Synchronous cooperation method and apparatus for vehicle body pose, and electronic device and storage medium

Abstract

A synchronous cooperation method and apparatus for a vehicle body pose, and an electronic device and a storage medium. The synchronous cooperation method for a vehicle body pose comprises: acquiring a flow velocity difference value of oil in each lifting apparatus and a cooperative change step count of the flow velocity of a vehicle, wherein the flow velocity difference value is the difference between a target flow velocity and an initial flow velocity, and the cooperative change step count is the number of steps required when the flow velocities of oil in a plurality of lifting apparatuses reach the corresponding target flow velocity at the same time; determining a flow velocity variation of the oil in each lifting apparatus on the basis of the quotient of each flow velocity difference value and the cooperative change step count; on the basis of the sum of each flow velocity variation and the corresponding initial flow velocity, determining the current flow velocity of the oil in each lifting apparatus after one-step adjustment; and by using the current flow velocity as the initial flow velocity, adjusting the flow velocity of the oil in each lifting apparatus in multiple steps in a cyclical manner until the current flow velocity of the oil in each lifting apparatus is equal to the corresponding target flow velocity.

Description

Vehicle posture synchronization coordination method, device, electronic device and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] The embodiments of this application are based on and claim the priority of Chinese patent application with application number 202410125274.7 and application date January 29, 2024. The entire contents of the Chinese patent application are hereby introduced into the embodiments of this application as a reference. Technical Field

[0003] The present disclosure relates to the field of vehicle technology, and is related to, but not limited to, a method, device, electronic device, and storage medium for synchronous coordination of vehicle body posture. Background Art

[0004] The vehicle's body adjusts by adjusting the hydraulic suspension installed on each wheel to achieve changes in body posture. However, due to the different hydraulic system capabilities of the hydraulic suspension on each wheel, that is, the oil flow rate in each hydraulic suspension changes at different speeds, the hydraulic suspension is not coordinated during dynamic adjustment, resulting in significant differences in body posture changes.

[0005] Summary of the Invention

[0006] In view of this, embodiments of the present disclosure provide a method, device, electronic device, and storage medium for synchronous coordination of vehicle body posture.

[0007] In a first aspect, an embodiment of the present disclosure provides a vehicle body posture synchronization and coordination method, which is applied to electronic equipment in a vehicle, and the method includes:

[0008] Obtaining a flow rate difference value of the oil in each of the lifting devices and a coordinated change step number of the flow rate of the entire vehicle; the flow rate difference value is the difference between the target flow rate and the initial flow rate, and the coordinated change step number is the number of steps required for the flow rates of the oil in the multiple lifting devices to simultaneously reach the corresponding target flow rates;

[0009] determining a change in the flow rate of the oil in each of the lifting devices based on a quotient of each of the flow rate difference values ​​and the number of coordinated change steps;

[0010] determining a current flow rate of the oil in each lifting device after one-step adjustment based on the sum of each flow rate change and the corresponding initial flow rate;

[0011] The current flow rate is used as the initial flow rate, and the flow rate of the oil in each lifting device is adjusted in multiple steps until the current flow rate of the oil in each lifting device is equal to the corresponding target flow rate.

[0012] In a second aspect, an embodiment of the present disclosure provides a vehicle body posture synchronization and coordination device, the device comprising:

[0013] an acquisition module, configured to acquire a flow velocity difference value of the oil in each lifting device and a coordinated change step number of the flow velocity of the entire vehicle; the flow velocity difference value being the difference between the target flow velocity and the initial flow velocity; and the coordinated change step number being the number of steps required for the flow velocity of the oil in the plurality of lifting devices to simultaneously reach the corresponding target flow velocity;

[0014] a first determining module, configured to determine a change in the flow rate of the oil in each of the lifting devices based on a quotient of each of the flow rate difference values ​​and the number of coordinated change steps;

[0015] a second determining module, configured to determine a current flow rate of the oil in each lifting device after one-step adjustment based on the sum of each flow rate change and the corresponding initial flow rate;

[0016] The circulation module is used to use the current flow rate as the initial flow rate and adjust the flow rate of the oil in each lifting device in multiple steps until the current flow rate of the oil in each lifting device is equal to the corresponding target flow rate.

[0017] In a third aspect, an embodiment of the present disclosure provides an electronic device, comprising: a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, it implements any one of the methods described in the above embodiments.

[0018] In a fourth aspect, an embodiment of the present disclosure provides a computer storage medium on which a computer program is stored. When the computer program is executed by a processor, the method described in any one of the above embodiments is implemented.

[0019] In the disclosed embodiment, the number of steps for the oil flow rates corresponding to the multiple lifting devices to change to the corresponding target flow rates is the same, that is, the time taken to reach the corresponding target flow rates is the same, thereby avoiding the problem of inconsistent speed of change of the oil flow rates in the various lifting devices, allowing the various lifting devices to coordinate with each other during the dynamic adjustment process, thereby reducing the difference in changes in the vehicle body posture. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG1 is a schematic diagram of a first flow chart of a method for synchronous coordination of vehicle body postures provided by an embodiment of the present disclosure;

[0021] FIG2 is a second flow chart of a method for synchronously coordinating vehicle body postures according to an embodiment of the present disclosure;

[0022] FIG3 is a third flow chart of a method for synchronously coordinating vehicle body postures according to an embodiment of the present disclosure;

[0023] FIG4 is a fourth flow chart of a method for synchronously coordinating vehicle body postures according to an embodiment of the present disclosure;

[0024] FIG5 is a fifth flow chart of a method for synchronously coordinating vehicle body postures according to an embodiment of the present disclosure;

[0025] FIG6 is a schematic diagram of the composition framework of a vehicle body posture synchronization and coordination device provided by an embodiment of the present disclosure;

[0026] FIG7 is a schematic diagram of a hardware entity of an electronic device in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] The present disclosure is further described in detail below with reference to the accompanying drawings and embodiments.

[0028] It should be understood that the embodiments provided herein are merely intended to explain the present disclosure and are not intended to limit the present disclosure. In addition, the embodiments provided below are intended to be partial embodiments for implementing the present disclosure, rather than to provide all embodiments for implementing the present disclosure. In the absence of any conflict, the technical solutions described in the embodiments of the present disclosure may be implemented in any combination.

[0029] In the following description, the terms "first\second\..." are merely used to distinguish different objects, and do not imply that the objects are identical or connected.

[0030] It should be noted that the terms "include," "comprises," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising that element. The term "connected," unless otherwise specified, includes both direct and indirect connections.

[0031] Currently, the lifting device installed on each tire of a vehicle can be a hydraulic suspension. For example, the body of a special vehicle can achieve body posture adjustment through the hydraulic suspension installed on each wheel. Due to the different hydraulic system capabilities of each hydraulic suspension, the flow rate of the oil in each hydraulic suspension varies during the dynamic adjustment process of the hydraulic suspension. In other words, the flow rate changes in the hydraulic suspension are not coordinated with each other, resulting in significant differences in the body posture and instability.

[0032] Based on this, the embodiments of the present disclosure provide a synchronous and coordinated method, device, electronic device and storage medium for vehicle body posture, wherein the synchronous and coordinated method for vehicle body posture includes: obtaining the flow rate difference value of the oil in each lifting device, and the coordinated change steps of the flow rate of the entire vehicle; the flow rate difference value is the difference between the target flow rate and the initial flow rate, and the coordinated change steps are the number of steps required for the flow rate of the oil in multiple lifting devices to reach the corresponding target flow rate at the same time; based on the quotient of each flow rate difference value and the coordinated change steps, determining the flow rate change of the oil in each lifting device; based on the sum of each flow rate change and the corresponding initial flow rate, determining the current flow rate of the oil in each lifting device after one step of adjustment; using the current flow rate as the initial flow rate, adjusting the flow rate of the oil in each lifting device in multiple steps in a cycle until the current flow rate of the oil in each lifting device is equal to the corresponding target flow rate. In this way, the number of steps when the oil flow rate corresponding to multiple lifting devices changes to the corresponding target flow rate is the same, that is, the time to reach the corresponding target flow rate is the same, avoiding the problem of inconsistent speed of change of the oil flow rate in each lifting device, so that each lifting device can coordinate with each other during the dynamic adjustment process, thereby reducing the difference in changes in the vehicle body posture.

[0033] The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0034] An embodiment of the present disclosure provides a method for synchronous coordination of vehicle body posture. FIG1 is a flow chart of the method for synchronous coordination of vehicle body posture provided by an embodiment of the present disclosure. As shown in FIG1 , the method for synchronous coordination of vehicle body posture includes the following steps S110 to S140.

[0035] Step S110, obtain the flow rate difference value of the oil in each lifting device and the coordinated change steps of the vehicle flow rate; the flow rate difference value is the difference between the target flow rate and the initial flow rate, and the coordinated change steps are the number of steps required for the flow rates of the oil in multiple lifting devices to reach the corresponding target flow rates at the same time.

[0036] Here, the lifting device can be a hydraulic suspension. By regulating the flow of oil, a hydraulic suspension adjusts the damping coefficient while simultaneously locking the suspension or adjusting the vehicle's height. Because bumps caused by uneven roads can damage the vehicle during travel, a hydraulic suspension can control the flow rate of oil, ensuring more precise and stable operation. The number of lifting devices can be configured based on vehicle requirements. For example, the number of lifting devices can be 4, 6, 8, etc., and this disclosure is not limited to this.

[0037] Furthermore, the target flow rate is the flow rate of the oil in each lifting device when the vehicle body reaches a stable state; the initial flow rate is the instantaneous flow rate of the oil in each lifting device at the previous moment. The difference in the flow rate of the oil in each lifting device can be calculated using the following formula (1): Δv(k)i =v i -v(k-1) i Formula (1)

[0038] Where, Δv(k) i is the flow rate difference of the oil in the i-th lifting device, v i is the target flow rate of the oil in the i-th lifting device, v(k-1) i is the initial flow rate of the oil corresponding to the i-th lifting device; i∈[1,n], n is the total number of lifting devices.

[0039] In the real-time example disclosed herein, the number of steps required for each lifting device to reach its corresponding target flow rate is a coordinated change step number. For example, if the coordinated change step number is 5, it means that each lifting device has taken 5 steps to reach its corresponding target flow rate. This allows the oil flow rates in multiple lifting devices to reach their corresponding target flow rates simultaneously, facilitating coordination during dynamic adjustment of the lifting devices.

[0040] In step S120 , the flow rate change of the oil in each lifting device is determined based on the quotient of each flow rate difference value and the number of coordinated change steps.

[0041] Here, the flow rate change refers to the amount by which the flow rate of the oil in the lifting device changes during each adjustment step. Specifically, the flow rate change of the oil in each lifting device can be calculated using the following formula (2):

[0042] Where Δv(i, k) plusminus is the change in oil flow rate in the i-th lifting device, N(K) minusmins is the number of coordinated changes in vehicle flow rate, Δv(k) i is the flow rate difference of the oil in the i-th lifting device.

[0043] Step S130 , determining the current flow rate of the oil in each lifting device after one-step adjustment based on the sum of each flow rate change and the corresponding initial flow rate.

[0044] Here, the current flow rate is the flow rate of the oil in each lifting device after the one-step adjustment process, that is, the instantaneous flow rate at the current moment, wherein the difference between the previous moment and the current moment can be set according to actual needs, for example, it can be 10 milliseconds (ms), 20 ms, etc. Specifically, the current flow rate of the oil in each lifting device can be calculated by the following formula (3): v(k)' i =v(k-1) i +Δv(i, k) plusminusFormula (3)

[0045] Among them, v(k)' i is the current flow rate of the oil in the i-th lifting device, v(k-1) i is the corresponding initial flow rate of the oil in the i-th lifting device, Δv(i, k) plusminus is the change in oil flow rate in the i-th lifting device.

[0046] In step S140 , the current flow rate is used as the initial flow rate, and the flow rate of the oil in each lifting device is adjusted in a loop of multiple steps until the current flow rate of the oil in each lifting device is equal to the corresponding target flow rate.

[0047] Here, if the current flow rate of the oil in each lifting device is not equal to the corresponding target flow rate, the current flow rate of the oil in each lifting device is used as the corresponding initial flow rate as shown in formula (4), and the above steps S110 to S130 are repeated again. v(k)' i =v(k-1) i Formula (4)

[0048] This cycle is repeated as shown in formula (5) until the current flow rate of the oil in each lifting device is equal to the corresponding target flow rate, and then the flow rate adjustment of the oil in each lifting device is stopped. v(k)' i =v i Formula (5)

[0049] Among them, v(k)' i is the current flow rate of the oil in the i-th lifting device, v(k-1) i is the initial flow rate of the oil in the i-th lifting device, v i is the target flow rate of the oil in the i-th lifting device.

[0050] In the disclosed embodiment, the number of steps for the oil flow rates corresponding to the multiple lifting devices to change to the corresponding target flow rates is the same, that is, the time taken to reach the corresponding target flow rates is the same, thereby avoiding the problem of inconsistent speed of change of the oil flow rates in the various lifting devices, allowing the various lifting devices to coordinate with each other during the dynamic adjustment process, thereby reducing the difference in changes in the vehicle body posture.

[0051] The vehicle body posture synchronization and coordination method provided by the embodiment of the present disclosure is described in detail below with reference to the accompanying drawings.

[0052] In some embodiments, referring to FIG. 2 , in step S110 , the coordinated change steps of the entire vehicle flow rate are obtained, including step S111 and step S112 .

[0053] Step S111, obtaining the number of steps of increase in the flow rate of the entire vehicle and the number of steps of decrease in the flow rate of the entire vehicle.

[0054] In some embodiments, please refer to FIG. 3 , step S111 , obtaining the number of steps of increasing the flow rate of the entire vehicle and the number of steps of decreasing the flow rate of the entire vehicle, including steps S1111 to S1114 .

[0055] Step S1111, obtaining the increase control coefficient and the decrease control coefficient of the oil flow rate step number in each lifting device.

[0056] Specifically, based on the flow rate difference values ​​of the oil in the plurality of lifting devices, the total amount of flow rate increase and the total amount of flow rate decrease of the entire vehicle are determined.

[0057] During implementation, the total increase in the flow rate of the entire vehicle is determined based on the sum of the flow rate differences of the oil in the multiple lifting devices when they are greater than or equal to zero; and the total decrease in the flow rate of the entire vehicle is determined based on the absolute value of the sum of the flow rate differences of the oil in the multiple lifting devices when they are less than zero. Here, the total increase in the flow rate of the entire vehicle and the total decrease in the flow rate of the entire vehicle can be calculated using the following formula (6):

[0058] Where, Δv(K) allplus is the total increase in the vehicle's flow rate, Δv(K) allminus is the total reduction in flow velocity of the entire vehicle, Δv(k) i is the flow rate difference of the oil in the i-th lifting device.

[0059] Next, based on the total flow rate increase (of the entire vehicle), the total flow rate decrease (of the entire vehicle), and the flow rate difference value corresponding to each lifting device, the increase control coefficient and the corresponding decrease control coefficient corresponding to each lifting device are determined.

[0060] During implementation, the increase control coefficient corresponding to each lifting device is determined based on the total amount of flow rate increase and the flow rate difference value corresponding to each lifting device; the decrease control coefficient corresponding to each lifting device is determined based on the total amount of flow rate decrease and the absolute value of the flow rate difference value corresponding to each lifting device.

[0061] Here, the increase control coefficient of the oil flow rate step number in each lifting device is equal to the sum of the total increase in the flow rate of the entire vehicle and the corresponding oil flow rate difference value of the lifting device divided by the corresponding oil flow rate difference value of the lifting device; the decrease control coefficient of the oil flow rate step number in each lifting device is equal to the sum of the total decrease in the flow rate of the entire vehicle and the absolute value of the oil flow rate difference value of the corresponding lifting device divided by the absolute value of the oil flow rate difference value of the corresponding lifting device. Here, the increase control coefficient and decrease control coefficient of the oil flow rate step number in each lifting device are equal to the sum of the total decrease in the flow rate of the entire vehicle and the absolute value of the oil flow rate difference value of the corresponding lifting device.

[0062] b(i, k) minus is the reduction control coefficient of the oil flow rate step number in the i-th lifting device, Δv(K) allplus is the total increase in the vehicle's flow rate, Δv(K) allminus is the total reduction in flow velocity of the entire vehicle, Δv(k) i is the flow rate difference of the oil in the i-th lifting device.

[0063] From formula (7), we can know that if Δv(k) i Increase, then b(i, k) plus Decreases; on the contrary, if Δv(k) i Decrease, then b(i, k) plus Increase. Similarly, if |Δv(k) i | increases, then b(i, k) minus decreases; on the contrary, if |Δv(k) i |decreases, then b(i, k) minus Increase.

[0064] Step S1112: Obtain the minimum number of increasing steps and the minimum number of decreasing steps when the oil flow rate in each lifting device reaches the corresponding target flow rate.

[0065] Specifically, the maximum increase flow rate and the minimum decrease flow rate of the oil in each lifting device per unit time are obtained; the minimum increase step number of the oil flow rate in each lifting device is equal to the absolute value of the flow rate difference value of the oil in the lifting device divided by the maximum increase flow rate of the oil in the lifting device per unit time; the minimum decrease step number of the oil flow rate in each lifting device is equal to the absolute value of the flow rate difference value of the oil in the lifting device divided by the minimum decrease flow rate of the oil in the lifting device per unit time. Here, the minimum increase step number and the minimum decrease step number when the oil flow rate in each lifting device reaches the corresponding target flow rate can be obtained by

[0066] Δv(i) minusmax is the minimum reduction flow rate of the oil in the i-th lifting device per unit time, N(i, k) plusminis the minimum number of steps required for the oil flow rate in the i-th lifting device to reach the corresponding target flow rate, N(i, k) minusmin is the minimum number of reduction steps when the oil flow rate in the i-th lifting device reaches the corresponding target flow rate.

[0067] It should be noted that if the oil flow rate in the i-th lifting device exceeds Δv(i) per unit time, plusmax or Δv(i) minusmax , it may cause the risk of damage to the vehicle body lifting device and reduced service life. Among them, Δv(i) plusmax , Δv(i) minusmax Can be obtained through bench testing.

[0068] Step S1113, based on the increase control coefficient and the minimum increase steps, determine the total increase steps of the oil flow rate in each lifting device; and based on the decrease control coefficient and the minimum decrease steps, determine the total decrease steps of the oil flow rate in each lifting device.

[0069] Specifically, the total number of steps for increasing the oil flow rate in each lifting device is equal to the minimum number of steps for increasing the oil flow rate in the lifting device multiplied by the increase control coefficient of the number of steps for the oil flow rate in the lifting device; the total number of steps for decreasing the oil flow rate in each lifting device is equal to the minimum number of steps for decreasing the oil flow rate in the lifting device multiplied by the decrease control coefficient of the number of steps for the oil flow rate in the lifting device. Here, the total number of steps for increasing and decreasing the oil flow rate in each lifting device can be calculated using the following formula (9):

[0070] is the total number of steps of reducing the oil flow rate in the i-th lifting device, N(i, k) minusmin is the minimum number of reduction steps when the flow rate in the i-th lifting device reaches the corresponding target flow rate, N(i, k) plusmin is the minimum number of steps required for the flow rate in the i-th lifting device to reach the corresponding target flow rate, b(i, k) plus is the control coefficient for the increase in the number of oil flow rate steps in the i-th lifting device, b(i, k) minus is the reduction control coefficient of the oil flow rate step number in the i-th lifting device.

[0071] Step S1114: determining the maximum value among the plurality of total increasing step numbers as the flow rate increasing step number; and determining the maximum value among the plurality of total decreasing step numbers as the flow rate decreasing step number.

[0072] Specifically, the number of steps of increasing the flow rate of the entire vehicle is equal to the total number of steps of increasing the oil flow rate in all lifting devices, the maximum value when the flow rate difference is greater than or equal to zero; the number of steps of decreasing the flow rate of the entire vehicle is equal to the total number of steps of decreasing the oil flow rate in all lifting devices, the maximum value when the flow rate difference is less than zero. Here, the number of steps of increasing the flow rate of the entire vehicle and the number of steps of decreasing the flow rate of the entire vehicle can be calculated using the following formula (10):

[0073] Number of small steps, N(i, k) plus is the total number of steps of increase in oil flow rate in the i-th lifting device, N(i, k) minus is the total number of steps of reduction in the oil flow rate in the i-th lifting device.

[0074] Step S112: The maximum value of the flow rate increase step number and the flow rate decrease step number is determined as the coordinated change step number.

[0075] Here, the number of coordinated changes in the vehicle flow rate is equal to the maximum of the number of steps of increase in the vehicle flow rate and the number of steps of decrease in the vehicle flow rate. It can be calculated using the following formula (11): N(K) plusminus =max(N(K) plusmin ,N(K) minusmin ) Formula (11)

[0076] Among them, N(K) plusminus is the number of coordinated change steps.

[0077] In some embodiments, referring to FIG. 4 , in step S120 , the flow rate change of the oil in each lifting device is determined based on the quotient of each flow rate difference value and the coordinated change step number, including steps S121 and S122 .

[0078] Step S121 : determining the maximum increasing flow rate and the minimum decreasing flow rate of the oil in each lifting device per unit time based on the flow rate difference value, the minimum increasing step number, and the minimum decreasing step number.

[0079] Specifically, formula (8) is transformed, and the maximum increase flow rate of the oil in each lifting device per unit time is equal to the absolute value of the flow rate difference of the oil in the lifting device divided by the minimum increase steps of the oil flow rate in the lifting device; the minimum decrease flow rate of the oil in each lifting device per unit time is equal to the absolute value of the flow rate difference of the oil in the lifting device divided by the minimum decrease steps of the oil flow rate in the lifting device. The maximum increase flow rate and the minimum decrease flow rate of the oil in each lifting device per unit time can be

[0080] The change in flow rate of the oil in the middle is simultaneously smaller than the corresponding maximum value of flow rate increase and the corresponding minimum value of flow rate increase.

[0081] In some embodiments, referring to FIG. 5 , step S122 includes steps S1221 to S1223 .

[0082] Step S1221, based on the coordinated change steps being greater than both the flow rate increase steps and the flow rate decrease steps, determine that the flow rate change of the oil in each lifting device is simultaneously less than the quotient of the absolute value of each flow rate difference value and the flow rate increase steps, as well as the quotient of the absolute value of each flow rate difference value and the flow rate decrease steps.

[0083] First, according to formula (2), we can get the following formula (13):

[0084] Secondly, according to formula (11), the following formula (14) can be obtained:

[0085] is the total number of steps of increase in oil flow rate in the i-th lifting device, N(i, k) minus is the total number of steps of oil flow rate reduction in the i-th lifting device, Δv(k) i is the flow rate difference of the oil in the i-th lifting device.

[0086] Step S1222, based on the fact that the number of flow rate increase steps is greater than the total number of increase steps, and the number of flow rate decrease steps is greater than the total number of decrease steps, determine that the flow rate change of the oil in each lifting device is simultaneously less than the quotient of the absolute value of each flow rate difference value and the total number of increase steps, and the quotient of the absolute value of each flow rate difference value and the total number of decrease steps.

[0087] is the total number of steps of reducing the oil flow rate in the i-th lifting device, N(i, k) minusmin is the minimum number of reduction steps when the flow rate in the i-th lifting device reaches the corresponding target flow rate, N(i, k) plusmin is the minimum number of steps required for the flow rate in the i-th lifting device to reach the corresponding target flow rate.

[0088] Step S1223, based on the total increase step number being greater than the minimum increase step number, and the total increase step number being greater than the minimum decrease step number, determine that the flow rate change of the oil in each lifting device is simultaneously less than the corresponding maximum flow rate increase and the corresponding minimum flow rate increase.

[0089] Δv(i) plusmax is the maximum increase in oil flow rate per unit time in the i-th lifting device, Δv(i) minusmax is the minimum reduction flow rate of the oil in the i-th lifting device per unit time.

[0090] In the embodiment of the present disclosure, the change in the flow rate of the oil in the i-th lifting device (Δv(i, k) plusminus ) is less than or equal to the maximum increase in oil flow rate per unit time in the i-th lifting device (Δv(i) plusmax ), and at the same time less than or equal to the minimum flow rate of the oil in the i-th lifting device per unit time Δv(i) minusmax , thereby avoiding the change in the oil flow rate of each lifting device exceeding its capacity, avoiding the problem of damage to each body lifting device, and improving the working reliability and service life of each body lifting device.

[0091] In short, the embodiment of the present disclosure provides a method for synchronous coordination of vehicle body posture, which mainly includes the following 9 steps:

[0092] Step 1: Calculate the difference in oil flow rate of each vehicle body lifting device based on the set target flow rate of the oil of each vehicle body lifting device and the instantaneous target flow rate of the oil at the previous moment (corresponding to the above-mentioned step S110).

[0093] Step 2: Calculate the total vehicle flow rate increase and total vehicle flow rate decrease based on the oil flow rate differences of each vehicle body lifting device. The total vehicle flow rate increase is the sum of all vehicle body lifting device oil flow rate differences greater than or equal to zero; the total vehicle flow rate decrease is the sum of all vehicle body lifting device oil flow rate differences less than zero (corresponding to Formula 6 in step S1111 above).

[0094] Step 3: Based on the total increase in vehicle flow rate, the total decrease in vehicle flow rate, and the oil flow rate differences of each vehicle body lift, calculate the increase control coefficient for each vehicle body lift's flow rate step and the decrease control coefficient for each vehicle body lift. The increase control coefficient for each vehicle body lift's flow rate step is equal to the sum of the total increase in vehicle flow rate and the oil flow rate differences of each vehicle body lift divided by the oil flow rate differences of each vehicle body lift. The decrease control coefficient for each vehicle body lift's flow rate step is equal to the sum of the total increase in vehicle flow rate and the absolute value of the oil flow rate differences of each vehicle body lift divided by the absolute value of the oil flow rate differences of each vehicle body lift (corresponding to Formula 7 in step S1111 above).

[0095] Step 4: Based on the maximum capacity of each vehicle body lifting device to increase flow rate per unit time, the maximum capacity of each vehicle body lifting device to decrease flow rate per unit time, and the difference in oil flow rate of each vehicle body lifting device, the minimum total number of steps for increasing flow rate and the minimum total number of steps for decreasing flow rate of each vehicle body lifting device are calculated. The minimum total number of steps for increasing flow rate of each vehicle body lifting device is equal to the absolute value of the difference in oil flow rate of each vehicle body lifting device divided by the maximum capacity of each vehicle body lifting device to increase flow rate per unit time; the minimum total number of steps for decreasing flow rate of each vehicle body lifting device is equal to the absolute value of the difference in oil flow rate of each vehicle body lifting device divided by the maximum capacity of each vehicle body lifting device to decrease flow rate per unit time (corresponding to step S1112 above).

[0096] Step 5: Calculate the total number of flow rate increase steps and the total number of flow rate decrease steps for each vehicle body lift based on the minimum total number of flow rate increase steps for each vehicle body lift, the minimum total number of flow rate decrease steps for each vehicle body lift, the increase control coefficient for each vehicle body lift, and the decrease control coefficient for each vehicle body lift. The total number of flow rate increase steps for each vehicle body lift is equal to the minimum total number of flow rate increase steps for each vehicle body lift multiplied by the increase control coefficient for each vehicle body lift; the total number of flow rate decrease steps for each vehicle body lift is equal to the minimum total number of flow rate decrease steps for each vehicle body lift multiplied by the decrease control coefficient for each vehicle body lift (corresponding to step S1113 above).

[0097] Step 6: Calculate the number of steps for increasing the vehicle's flow rate and the number of steps for decreasing the vehicle's flow rate based on the oil flow rate differences of each vehicle lift device, the total number of steps for increasing the flow rate of each vehicle lift device, and the total number of steps for decreasing the flow rate of each vehicle lift device. The number of steps for increasing the vehicle's flow rate is equal to the maximum number of steps for increasing the flow rate of the vehicle lift device corresponding to a state where the oil flow rate differences of all vehicle lift devices are greater than or equal to zero. The number of steps for decreasing the vehicle's flow rate is equal to the maximum number of steps for increasing the flow rate of the vehicle lift device corresponding to a state where the oil flow rate differences of all vehicle lift devices are less than zero (corresponding to step S1114 above).

[0098] Step 7: Calculate the number of coordinated changes in vehicle flow rate based on the number of steps in which the vehicle flow rate increases and the number of steps in which the vehicle flow rate decreases. The number of coordinated changes in vehicle flow rate is equal to the maximum of the number of steps in which the vehicle flow rate increases and the number of steps in which the vehicle flow rate decreases (corresponding to step S112 above).

[0099] Step 8: Calculate the change in the oil flow rate of each vehicle body lifting device based on the oil flow rate difference between each vehicle body lifting device and the number of coordinated changes in the vehicle's flow rate. The change in the oil flow rate of each vehicle body lifting device is equal to the quotient of the oil flow rate difference between each vehicle body lifting device and the number of coordinated changes in the vehicle's flow rate (corresponding to step S120 above).

[0100] Step 9: Calculate the current instantaneous target flow rate of the oil in each vehicle body lifting device based on the change in flow rate of the oil in each vehicle body lifting device and the instantaneous target flow rate of the oil in each vehicle body lifting device at the previous moment. The current instantaneous target flow rate of the oil in each vehicle body lifting device is equal to the sum of the change in flow rate of the oil in each vehicle body lifting device and the instantaneous target flow rate of the oil in each vehicle body lifting device at the previous moment (corresponding to step S130 above).

[0101] Step 10: Update the previous instantaneous target flow rate of the oil in each vehicle body lifting device again; then execute steps 1 through 9 again. Repeat this process until, after multiple cycles, the current instantaneous target flow rate of the oil in each vehicle body lifting device equals the set target flow rate for the oil in that vehicle body lifting device (corresponding to step S140 above).

[0102] Furthermore, combined with the steps, we can know that the number of steps required for the instantaneous target flow rate of the oil in each vehicle body lifting device to change to equal the set target flow rate of the oil in the vehicle body lifting device is It can be seen that the time required for the instantaneous target flow rate of the oil in each body lifting device to change to equal the set target flow rate of the oil in the body lifting device is all the same, thereby avoiding the lack of coordination between the speed of change of the oil flow rate of each body lifting device, and thus effectively avoiding the problem of huge differences in vehicle posture changes caused by the adjustment of the oil flow rate of the body lifting device.

[0103] In the disclosed embodiment, since the time required for the instantaneous target flow rate of the oil in each vehicle body lifting device to change to equal the set target flow rate of the oil in its vehicle body lifting device is all the same, it is avoided that the speed of change of the oil flow rate of each vehicle body lifting device cannot be coordinated with each other, thereby effectively avoiding the problem of huge differences in vehicle posture changes caused by the adjustment of the oil flow rate of the vehicle body lifting device.

[0104] Furthermore, for body lifts that require an increase in flow rate, the corresponding oil flow rate change is less than or equal to the maximum capacity of the body lift to increase flow rate per unit time. For body lifts that require a decrease in flow rate, the corresponding oil flow rate change is less than or equal to the maximum capacity of the body lift to decrease flow rate per unit time. This prevents the body lifts from operating beyond their capacity due to changes in oil flow rate, reduces damage to the body lifts, and improves their reliability and service life.

[0105] In addition, the embodiment of the present disclosure further provides a vehicle body posture synchronization and coordination device 200, as shown in FIG6 , which includes:

[0106] Acquisition module 210 is used to obtain the flow rate difference value of the oil in each lifting device and the coordinated change step number of the vehicle flow rate; the flow rate difference value is the difference between the target flow rate and the initial flow rate, and the coordinated change step number is the number of steps required for the flow rates of the oil in multiple lifting devices to reach the corresponding target flow rates simultaneously;

[0107] a first determining module 220 for determining a change in the flow rate of the oil in each lifting device based on a quotient of each flow rate difference value and the number of coordinated change steps;

[0108] A second determining module 230 is configured to determine a current flow rate of the oil in each lifting device after the one-step adjustment based on the sum of each flow rate change and the corresponding initial flow rate;

[0109] The circulation module 240 is configured to use the current flow rate as the initial flow rate and adjust the flow rate of the oil in each lifting device in multiple cycles until the current flow rate of the oil in each lifting device is equal to the corresponding target flow rate.

[0110] In some embodiments, the acquisition module 210 includes an acquisition submodule and a first determination submodule; the acquisition submodule is used to obtain the number of flow rate increase steps and the number of flow rate decrease steps of the entire vehicle; the first determination submodule is used to determine the maximum value of the flow rate increase steps and the flow rate decrease steps as the coordinated change steps.

[0111] In some embodiments, the acquisition submodule includes a first acquisition unit, a second acquisition unit, a first determination unit and a second determination unit; the first acquisition unit is used to obtain the increase control coefficient and the decrease control coefficient of the oil flow rate steps in each lifting device; the second acquisition unit is used to obtain the minimum increase steps and the minimum decrease steps when the oil flow rate in each lifting device reaches the corresponding target flow rate; the first determination unit is used to determine the total increase steps of the oil flow rate in each lifting device based on the increase control coefficient and the minimum increase steps; and, based on the decrease control coefficient and the minimum decrease steps, determine the total decrease steps of the oil flow rate in each lifting device; the second determination unit is used to determine the maximum value of multiple total increase steps as the flow rate increase steps; and, determine the maximum value of multiple total decrease steps as the flow rate decrease steps.

[0112] In some embodiments, the first acquisition unit is specifically used to determine the total increase in flow rate of the entire vehicle and the total decrease in flow rate of the entire vehicle based on the flow rate difference values ​​of the oil in multiple lifting devices; based on the total flow rate increase, the total flow rate decrease and the flow rate difference value corresponding to each lifting device, determine the increase control coefficient and the corresponding decrease control coefficient corresponding to each lifting device.

[0113] In some embodiments, the first acquisition unit is further used to determine the increase control coefficient corresponding to each lifting device based on the total amount of flow rate increase and the flow rate difference value corresponding to each lifting device; and to determine the decrease control coefficient corresponding to each lifting device based on the total amount of flow rate decrease and the absolute value of the flow rate difference value corresponding to each lifting device.

[0114] In some embodiments, the first determination module 220 includes a second determination submodule and a third determination submodule; the second determination submodule is used to determine the maximum increase flow rate and the minimum decrease flow rate of the oil in each lifting device per unit time based on the flow rate difference value, the minimum increase step number and the minimum decrease step number; the third determination submodule is used to determine that the flow rate change of the oil in each lifting device is less than the corresponding maximum flow rate increase and the corresponding minimum flow rate increase based on the quotient of each flow rate difference value and the coordinated change step number.

[0115] In some embodiments, the third determination submodule includes: a third acquisition unit, a fourth acquisition unit and a fifth acquisition unit; the third acquisition unit is used to determine that the flow rate change of the oil in each lifting device is simultaneously less than the quotient of the absolute value of each flow rate difference value and the flow rate increase step number, and the quotient of the absolute value of each flow rate difference value and the flow rate decrease step number based on the coordinated change step number being simultaneously greater than the flow rate increase step number and the flow rate decrease step number; the fourth acquisition unit is used to determine that the flow rate change of the oil in each lifting device is simultaneously less than the quotient of the absolute value of each flow rate difference value and the total increase step number, and the quotient of the absolute value of each flow rate difference value and the total decrease step number based on the flow rate increase step number being greater than the total increase step number, and the flow rate decrease step number being greater than the total decrease step number; the fifth acquisition unit is used to determine that the flow rate change of the oil in each lifting device is simultaneously less than the corresponding maximum flow rate increase value and the corresponding minimum flow rate increase value based on the total increase step number being greater than the minimum increase step number, and the total increase step number being greater than the minimum decrease step number.

[0116] The description of the above device embodiment is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the device embodiment of the present disclosure, please refer to the description of the method embodiment of the present disclosure for understanding.

[0117] An embodiment of the present disclosure provides an electronic device including a memory and a processor. The memory stores a computer program that can be run on the processor. When the processor executes the program, the steps in the embodiment of the synchronous coordination method of the vehicle body posture are implemented.

[0118] It should be noted that FIG7 is a schematic diagram of a hardware entity of an electronic device in an embodiment of the present disclosure. As shown in FIG7 , the hardware entity of the electronic device includes: a processor 21, a communication interface 22 and a memory 23, wherein:

[0119] The processor 21 generally controls the overall operation of the electronic device.

[0120] The communication interface 22 enables the electronic device to communicate with other terminals or servers through a network.

[0121] The memory 23 is configured to store instructions and applications executable by the processor 21, and can also cache data to be processed or processed by the processor 21 and various modules in the electronic device (for example, image data, audio data, voice communication data and video communication data), which can be implemented through flash memory (FLASH) or random access memory (RAM).

[0122] Here, the processor is used to control itself and the memory to implement the steps in the embodiment of the synchronous coordination method of the above-mentioned vehicle body posture. The processor can also be called a CPU (Central Processing Unit). The processor may be an integrated circuit chip with signal processing capabilities. The processor can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. In addition, the processor can be implemented by an integrated circuit chip.

[0123] An embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps in the embodiment of the method for synchronous coordination of vehicle body posture are implemented.

[0124] In some embodiments, the functions or modules included in the device provided by the embodiments of the present disclosure can be used to execute the method described in the above method embodiments. Its specific implementation can refer to the description of the above method embodiments and has similar beneficial effects as the method embodiments.

[0125] The above description of the various embodiments tends to emphasize the differences between the various embodiments, and reference can be made to the same or similar aspects thereof.

[0126] It should be understood that “one embodiment” or “an embodiment” mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present disclosure. Therefore, “in one embodiment” or “in an embodiment” appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present disclosure, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure. The serial numbers of the embodiments of the present disclosure are for description only and do not represent the advantages and disadvantages of the embodiments.

[0127] In the several embodiments provided in this disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative.

[0128] The methods disclosed in the several method embodiments provided in this disclosure may be arbitrarily combined, if not conflicting, to produce new method embodiments. The features disclosed in the several method or device embodiments provided in this disclosure may be arbitrarily combined, if not conflicting, to produce new method embodiments or device embodiments.

[0129] The above description is merely a preferred embodiment of the present disclosure and is not intended to limit the scope of protection of the present disclosure. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present disclosure shall be included in the scope of protection of the present disclosure.

Claims

1. A vehicle body posture synchronization and coordination method, applied to electronic equipment in a vehicle, characterized in that: The vehicle body includes a plurality of lifting devices, and the method includes: Obtaining a flow rate difference value of the oil in each of the lifting devices and a coordinated change step number of the flow rate of the entire vehicle; the flow rate difference value is the difference between the target flow rate and the initial flow rate, and the coordinated change step number is the number of steps required for the flow rates of the oil in the multiple lifting devices to simultaneously reach the corresponding target flow rates; determining a change in the flow rate of the oil in each of the lifting devices based on a quotient of each of the flow rate difference values and the number of coordinated change steps; determining a current flow rate of the oil in each lifting device after one-step adjustment based on the sum of each flow rate change and the corresponding initial flow rate; The current flow rate is used as the initial flow rate, and the flow rate of the oil in each lifting device is adjusted in multiple steps until the current flow rate of the oil in each lifting device is equal to the corresponding target flow rate.

2. The method according to claim 1, characterized in that Get the coordinated change steps of the vehicle flow rate, including: Get the number of steps of increasing the flow rate of the whole vehicle and the number of steps of decreasing the flow rate of the whole vehicle; The maximum value of the flow rate increase step number and the flow rate decrease step number is determined as the coordinated change step number.

3. The method according to claim 2, characterized in that The obtaining of the number of steps of increase in the flow velocity of the entire vehicle and the number of steps of decrease in the flow velocity of the entire vehicle includes: Obtaining an increase control coefficient and a decrease control coefficient of the oil flow rate step number in each of the lifting devices; Obtaining the minimum number of increasing steps and the minimum number of decreasing steps when the oil flow rate in each lifting device reaches the corresponding target flow rate; determining a total number of increasing steps for the oil flow rate in each of the lifting devices based on the increasing control coefficient and the minimum number of increasing steps; and determining a total number of decreasing steps for the oil flow rate in each of the lifting devices based on the decreasing control coefficient and the minimum number of decreasing steps; Determine the maximum value of the plurality of total increase steps as the flow rate increase step number; and The maximum value among the total number of reduction steps is determined as the number of flow rate reduction steps.

4. The method according to claim 3, characterized in that Obtaining an increase control coefficient and a decrease control coefficient of the oil flow rate step number in each lifting device, including: determining a total increase in the flow rate of the entire vehicle and a total decrease in the flow rate of the entire vehicle based on the flow rate difference values of the oil in the plurality of lifting devices; The increase control coefficient and the decrease control coefficient corresponding to each lifting device are determined based on the total amount of flow rate increase, the total amount of flow rate decrease, and the flow rate difference value corresponding to each lifting device.

5. The method according to claim 4, characterized in that Determining the increase control coefficient and the decrease control coefficient corresponding to each lifting device based on the total amount of flow rate increase, the total amount of flow rate decrease, and the flow rate difference value corresponding to each lifting device includes: determining the increase control coefficient corresponding to each lifting device based on the total amount of flow rate increase and the flow rate difference value corresponding to each lifting device; The reduction control coefficient corresponding to each lifting device is determined based on the total amount of flow rate reduction and the absolute value of the flow rate difference value corresponding to each lifting device.

6. The method according to claim 4, characterized in that Determining a flow rate change of the oil in each lifting device based on a quotient of each flow rate difference value and the coordinated change step number includes: Determining a maximum increasing flow rate and a minimum decreasing flow rate per unit time of the oil in each of the lifting devices based on the flow rate difference value, the minimum increasing step number, and the minimum decreasing step number; Based on the quotient of each flow velocity difference value and the coordinated change step number, it is determined that the flow velocity change amount of the oil in each lifting device is simultaneously smaller than the corresponding maximum flow velocity increase value and the corresponding minimum flow velocity increase value.

7. The method according to claim 5, characterized in that Determining, based on a quotient of each of the flow velocity difference values and the number of coordinated change steps, that the flow velocity change of the oil in each of the lifting devices is simultaneously less than a corresponding maximum flow velocity increase value and a corresponding minimum flow velocity increase value, comprises: Based on the fact that the coordinated change step number is greater than the flow rate increase step number and the flow rate decrease step number, it is determined that the flow rate change amount of the oil in each lifting device is less than the absolute value of each flow rate difference value. the quotient of the absolute value of each of the flow rate difference values and the number of flow rate decrease steps; Based on the fact that the number of flow rate increase steps is greater than the total number of flow rate increase steps, and the number of flow rate decrease steps is greater than the total number of flow rate decrease steps, determining that the flow rate change of the oil in each of the lifting devices is simultaneously less than the quotient of the absolute value of each of the flow rate difference values and the total number of increase steps, and the quotient of the absolute value of each of the flow rate difference values and the total number of decrease steps; Based on the total number of increasing steps being greater than the minimum number of increasing steps, and the total number of increasing steps being greater than the minimum number of decreasing steps, it is determined that the flow rate change of the oil in each of the lifting devices is simultaneously less than the corresponding maximum value of the flow rate increase and the corresponding minimum value of the flow rate increase.

8. The method according to any one of claims 1 to 7, characterized in that The lifting device is a hydraulic suspension.

9. A device for implementing the vehicle body posture synchronization coordination method according to any one of claims 1 to 8, characterized in that: The device comprises: an acquisition module, configured to acquire a flow velocity difference value of the oil in each lifting device and a coordinated change step number of the flow velocity of the entire vehicle; the flow velocity difference value being the difference between the target flow velocity and the initial flow velocity; and the coordinated change step number being the number of steps required for the flow velocity of the oil in the plurality of lifting devices to simultaneously reach the corresponding target flow velocity; a first determining module, configured to determine a change in the flow rate of the oil in each of the lifting devices based on a quotient of each of the flow rate difference values and the number of coordinated change steps; a second determining module, configured to determine a current flow rate of the oil in each lifting device after one-step adjustment based on the sum of each flow rate change and the corresponding initial flow rate; The circulation module is used to use the current flow rate as the initial flow rate and adjust the flow rate of the oil in each lifting device in multiple steps until the current flow rate of the oil in each lifting device is equal to the corresponding target flow rate.

10. An electronic device, characterized in that: include: A memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, the method according to any one of claims 1 to 8 is implemented.

11. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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