difference between the front and rear axles and keep the vehicle level. However, there is a risk of the vehicle bumping into the chassis when the hill hold function is deactivated.

[0004] Therefore, this field needs a new technical solution to solve the above problems.

[0005] Summary of the Invention

[0006] The present application aims to solve the above technical problem, that is, to solve the problem that when existing vehicles exit the hill hold function, there is a risk of collision with the chassis.

[0007] In a first aspect, the present application provides a control method for a vehicle, wherein the vehicle includes an air spring suspension and a fully active suspension, the control method comprising:

[0008] Upon receiving an instruction to exit the hill hold function, adjusting the height of an axle of the vehicle to an initial height by the fully active suspension, the initial height being the height of the axle before the hill hold function is activated, the axle including the front axle and / or the rear axle of the vehicle;

[0009] The corresponding air spring suspension is inflated and / or deflated so that the air spring suspension takes over the full active suspension to support the axle.

[0010] In a preferred technical solution of the above vehicle control method, before executing the step of “adjusting the height of the axle of the vehicle to the initial height by the fully active suspension”, the control method further includes:

[0011] determining whether the height of the axle is adjusted to the initial height by raising the height of the axle;

[0012] If the determination result is "yes", the step of "adjusting the height of the axle of the vehicle to the initial height by the full active suspension" is performed.

[0013] In a preferred technical solution of the above vehicle control method, the control method further includes:

[0014] If the determination result is “no”, comparing the difference between the current height of the axle and the initial height with a first preset value;

[0015] If the difference is greater than the first preset value, executing the step of “adjusting the height of the axle of the vehicle to an initial height by the fully active suspension”;

[0016] If the difference is not greater than the first preset value, the height of the axle is adjusted to the initial height by the air spring suspension.

[0017] In a preferred technical solution of the above vehicle control method, the control method further includes:

[0018] If the determination result is "NO", the height of the axle is adjusted to the initial height by the air spring suspension.

[0019] In a preferred technical solution of the above vehicle control method, the control method further includes:

[0020] Upon receiving a command to activate the hill hold function, the axle is adjusted to a target height via the air spring suspension.

[0021] In the preferred technical solution of the above vehicle control method, the step of “adjusting the axle to the target height by the air spring suspension” specifically includes:

[0022] obtaining a height difference between the front axle and the rear axle;

[0023] comparing the height difference with a second preset value, the second preset value being a maximum allowable elongation value of the air spring suspension;

[0024] If the height difference is not greater than the second preset value and the front axle is higher than the rear axle, raising the rear axle to the target height by the air spring suspension, where the target height is the current height of the front axle;

[0025] If the height difference is not greater than the second preset value and the front axle is lower than the rear axle, the front axle is raised to the target height by the air spring suspension, where the target height is the current height of the rear axle.

[0026] In a preferred technical solution of the above vehicle control method, the step of “adjusting the axle to a target height by using the air spring suspension” further includes:

[0027] If the height difference is greater than the second preset value, further comparing the height difference with a third preset value, where the third preset value is the sum of the second preset value and the maximum allowable compression value of the air spring suspension;

[0028] If the height difference is greater than the second preset value and not greater than the third preset value and the front axle is higher than the rear axle, raising the rear axle to the target height and lowering the front axle to the target height by the air spring suspension, where the target height is the sum of the initial height of the rear axle and the second preset value;

[0029] If the height difference is greater than the second preset value and not greater than the third preset value and the front axle is lower than the rear axle, raising the front axle to the target height and lowering the rear axle to the target height by the air spring suspension, where the target height is the sum of the initial height of the front axle and the second preset value;

[0030] If the height difference is greater than the third preset value and the front axle is higher than the rear axle, the rear axle is raised to a first target height and the front axle is lowered to a second target height by the air spring suspension, where the first target height is the sum of the initial height of the rear axle and the second preset value, and the second target height is the difference between the initial height of the front axle and the maximum allowable compression value of the air spring suspension;

[0031] If the height difference is greater than the third preset value and the front axle is lower than the rear axle, the front axle is raised to a first target height and the rear axle is lowered to a second target height through the air spring suspension, where the first target height is the sum of the initial height of the front axle and the second preset value, and the second target height is the difference between the initial height of the rear axle and the maximum allowable compression value of the air spring suspension.

[0032] In a preferred technical solution of the above vehicle control method, the control method further includes:

[0033] After the air spring suspension completes inflation and / or deflation, the vertical force output by the fully active suspension is gradually reduced to zero.

[0034] In a preferred technical solution of the above vehicle control method, the control method further includes:

[0035] While executing the step of "inflating and / or deflating the corresponding air spring suspension", the vertical force output by the fully active suspension is gradually reduced to zero.

[0036] In a second aspect, the present application also provides a vehicle, comprising a controller configured to execute the above-mentioned control method.

[0037] When adopting the above technical solution, when the vehicle of the present application exits the hill hold function, the front axle and / or rear axle of the vehicle are adjusted to the initial height through the fully active suspension, which has a faster adjustment speed and can effectively reduce the risk of hitting the chassis.

[0038] Furthermore, when receiving an instruction to exit the hill hold function, the present application first determines whether to return the axle to its initial height by raising the axle height, and chooses to adjust the axle height by using a fully active suspension or an air spring suspension based on the determination result. In this way, if it is necessary to return the axle to its initial height by lowering the axle height, the axle height can also be adjusted by using an air spring suspension, which is more efficient while ensuring that the chassis will not be hit.

[0039] Furthermore, in the case where it is necessary to return the axle to its initial height by lowering the height of the axle, the present application further determines whether the difference between the current height of the axle and the initial height is greater than a first preset value, and chooses to adjust the height of the axle through a fully active suspension or an air spring suspension based on the judgment result. In this way, in the case where the difference between the current height of the axle and the initial height is greater than the first preset value, adjusting the height of the axle through a fully active suspension can better avoid the situation of hitting the chassis.

[0040] Furthermore, when the present application receives an instruction to start the hill hold function, it is preferred to level the vehicle body by raising the height of the lower axle, which can further reduce the risk of hitting the chassis.

[0041] In addition, the vehicle further provided by the present application on the basis of the above-mentioned technical solution includes the control method of the above-mentioned vehicle, and thus has the technical effects possessed by the control method of the above-mentioned vehicle. Compared with the vehicle before the improvement, the vehicle of the present application has a lower risk of hitting the chassis when exiting the slope holding function. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The preferred embodiments of the present application are described below with reference to the accompanying drawings, in which:

[0043] FIG1 is a flowchart of a vehicle control method according to an embodiment of the present application. DETAILED DESCRIPTION

[0044] The preferred embodiments of the present application are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that, although the steps of the control method of the present application are described in a specific order in the description of the present application, these orders are not restrictive, and those skilled in the art may perform the steps in a different order without departing from the basic principles of the present application.

[0045] Specifically, the present application provides a vehicle, which includes an air spring suspension and a fully active suspension, and the air spring suspension and the fully active suspension are both communicatively connected to a controller of the vehicle.

[0046] Exemplarily, there are four air spring suspensions, which are respectively installed at the four wheels of the vehicle. The air spring suspensions installed at the two front wheels are used to adjust the height of the front axle, and the air spring suspensions installed at the two rear wheels are used to adjust the height of the rear axle. By inflating the air spring suspension, the height of the axle can be raised, and by deflating the air spring suspension, the height of the axle can be lowered.

[0047] There are also four fully active suspensions, which are respectively installed at the four wheels of the vehicle. The fully active suspensions installed at the two front wheels are used to adjust the height of the front axle, and the fully active suspensions installed at the two rear wheels are used to adjust the height of the rear axle. By making the fully active suspension output a positive vertical force, the height of the axle can be increased, and by making the fully active suspension output a negative vertical force, the height of the axle can be lowered. Among them, the fully active suspension preferably adopts an electro-hydraulic composite fully active suspension.

[0048] Based on the above vehicle, the present application provides a vehicle control method, as shown in FIG1 , the control method of the present application includes:

[0049] S100: upon receiving an instruction to exit the hill hold function, adjusting the height of an axle of the vehicle to an initial height through the fully active suspension, where the initial height is the height of the axle before the hill hold function is activated, the axle including the front axle and / or the rear axle of the vehicle;

[0050] S200: Inflate and / or deflate the corresponding air spring suspension, so that the air spring suspension takes over the full active suspension to support the axle.

[0051] The applicant has found that existing vehicles with hill hold functions all use air spring suspension to adjust the height of the front and / or rear axles of the vehicle after the hill hold function is activated. When the vehicle needs to exit the hill hold function, the adjustment speed of the air spring suspension cannot meet the time requirements of the vehicle's switching process from stationary to moving, so it is easy for the chassis to be hit. Based on the above findings, when the vehicle of the present application exits the hill hold function, the height of the front and / or rear axles of the vehicle is first adjusted to the initial height through the fully active suspension. Compared with adjusting the height of the front and / or rear axles of the vehicle through the air spring suspension, the present application uses the fully active suspension to adjust the front and / or rear axles to the initial height, and the adjustment speed is faster, which can effectively reduce the risk of hitting the chassis.

[0052] It should be noted that when exiting the hill hold function, the height of the axle is first adjusted to the initial height by the fully active suspension, and then the air spring suspension takes over. While the air spring suspension is inflated and / or deflated, the vertical force output by the fully active suspension can be gradually reduced to zero. Alternatively, after the air spring suspension completes inflation and / or deflation, the vertical force output by the fully active suspension can be gradually reduced to zero. This flexible adjustment and change does not deviate from the principles and scope of this application and should be limited within the scope of protection of this application.

[0053] In addition, it should be noted that when entering the hill hold function, the fully active suspension and the air spring suspension can also be used in combination to keep the vehicle body level. Specifically, the fully active suspension can first adjust the height of the axle to the target height, and then the air spring suspension can take over. While the air spring suspension is inflated and / or deflated, the vertical force output by the fully active suspension can be gradually reduced to zero. Alternatively, after the air spring suspension is inflated and / or deflated, the vertical force output by the fully active suspension can be gradually reduced to zero. This solution should also be limited within the scope of protection of this application.

[0054] In addition, it should be pointed out that if the height of the axle is raised through the fully active suspension, the corresponding air spring suspension needs to be inflated so that the air spring suspension can replace the fully active suspension. Conversely, if the height of the axle is lowered through the fully active suspension, the corresponding air spring suspension needs to be deflated so that the air spring suspension can replace the fully active suspension.

[0055] In the first preferred scenario, before executing the step of “adjusting the height of the vehicle axle to the initial height through the fully active suspension”, the control method of the present application further includes:

[0056] Determine whether the height of the axle is adjusted to the initial height by raising the height of the axle;

[0057] If the determination result is “yes”, the step of “adjusting the height of the vehicle's axle to the initial height by the fully active suspension” is performed;

[0058] If the determination result is "NO", the height of the axle is adjusted to the initial height by the air spring suspension.

[0059] That is to say, when exiting the hill hold function, if the height of the axle needs to be raised, the height of the axle is raised through the fully active suspension. Conversely, if the height of the axle needs to be lowered, the height of the axle is lowered through the air spring suspension.

[0060] Taking going uphill as an example, after the vehicle is parked, the front axle of the vehicle is higher than the rear axle of the vehicle. After the hill hold function is activated, if the current height of the front axle is used as a reference, the height of the rear axle is raised to make the vehicle body level. When the hill hold function is exited, the air spring suspension at the rear axle lowers the height of the rear axle to the initial height. Conversely, if the current height of the rear axle is used as a reference, the height of the front axle is lowered to make the vehicle body level. When the hill hold function is exited, the full active suspension at the front axle raises the height of the front axle to the initial height.

[0061] In the second preferred scenario, before executing the step of “adjusting the height of the vehicle axle to the initial height through the fully active suspension”, the control method of the present application further includes:

[0062] Determine whether the height of the axle is adjusted to the initial height by raising the height of the axle;

[0063] If the determination result is “yes”, the step of “adjusting the height of the vehicle's axle to the initial height by the fully active suspension” is performed;

[0064] If the determination result is “no”, comparing the difference between the current height and the initial height of the axle with a first preset value;

[0065] If the difference is greater than the first preset value, executing the step of “adjusting the height of the axle of the vehicle to the initial height by the fully active suspension”;

[0066] If the difference is not greater than the first preset value, the height of the axle is adjusted to the initial height by the air spring suspension.

[0067] That is to say, when exiting the hill hold function, if the height of the axle needs to be raised, the height of the axle is raised by the fully active suspension. Conversely, if the height of the axle needs to be lowered, it is necessary to judge based on the comparison result of the difference between the current height and the initial height of the axle and the first preset value. If the difference is greater than the first preset value, the height of the axle is lowered by the fully active suspension. Conversely, if the difference is not greater than the first preset value, the height of the axle is lowered by the air spring suspension.

[0068] Taking uphill as an example, the first preset value is 20mm. After the vehicle is parked, the front axle of the vehicle is higher than the rear axle of the vehicle, and the height difference between the front axle and the rear axle is 30mm. After the hill hold function is started, if the current height of the rear axle is used as a reference, the vehicle body is kept level by lowering the height of the front axle by 30mm. When the hill hold function is exited, the height of the front axle is raised by 30mm through the fully active suspension at the front axle and returns to the initial height. Conversely, if the current height of the front axle is used as a reference, the vehicle body is level by raising the height of the rear axle by 30mm. When the hill hold function is exited, the height of the rear axle needs to be lowered. The difference between the current height of the rear axle and its initial height is 30mm, which is greater than the first preset value. In this case, the height of the rear axle is also lowered to the initial height through the fully active suspension.

[0069] It should be noted that the first preset value is not limited to the above-mentioned 20 mm. Those skilled in the art can flexibly set the specific value of the first preset value for different vehicle models based on experiments or experience in actual applications.

[0070] Preferably, the control method of the present application further comprises: upon receiving an instruction to start the hill hold function, adjusting the axle to a target height via the air spring suspension.

[0071] That is to say, when the instruction to start the hill hold function is received, the height of the axle is adjusted by the air spring suspension, wherein only the height of the front axle can be adjusted, or only the height of the rear axle can be adjusted, or the height of the front and rear axles can be adjusted at the same time. Such flexible adjustment and change does not deviate from the principle and scope of the present application and should be limited within the scope of protection of the present application.

[0072] Preferably, the step of “adjusting the axle to the target height by using the air spring suspension” specifically includes:

[0073] Get the height difference between the front and rear axles;

[0074] For example, the vehicle's tilt angle a can be detected by a sensor, and the height difference between the front axle and the rear axle is h=L / sina, where L is the distance between the front axle and the rear axle, and the specific value of L is stored in the vehicle's controller.

[0075] comparing the height difference with a second preset value, the second preset value being a maximum allowable elongation value of the air spring suspension;

[0076] If the height difference is not greater than a second preset value and the front axle is higher than the rear axle, the rear axle is raised to a target height by the air spring suspension, where the target height is the current height of the front axle;

[0077] If the height difference is not greater than the second preset value and the front axle is lower than the rear axle, the front axle is raised to the target height by the air spring suspension, and the target height is the current height of the rear axle.

[0078] That is to say, after starting the hill hold function, first determine whether the height difference between the front axle and the rear axle is greater than the maximum allowable extension value of the air spring suspension. If the height difference is not greater than the maximum allowable extension value, the axle with a higher height is used as the basis, and the axle with a lower height is lifted through the air spring suspension.

[0079] Taking uphill as an example, the front axle of the vehicle is higher than the rear axle, and the maximum allowable elongation of the air spring suspension is 70mm. After the hill hold function is activated, if the height difference between the front axle and the rear axle is not greater than 70mm, the front axle of the vehicle is used as the reference, and the rear axle is lifted to the same height as the front axle through the air spring suspension at the rear axle of the vehicle.

[0080] It should be noted that the specific numerical value of the maximum allowable elongation of the air spring suspension is not limited to the above-mentioned 70 mm. In actual applications, those skilled in the art can flexibly set the specific numerical value of the maximum allowable elongation of the air spring suspension for different models of air spring suspension based on experiments or experience.

[0081] Preferably, the step of “adjusting the axle to the target height by the air spring suspension” further comprises:

[0082] If the height difference is greater than the second preset value, further comparing the height difference with a third preset value, where the third preset value is the sum of the second preset value and the maximum allowable compression value of the air spring suspension;

[0083] If the height difference is greater than the second preset value and not greater than the third preset value and the front axle is higher than the rear axle, the rear axle is raised to a target height and the front axle is lowered to a target height by the air spring suspension, where the target height is the sum of the initial height of the rear axle and the second preset value;

[0084] If the height difference is greater than the second preset value and not greater than the third preset value and the front axle is lower than the rear axle, the front axle is raised to a target height and the rear axle is lowered to a target height by the air spring suspension, where the target height is the sum of the initial height of the front axle and the second preset value;

[0085] If the height difference is greater than a third preset value and the front axle is higher than the rear axle, the rear axle is raised to a first target height and the front axle is lowered to a second target height by the air spring suspension, where the first target height is the sum of the initial height of the rear axle and the second preset value, and the second target height is the difference between the initial height of the front axle and the maximum allowable compression value of the air spring suspension;

[0086] If the height difference is greater than the third preset value and the front axle is lower than the rear axle, the front axle is raised to a first target height and the rear axle is lowered to a second target height through the air spring suspension. The first target height is the sum of the initial height of the front axle and the second preset value, and the second target height is the difference between the initial height of the rear axle and the maximum allowable compression value of the air spring suspension.

[0087] That is to say, when the height difference between the front axle and the rear axle of the vehicle is greater than the maximum allowable extension value of the air spring suspension, continue to judge whether the height difference between the front axle and the rear axle is greater than the third preset value (the third preset value is the sum of the maximum allowable extension value and the maximum allowable compression value of the air spring suspension). If the height difference is not greater than the third preset value, the sum of the current height of the axle with a lower height and the maximum allowable extension value of the air spring suspension is used as the target height, and the axle with a lower height is lifted by the air spring suspension, and the lifted height value is equal to the maximum allowable extension value of the air spring suspension, and the axle with a higher height is lowered by the air spring suspension, and the lowered height value is equal to the difference between the height difference between the front axle and the rear axle and the maximum allowable extension value of the air spring suspension.

[0088] On the contrary, if the height difference is greater than the third preset value, the target height of the front axle of the vehicle is different from the target height of the rear axle. Specifically, the target height of the axle with a lower height (referred to as the first target height) is the sum of its current height and the maximum allowable extension value of the air spring suspension. The axle is lifted by the air spring suspension, and the lifted height value is equal to the maximum allowable extension value of the air spring suspension. The target height of the axle with a higher height (referred to as the second target height) is the difference between its current height and the maximum allowable compression value of the air spring suspension. The axle is lowered by the air spring suspension, and the lowered height value is equal to the maximum allowable compression value of the air spring suspension.

[0089] Taking uphill as an example, the front axle of the vehicle is higher than the rear axle of the vehicle, the maximum allowable extension of the air spring suspension is 70 mm, the maximum allowable compression of the air spring suspension is 60 mm, and the third preset value = 70 mm + 60 mm = 130 mm. After the hill hold function is activated, if the height difference h between the front and rear axles = 60 mm, and the height difference is not greater than the maximum allowable extension of the air spring suspension, the rear axle is lifted by 60 mm by the air spring suspension at the rear axle of the vehicle; if the height difference h between the front and rear axles = 100 mm, and the height difference is greater than the maximum allowable extension of the air spring suspension but not greater than the third preset value, the rear axle is lifted by 70 mm by the air spring suspension at the rear axle of the vehicle, and the front axle is lowered by 30 mm by the air spring suspension at the front axle of the vehicle; if the height difference h between the front and rear axles = 140 mm, and the height difference is greater than the third preset value, the rear axle is lifted by 70 mm by the air spring suspension at the rear axle of the vehicle, and the front axle is lowered by 60 mm by the air spring suspension at the front axle of the vehicle.

[0090] It should be noted that the specific numerical value of the maximum allowable compression value of the air spring suspension is not limited to the above-mentioned 60 mm. In actual applications, those skilled in the art can flexibly set the specific numerical value of the maximum allowable compression value of the air spring suspension for different models of air spring suspension based on experiments or experience.

[0091] In addition, it should be noted that the above-mentioned control methods are preferably executed by the controller of the vehicle of the present application.

[0092] In addition, it should be noted that the vehicle control method provided in this embodiment can be stored as a program in a computer-readable storage medium. The storage medium includes a number of instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute some of the steps of the methods of each embodiment of the present application. The aforementioned storage medium includes: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc., various media that can store program codes.

[0093] Those skilled in the art will appreciate that although some embodiments described herein include certain features included in other embodiments but not other features, combinations of features from different embodiments are intended to be within the scope of this application and to form different embodiments. For example, in the claims of this application, any of the claimed embodiments may be used in any combination.

[0094] Thus far, the technical solutions of the present application have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is readily understood by those skilled in the art that the scope of protection of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present application.

Claims

1. A vehicle control method, characterized in that: The vehicle includes an air spring suspension and a fully active suspension, and the control method includes: When receiving an instruction to exit the hill hold function, adjusting the height of the axle of the vehicle to an initial height through the fully active suspension, the initial height being the height of the axle before the hill hold function is activated, the axle including the front axle and / or the rear axle of the vehicle; The corresponding air spring suspension is inflated and / or deflated so that the air spring suspension takes over the full active suspension to support the axle.

2. The vehicle control method according to claim 1, characterized in that: Before executing the step of "adjusting the height of the axle of the vehicle to an initial height by the fully active suspension", the control method further includes: determining whether the height of the axle is adjusted to the initial height by raising the height of the axle; If the determination result is "yes", the step of "adjusting the height of the axle of the vehicle to the initial height through the fully active suspension" is executed.

3. The vehicle control method according to claim 2, characterized in that: The control method further comprises: If the determination result is "no", comparing the difference between the current height of the axle and the initial height with a first preset value; If the difference is greater than the first preset value, the step of "adjusting the height of the axle of the vehicle to the initial height by the fully active suspension" is performed; If the difference is not greater than the first preset value, the height of the axle is adjusted to the initial height by the air spring suspension.

4. The vehicle control method according to claim 2, characterized in that: The control method further comprises: If the result of the determination is "no", the height of the axle is increased by the air spring suspension. The height is adjusted to the initial height.

5. The vehicle control method according to claim 1, characterized in that: The control method further comprises: Upon receiving a command to initiate a hill hold function, the axle is adjusted to a target height via the air spring suspension.

6. The vehicle control method according to claim 5, characterized in that: The step of "adjusting the axle to the target height by the air spring suspension" specifically includes: Obtaining a height difference between the front axle and the rear axle; comparing the height difference with a second preset value, the second preset value being a maximum allowable elongation value of the air spring suspension; If the height difference is not greater than the second preset value and the front axle is higher than the rear axle, raising the rear axle to the target height by the air spring suspension, the target height being the current height of the front axle; If the height difference is not greater than the second preset value and the front axle is lower than the rear axle, the front axle is raised to the target height by the air spring suspension, and the target height is the current height of the rear axle.

7. The vehicle control method according to claim 6, characterized in that: The step of "adjusting the axle to a target height by the air spring suspension" further comprises: If the height difference is greater than the second preset value, further comparing the height difference with a third preset value, wherein the third preset value is the sum of the second preset value and the maximum allowable compression value of the air spring suspension; If the height difference is greater than the second preset value and not greater than the third preset value and the front axle is higher than the rear axle, the rear axle is raised to the target height and the front axle is lowered to the target height by the air spring suspension, and the target height is the sum of the initial height of the rear axle and the second preset value; If the height difference is greater than the second preset value and not greater than the third preset value and the front axle is lower than the rear axle, the front axle is raised to the height of the rear axle by the air spring suspension. A target height is set and the rear axle is lowered to the target height, wherein the target height is the sum of the initial height of the front axle and the second preset value; If the height difference is greater than the third preset value and the front axle is higher than the rear axle, the rear axle is raised to a first target height and the front axle is lowered to a second target height by the air spring suspension, wherein the first target height is the sum of the initial height of the rear axle and the second preset value, and the second target height is the difference between the initial height of the front axle and the maximum allowable compression value of the air spring suspension; If the height difference is greater than the third preset value and the front axle is lower than the rear axle, the front axle is raised to a first target height and the rear axle is lowered to a second target height through the air spring suspension, wherein the first target height is the sum of the initial height of the front axle and the second preset value, and the second target height is the difference between the initial height of the rear axle and the maximum allowable compression value of the air spring suspension.

8. The vehicle control method according to any one of claims 1 to 7, characterized in that: The control method further comprises: After the air spring suspension has completed inflation and / or deflation, the vertical force output by the full active suspension is gradually reduced to zero.

9. The vehicle control method according to any one of claims 1 to 7, characterized in that: The control method further comprises: While executing the step of "inflating and / or deflating the corresponding air spring suspension", the vertical force output by the fully active suspension is gradually reduced to zero.

10. A vehicle, characterized in that: The device comprises a controller configured to execute the control method according to any one of claims 1 to 9.

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