Shock absorber damping control method, apparatus and device, and medium

Abstract

The present application belongs to the technical field of vehicles. Disclosed are a shock absorber damping control method, apparatus and device, and a medium. The shock absorber damping control method comprises: when it is detected that there is an obstacle ahead of a vehicle, acquiring obstacle information, wherein the obstacle information comprises the height direction of the obstacle and the height of the obstacle; determining a target backup travel of a shock absorber, wherein the target backup travel corresponds to the height direction; subtracting the height of the obstacle from the target backup travel to obtain a difference value; when the difference value falls outside a first numerical range, determining a shock absorber damping control mode on the basis of a target numerical range to which the difference value belongs, and when the difference value falls within the first numerical range and the target backup travel is greater than a travel threshold value, determining a shock absorber damping control mode on the basis of a vehicle speed; and on the basis of the shock absorber damping control modes, controlling the damping of the shock absorber.

Description

Shock absorber damping control method, device, equipment and medium Cross-reference to related applications

[0001] This application claims priority to Chinese Patent Application No. 202410893356.6, filed on July 4, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the field of automotive technology, and in particular, to a shock absorber damping control method, device, equipment and computer readable storage medium. BACKGROUND

[0003] During vehicle driving, the driving stability and comfort are improved by controlling the damping of the shock absorber.

[0004] In related technologies, two methods are usually used to control the damping of the shock absorber. One is to identify the type of obstacle according to the jumping of the front wheels of the vehicle, and then control the damping of the shock absorber at the rear wheels of the vehicle according to the type of obstacle. For example, when the front wheels of the vehicle jump up, it represents that the front wheels of the vehicle are on a raised obstacle such as a speed bump, at this time, the level of the damping of the shock absorber at the rear wheels is directly lowered to a low level; when the front wheels of the vehicle jump down, it represents that the front wheels of the vehicle are on a depressed obstacle such as a ditch, at this time, the level of the damping of the shock absorber at the rear wheels is directly raised to a high level. The other is to identify whether there is an obstacle in front of the vehicle through the front camera of the vehicle, when there is a raised obstacle such as a speed bump, the level of all the dampings of the shock absorber is directly lowered to a low level; when there is a depressed obstacle such as a ditch, the level of all the dampings of the shock absorber is directly raised to a high level.

[0005] The above-mentioned damping control methods of the shock absorber directly raise the level of the damping of the shock absorber to a high level or directly lower the level of the damping of the shock absorber to a low level, which is easy to cause the piston rod in the shock absorber to hit the limiting structure, further causing the damage of the shock absorber, affecting the service life of the shock absorber, and even causing safety accidents. SUMMARY

[0006] The present disclosure provides a shock absorber damping control method, device, equipment and medium, which can solve the technical problems in related technologies that the level of the damping of the shock absorber is directly raised to a high level or directly lowered to a low level, which is easy to cause the piston rod in the shock absorber to hit the limiting structure, causing the damage of the shock absorber, affecting the service life of the shock absorber, and even causing safety accidents.

[0007] In a first aspect, the embodiments of the present disclosure provide a shock absorber damping control method, which comprises: obtaining obstacle information when it is detected that there is an obstacle in front of a vehicle, the obstacle information comprising a height direction of the obstacle and an obstacle height; determining a target reserve stroke of a shock absorber, the target reserve stroke corresponding to the height direction; subtracting the target reserve stroke by the obstacle height to obtain a difference value; determining a shock absorber damping control mode based on a target numerical interval to which the difference value belongs when the difference value is outside a first numerical interval; determining a shock absorber damping control mode based on a vehicle speed when the difference value is within the first numerical interval and the target reserve stroke is greater than a stroke threshold; and controlling shock absorber damping according to the shock absorber damping control mode.

[0008] In a second aspect, the embodiments of the present disclosure provide a shock absorber damping control device, which comprises: an obtaining module configured to obtain obstacle information when it is detected that there is an obstacle in front of a vehicle, the obstacle information comprising a height direction of the obstacle and an obstacle height; a first determining module configured to determine a target reserve stroke of a shock absorber, the target reserve stroke corresponding to the height direction; a calculating module configured to subtract the target reserve stroke by the obstacle height to obtain a difference value; a second determining module configured to determine a shock absorber damping control mode based on a target numerical interval to which the difference value belongs when the difference value is outside a first numerical interval, and further configured to determine a shock absorber damping control mode based on a vehicle speed when the difference value is within the first numerical interval and the target reserve stroke is greater than a stroke threshold; and a control module configured to control shock absorber damping according to the shock absorber damping control mode.

[0009] In a third aspect, the embodiments of the present disclosure provide a shock absorber damping control device, which comprises a processor, a memory, and a shock absorber damping control program stored in the memory and executable by the processor, wherein the shock absorber damping control program, when executed by the processor, causes the processor to implement the steps of the shock absorber damping control method according to any one of the first aspect.

[0010] In a fourth aspect, the embodiments of the present disclosure provide a computer-readable storage medium, which stores a shock absorber damping control program, wherein the shock absorber damping control program, when executed by a processor, causes the processor to implement the steps of the shock absorber damping control method according to any one of the first aspect.

[0011] In a fifth aspect, the embodiments of the present disclosure provide a computer program product comprising a computer program, which, when executed by a processor, causes the processor to implement the steps of the shock absorber damping control method according to any one of the first aspect. Attached Figure Description

[0012] Figure 1 is a schematic flowchart of a damper damping control method according to some embodiments of the present disclosure;

[0013] Figure 2 is a functional module diagram of a shock absorber damping control device according to some embodiments of the present disclosure; and

[0014] Figure 3 is a schematic diagram of the hardware structure of a damper damping control device according to some embodiments of the present disclosure. Detailed Implementation

[0015] To enable those skilled in the art to better understand the present disclosure, the technical solutions of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present disclosure, and not all embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present disclosure.

[0016] To make the objectives, technical solutions, and advantages of this disclosure clearer, the embodiments of this disclosure will be described in further detail below with reference to the accompanying drawings.

[0017] In a first aspect, embodiments of this disclosure provide a damper damping control method.

[0018] Figure 1 is a schematic flowchart of a damper damping control method according to some embodiments of the present disclosure. As shown in Figure 1, in some embodiments, the damper damping control method may include the following steps 110 to 150.

[0019] In step 110, when an obstacle is detected in front of the vehicle, obstacle information is acquired, including the height direction and height of the obstacle.

[0020] In practice, an external camera positioned in front of the vehicle can be used to detect whether there are obstacles in front of the vehicle. These obstacles include, but are not limited to, raised obstacles such as speed bumps and recessed obstacles such as ditches. When an obstacle is detected, obstacle information is acquired, including but not limited to the obstacle's height direction, obstacle height, and a first distance between the obstacle and the vehicle.

[0021] Generally speaking, when the obstacle is a raised obstacle, the height direction of the obstacle is positive; when the obstacle is a recessed obstacle, the height direction of the obstacle is negative.

[0022] In step 120, the target backup stroke of the shock absorber is determined, and the target backup stroke corresponds to the height direction.

[0023] The target reserve stroke of the shock absorber is a compression reserve stroke or a stretch reserve stroke, i.e. the reserve stroke in which the piston rod of the shock absorber can be compressed or stretched at present. When the height direction is positive, the target reserve stroke of the shock absorber is determined as the compression reserve stroke; when the height direction is reverse, the target reserve stroke of the shock absorber is determined as the stretch reserve stroke.

[0024] In some embodiments, the determining of the target reserve stroke of the shock absorber can include steps 201 to 230.

[0025] In step 210, the total stroke of the shock absorber and the height of the air spring are obtained.

[0026] The total stroke of the shock absorber is stored in the memory of the vehicle, and the vehicle controller can directly read the total stroke of the shock absorber from the memory of the vehicle.

[0027] The vehicle controller can obtain a first value output by the height sensor, the first value being the height of the air spring, and the height sensor can be arranged at the suspension position corresponding to the vehicle wheel.

[0028] In step 220, the position of the piston rod in the shock absorber is determined based on the height of the air spring.

[0029] Generally, the air spring and the shock absorber can be arranged in an integrated manner or in a split manner. When they are arranged in an integrated manner, the movement of the air spring and the movement of the shock absorber are consistent, and the height of the air spring represents the position of the piston rod in the shock absorber; when they are arranged in a split manner, i.e. arranged on the front axle or the rear axle along the wheel axis, the movement of the air spring and the movement of the shock absorber are in a certain proportional relationship, and the position of the piston rod in the shock absorber can be determined by multiplying the height of the air spring by a certain proportional coefficient.

[0030] In step 230, the target reserve stroke of the shock absorber is determined based on the height direction, the total stroke and the position of the piston rod.

[0031] Since the target reserve stroke corresponds to the height direction, the calculation method of the target reserve stroke of the shock absorber is different when the height direction is different.

[0032] When the height direction is positive, the target reserve stroke of the shock absorber is obtained by subtracting the position of the piston rod from half of the total stroke; when the height direction is reverse, the target reserve stroke of the shock absorber is obtained by adding the position of the piston rod to half of the total stroke.

[0033] In some embodiments, the total stroke of the shock absorber is 100 mm, the intermediate position is defined as 0, the limit compression stroke is 50 mm, and the limit extension stroke is -50 mm; assuming that the current stroke, i.e., the position of the piston rod, is 30 mm, when the obstacle height direction is positive, the shock absorber will be compressed, at this time, the target reserve stroke of the shock absorber is the compression reserve stroke, which is obtained by subtracting the position of the piston rod 30 mm from half of the total stroke 50 mm, so that the compression reserve stroke of the shock absorber is 50-30=20 mm; when the height direction is negative, the shock absorber will be stretched, at this time, the target reserve stroke of the shock absorber is the extension reserve stroke, which is obtained by adding the position of the piston rod 30 mm to half of the total stroke 50 mm, so that the extension reserve stroke of the shock absorber is 50+30=80 mm, or by subtracting the position of the piston rod 30 mm from half of the total stroke 50 mm in the negative direction, so that the extension reserve stroke of the shock absorber is 30-(-50)=80 mm.

[0034] In the embodiments of the present disclosure, the total stroke of the shock absorber and the height of the air spring are obtained; based on the height of the air spring, the position of the piston rod in the shock absorber is determined; and then based on the height direction, the total stroke and the position of the piston rod, the target reserve stroke of the shock absorber is determined, so as to prepare for calculating the difference between the target reserve stroke and the obstacle height.

[0035] In step 130, the target reserve stroke is subtracted from the obstacle height to obtain a difference.

[0036] In step 140, when the difference is outside the first numerical interval, the shock absorber damping control mode is determined based on the target numerical interval to which the difference belongs; and when the difference is within the first numerical interval and the target reserve stroke is greater than the stroke threshold, the shock absorber damping control mode is determined based on the vehicle speed.

[0037] After obtaining the target reserve stroke, the target reserve stroke can be subtracted from the obstacle height to obtain a difference.

[0038] In some embodiments, the first numerical interval is [10 mm, 20 mm], and the stroke threshold is 50 mm.

[0039] In some embodiments, the target numerical interval is the numerical interval to which the difference belongs. For example, when the first numerical interval is [10 mm, 20 mm], the target numerical interval can be [20 mm, 50 mm] or [0 mm, 10 mm].

[0040] When the difference is outside the first numerical interval [10mm, 20mm], i.e. the difference is greater than 20mm or the difference is less than 10mm. Since the damper damping adjustment is in millisecond level, generally a few milliseconds or tens of millimeters can be adjusted to the right place. When the difference is greater than 20mm, it indicates that the vehicle passes through the obstacle, and when the piston rod in the damper moves, the piston rod distance from the limit compression stroke is greater than 20mm, the impact inertia has little effect and can be ignored, i.e. it can be understood that the impact limiting mechanism will not appear.

[0041] When the difference is less than 10mm, it indicates that the vehicle passes through the obstacle, and when the piston rod in the damper moves, the piston rod distance from the limit compression stroke is less than 10mm, considering the impact inertia, the probability of the impact limiting mechanism appearing is very high. For the two cases that the difference is outside the first numerical interval, the damper damping control mode can be directly determined.

[0042] When the difference is within the first numerical interval [10mm, 20mm] and the target reserve stroke is greater than 50mm, the damper damping control mode needs to be determined in combination with the vehicle speed. If the vehicle speed is too fast, the impact inertia is large and the damper is easily damaged, the safety of the damper needs to be prioritized when determining the damper damping control mode; when the vehicle speed is small, the impact inertia is small and the damper is not damaged, the driving comfort needs to be embodied when determining the damper damping control mode.

[0043] In step 150, the damper damping is controlled according to the damper damping control mode.

[0044] Generally, the damper damping is divided into three levels, i.e. high, medium and low. The level of the damper damping is determined based on the current in the damper solenoid valve. In some embodiments, the current in the damper solenoid valve ranges from 0 to 1.6A, when the current is between 0 and 0.6A, the level of the damper damping is low; when the current is between 0.6 and 1.2A, the level of the damper damping is medium; when the current is between 1.2 and 1.6A, the level of the damper damping is high.

[0045] In specific implementation, the current in the damper solenoid valve can be controlled according to the damper damping control mode, so as to control the damper damping.

[0046] In the embodiments of the present disclosure, when it is detected that there is an obstacle in front of the vehicle, obstacle information is obtained, the obstacle information including a height direction of the obstacle and a height of the obstacle; a target reserve stroke of a shock absorber is determined, the target reserve stroke corresponding to the height direction; a difference value is obtained by subtracting the height of the obstacle from the target reserve stroke; when the difference value is outside a first numerical interval, a shock absorber damping control mode is determined based on a target numerical interval to which the difference value belongs; when the difference value is within the first numerical interval and the target reserve stroke is greater than a stroke threshold, the shock absorber damping control mode is determined based on a vehicle speed; and the shock absorber damping is controlled according to the shock absorber damping control mode. The present disclosure intelligently controls the shock absorber damping in combination with the target reserve stroke, the difference value between the target reserve stroke and the height of the obstacle, and the vehicle speed, etc., to maximize the driving comfort on the premise of ensuring the safety of the shock absorber.

[0047] In some embodiments, when the difference value is outside the first numerical interval, the shock absorber damping control mode is determined based on the target numerical interval to which the difference value belongs, which can include: when the difference value belongs to a second numerical interval, determining that the shock absorber damping control mode is to reduce the level of the shock absorber damping to a low level; and when the difference value belongs to a third numerical interval, determining that the shock absorber damping control mode is to raise the level of the shock absorber damping to a high level; wherein the lower limit value of the second numerical interval is greater than the upper limit value of the first numerical interval, and the upper limit value of the third numerical interval is less than the lower limit value of the first numerical interval.

[0048] In some embodiments, if the first numerical interval is [10mm, 20mm], then the lower limit value of the second numerical interval is a value greater than 20mm, and the upper limit value of the third numerical interval is a value less than 10mm. Since the shock absorber damping adjustment is in milliseconds, such as a few milliseconds or tens of milliseconds, it can be adjusted in place. When the difference value belongs to the second numerical interval, it indicates that when the vehicle passes through the obstacle, the distance between the piston rod in the shock absorber and the limit compression stroke is greater than 20mm, the impact inertia has little effect and can be ignored, that is, it can be understood that the impact limiting mechanism will not appear, and at this time, the shock absorber damping control mode is determined to directly reduce the level of the shock absorber damping to a low level, that is, the suspension system has small stiffness, i.e. the suspension is soft, to maximize the comfort when the vehicle passes through the obstacle.

[0049] When the difference value belongs to the third numerical interval, it indicates that when the vehicle passes through the obstacle, the distance between the piston rod in the shock absorber and the limit compression stroke is less than 10mm, and considering the impact inertia, the probability of the impact limiting mechanism appearing is very high, and at this time, the shock absorber damping control mode is determined to directly raise the level of the shock absorber damping to a high level to reduce the probability of the piston rod in the shock absorber impacting the limiting mechanism, and to prioritize the safety of the shock absorber.

[0050] In the embodiments of the present disclosure, when the difference belongs to the second numerical interval, it is determined that the damper damping control mode is to reduce the level of the damper damping to a low level, so as to improve the comfort of the vehicle passing through the obstacle; when the difference belongs to the third numerical interval, it is determined that the damper damping control mode is to increase the level of the damper damping to a high level, so as to reduce the probability of the piston rod in the damper hitting the limiting mechanism, and to preferentially ensure the safety of the damper.

[0051] In some embodiments, the determination of the damper damping control mode based on the vehicle speed can include: when the vehicle speed is less than or equal to a first threshold value, determining the damper damping control mode as reducing the level of the damper damping to a low level; when the vehicle speed is greater than the first threshold value and less than a second threshold value, determining the damper damping control mode as reducing the level of the damper damping to a low level first, and then increasing the level of the damper damping to a medium level from the low level; and when the vehicle speed is greater than or equal to the second threshold value, determining the damper damping control mode as keeping the damper damping unchanged.

[0052] In some embodiments, the first threshold value is 30 KPH, the vehicle speed is relatively low, and there is almost no impact inertia. When the vehicle speed is less than or equal to the first threshold value, when the vehicle passes through the obstacle, the probability of the piston rod in the damper hitting the limiting mechanism is low, and the damper damping control mode is determined as reducing the level of the damper damping to a low level, so as to improve the comfort of the vehicle passing through the obstacle.

[0053] In some embodiments, the second threshold value is 50 KPH, the vehicle speed is moderate, and there is a certain impact inertia. Because the target reserve stroke of the damper is large and the vehicle speed is moderate, the damper damping adjustment can support the fast response under the target reserve stroke, and therefore, when the vehicle speed is greater than the first threshold value and less than the second threshold value, the damper damping control mode is determined as reducing the level of the damper damping to a low level first, and then increasing the level of the damper damping to a medium level from the low level, so as to improve the comfort of the vehicle passing through the obstacle, and at the same time, to ensure that there is enough time to increase the level of the damper damping to a medium level during the reduction of the damper reserve stroke, so as to protect the limiting mechanism in the damper. In some embodiments, the level of the damper damping can be controlled to be low before and when contacting the obstacle, and when the target reserve stroke is less than a third threshold value, the level of the damper damping is immediately increased to a medium level. In some embodiments, the third threshold value is 30 mm.

[0054] In some embodiments, when the vehicle speed is greater than or equal to 50 KPH, at this time, the difference is also in a small interval, and the vehicle speed is high, the impact inertia is large, and the time for passing through the obstacle is short, and it is necessary to consider that the response time left for the damper is too short, and therefore, the damper damping control mode is directly determined as keeping the level of the damper damping unchanged at a medium level, so as to ensure the safety of the damper.

[0055] In the embodiment, when the vehicle speed is less than or equal to the first threshold value, the shock absorber damping control mode is determined to be reducing the level of the shock absorber damping to the low level; when the vehicle speed is greater than the first threshold value and less than the second threshold value, the shock absorber damping control mode is determined to be reducing the level of the shock absorber damping to the low level and then increasing the level of the shock absorber damping from the low level to the medium level; and when the vehicle speed is greater than or equal to the second threshold value, the shock absorber damping control mode is determined to be keeping the shock absorber damping unchanged. When the difference is in the first numerical interval and the target reserve stroke is greater than the stroke threshold value, the shock absorber damping is intelligently controlled in combination with the vehicle speed, the safety of the shock absorber is ensured, and the driving comfort is maximized.

[0056] In some embodiments, the method can further include: when the difference is in the first numerical interval and the target reserve stroke is less than or equal to the stroke threshold value, determining the shock absorber damping control mode to be keeping the shock absorber damping unchanged.

[0057] In some embodiments, when the difference is in the first numerical interval [10mm, 20mm] and the target reserve stroke is less than or equal to the stroke threshold value 50mm, the target reserve stroke is small, the difference is in a small interval, and the shock absorber damping control mode is determined to be keeping the level of the shock absorber damping unchanged, so as to avoid the piston rod from hitting the shock absorber limiting structure when the vehicle passes through an obstacle, thereby affecting the service life of the shock absorber and even causing a safety risk.

[0058] In the embodiment, when the difference is in the first numerical interval and the target reserve stroke is less than or equal to the stroke threshold value, the shock absorber damping control mode is determined to be keeping the shock absorber damping unchanged, so as to avoid the piston rod from hitting the shock absorber limiting structure when the vehicle passes through an obstacle, thereby affecting the service life of the shock absorber.

[0059] In some embodiments, the step of controlling the shock absorber damping according to the shock absorber damping control mode can include the following steps 310 to 340.

[0060] In step 310, a response time corresponding to the shock absorber damping control mode is obtained.

[0061] In step 320, a vehicle speed is obtained.

[0062] Generally, the piston rod in the shock absorber is in the middle position, the level of the shock absorber damping is the medium level, and the response time required for increasing or reducing the level of the shock absorber damping is pre-calibrated and needs to be adapted in combination with the characteristics of a specific vehicle model and hardware, such as the communication delay of the vehicle network and the response time of the electromagnetic valve coil in the shock absorber, and is obtained through a sample vehicle and a bench test.

[0063] The response time corresponding to the damper damping control mode is a calibration value, that is, the response time corresponding to the damper damping control mode can be directly obtained. The response time is generally in the order of milliseconds, that is, the response speed is very fast.

[0064] In some embodiments, the vehicle speed can be obtained by a wheel speed sensor.

[0065] In step 330, based on the vehicle speed and the first distance, a first time length required for the vehicle to reach the obstacle is determined.

[0066] Assuming that the vehicle travels at a constant speed, the first time length required for the vehicle to reach the obstacle can be obtained by dividing the first distance by the vehicle speed. It can be understood that if the vehicle does not travel at a constant speed, the vehicle acceleration can be obtained by an acceleration sensor, and based on the vehicle speed, the first distance and the vehicle acceleration, the first time length required for the vehicle to reach the obstacle can be determined.

[0067] In step 340, when the first time length is greater than or equal to the response time and less than the time length threshold, the current of the electromagnetic valve coil in the damper is controlled according to the damper damping control mode for controlling the damper damping.

[0068] In some embodiments, when the first time length is greater than or equal to the response time and less than the time length threshold, that is, there is enough damper damping response time, the current of the electromagnetic valve coil in the damper is controlled according to the damper damping control mode for controlling the damper damping before the vehicle reaches the obstacle. In some embodiments, when the damper damping control mode is to reduce the level of the damper damping to a low level, the current in the electromagnetic valve coil in the damper is controlled to between 0 and 0.6 A to reduce the level of the damper damping to a low level; when the damper damping control mode is to increase the level of the damper damping to a high level, the current in the electromagnetic valve coil in the damper is controlled to between 1.2 and 1.6 A to increase the level of the damper damping to a high level; when the damper damping control mode is to first reduce the level of the damper damping to a low level and then increase the level of the damper damping from the low level to a medium level, the current in the electromagnetic valve coil in the damper is controlled to between 0 and 0.6 A and then controlled to between 0.6 and 1.2 A to first reduce the level of the damper damping to a low level and then increase the level of the damper damping from the low level to a medium level.

[0069] In the embodiments of the present disclosure, the response time corresponding to the damper damping control mode is acquired, and the vehicle speed is acquired; based on the vehicle speed and the first distance, a first time required for the vehicle to reach the obstacle is determined; when the first time is greater than or equal to the response time and less than a time threshold, the current of the electromagnetic valve coil of the damper is controlled according to the damper damping control mode, so as to control the damper damping, thereby intelligently controlling the damper damping before the vehicle reaches the obstacle, and the comfort of the vehicle passing through the obstacle can be improved.

[0070] After the wheel passes through the obstacle, the damper damping is immediately increased, so as to quickly eliminate the impact energy and avoid repeated bouncing of the vehicle body, thereby reducing the comfort of the vehicle.

[0071] The height adjustment of the air spring can be associated with the damper damping adjustment; the low damping can make the air spring adjustment faster and reduce the waste of system energy, so that when the height of the air spring is adjusted, the level of the damper damping is usually adjusted to the lowest; but if the damper damping level needs to be adjusted to the medium level and the high level in the logic of the above-mentioned embodiments, if there is a demand for air spring adjustment, the influence of the road excitation on the damper damping is preferentially ensured, and the priority of ensuring that the damper is not damaged is higher.

[0072] The above-mentioned control software logic can be encapsulated in an active suspension integrated controller, and the damper adjustment instruction is issued to the damper by the active suspension integrated controller.

[0073] In a second aspect, the embodiments of the present disclosure further provide a damper damping control device.

[0074] FIG. 2 is a functional module schematic diagram of a damper damping control device according to some embodiments of the present disclosure. As shown in FIG. 2, the damper damping control device 200 can include: an acquisition module 210, configured to acquire obstacle information when it is detected that there is an obstacle in front of the vehicle, the obstacle information including a height direction of the obstacle and a height of the obstacle; a first determination module 220, configured to determine a target reserve stroke of the damper, the target reserve stroke corresponding to the height direction; a calculation module 230, configured to subtract the height of the obstacle from the target reserve stroke to obtain a difference value; a second determination module 240, configured to determine a damper damping control mode based on a target numerical interval to which the difference value belongs when the difference value is outside a first numerical interval; and further configured to determine the damper damping control mode based on a vehicle speed when the difference value is within the first numerical interval and the target reserve stroke is greater than a stroke threshold; and a control module 250, configured to control the damper damping according to the damper damping control mode.

[0075] In some embodiments, the first determining module 220 can be configured to: obtain a total stroke of the shock absorber and a height of the air spring; determine a position of a piston rod in the shock absorber based on the height of the air spring; and determine a target reserve stroke of the shock absorber based on the height direction, the total stroke and the position of the piston rod.

[0076] In some embodiments, the first determining module 220 can be configured to: when the height direction is positive, subtract the position of the piston rod from half of the total stroke to obtain the target reserve stroke of the shock absorber; and when the height direction is negative, add the position of the piston rod to half of the total stroke to obtain the target reserve stroke of the shock absorber.

[0077] In some embodiments, the second determining module 240 can be configured to: when the difference value belongs to a second numerical interval, determine the shock absorber damping control mode as reducing the shock absorber damping to a low level; and when the difference value belongs to a third numerical interval, determine the shock absorber damping control mode as increasing the shock absorber damping to a high level; wherein a lower limit value of the second numerical interval is greater than an upper limit value of the first numerical interval, and an upper limit value of the third numerical interval is less than the lower limit value of the first numerical interval.

[0078] In some embodiments, the second determining module 240 can be configured to: when the vehicle speed is less than or equal to a first threshold value, determine the shock absorber damping control mode as reducing the shock absorber damping to a low level; when the vehicle speed is greater than the first threshold value and less than a second threshold value, determine the shock absorber damping control mode as reducing the shock absorber damping to a low level first, and then increasing the shock absorber damping from the low level to a medium level; and when the vehicle speed is greater than or equal to the second threshold value, determine the shock absorber damping control mode as keeping the shock absorber damping unchanged.

[0079] In some embodiments, the second determining module 240 can be configured to: when the difference value is within the first numerical interval, and the target reserve stroke is less than or equal to a stroke threshold value, determine the shock absorber damping control mode as keeping the shock absorber damping unchanged.

[0080] In some embodiments, the obstacle information further comprises a first distance between the obstacle and the vehicle, and the second determining module 240 can be configured to: obtain a response duration corresponding to the shock absorber damping control mode; obtain a vehicle speed; determine a first duration required for the vehicle to reach the obstacle based on the vehicle speed and the first distance; and when the first duration is greater than or equal to the response duration and less than a duration threshold value, control a current of a solenoid valve coil in the shock absorber according to the damping control mode, so as to control the shock absorber damping.

[0081] The functions of each module in the above shock absorber damping control device correspond to each step in the above shock absorber damping control method embodiment, and the functions and implementation processes will not be repeated here.

[0082] In a third aspect, the embodiments of the present disclosure provide a shock absorber damping control device. The shock absorber damping control device can be a personal computer (PC), a notebook computer, a server, or the like.

[0083] Referring to FIG. 3, FIG. 3 is a schematic diagram of the hardware structure of the shock absorber damping control device according to some embodiments of the present disclosure. In the embodiments of the present disclosure, the shock absorber damping control device can include a processor, a memory, a communication interface, and a communication bus. The communication bus can be of any type, used to interconnect the processor, the memory, and the communication interface.

[0084] The communication interface includes an input / output (I / O) interface, a physical interface, and a logical interface, and the like, which are used to interconnect the devices inside the shock absorber damping control device, and interfaces used to interconnect the shock absorber damping control device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber interface, an ATM interface, and the like; the user device can be a display (Display), a keyboard (Keyboard), and the like.

[0085] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), and the like.

[0086] The processor can be a general-purpose processor, which can invoke the shock absorber damping control program stored in the memory and execute the shock absorber damping control method provided by the embodiments of the present disclosure. For example, the general-purpose processor can be a central processing unit (CPU). The method executed by the shock absorber damping control program when invoked can refer to each embodiment of the shock absorber damping control method of the present disclosure, and will not be repeated here.

[0087] Those skilled in the art can understand that the hardware structure shown in FIG. 3 does not constitute a limitation on the present disclosure, and can include more or fewer components than shown, or combine certain components, or different component arrangements.

[0088] In a fourth aspect, the embodiments of the present disclosure further provide a computer readable storage medium.

[0089] The present disclosure computer readable storage medium stores a shock absorber damping control program, wherein the shock absorber damping control program is executed by a processor to cause the processor to implement the steps of the shock absorber damping control method as described above.

[0090] The method implemented when the shock absorber damping control program is executed can refer to each embodiment of the shock absorber damping control method of the present disclosure, which will not be described here.

[0091] In a fifth aspect, the embodiments of the present disclosure provide a computer program product, comprising a computer program, which is executed by a processor to cause the processor to implement the steps of the shock absorber damping control method as described above.

[0092] It should be noted that the above-mentioned sequence numbers of the embodiments of the present disclosure are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0093] The terms "comprising" and "having" and any variations thereof in the specification and claims of the present disclosure and the above-mentioned drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device. The terms "first", "second" and "third" and the like descriptions are used to distinguish different objects, and do not represent the order or limit the types of "first", "second" and "third".

[0094] In the description of the embodiments of the present disclosure, "exemplary", "for example", "for instance" or "such as" are used to represent an example, illustration or description. Any embodiment or design scheme described as "exemplary", "for example", "for instance" or "such as" in the embodiments of the present disclosure should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words "exemplary", "for example", "for instance" or "such as" are intended to present the relevant concept in a specific manner.

[0095] In the description of the embodiments of the present disclosure, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B; "and / or" in the text only describes the relationship between the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent: A exists alone, A and B exist together, and B exists alone, in addition, in the description of the embodiments of the present disclosure, "multiple" means two or more than two.

[0096] In some processes described in the embodiments of the present disclosure, a plurality of operations or steps are included in a specific order, but it should be understood that these operations or steps can be executed or executed in parallel without the order in which they appear in the embodiments of the present disclosure, and the serial number of the operation is only used to distinguish different operations, and the serial number itself does not represent any execution order. In addition, these processes can include more or fewer operations, and these operations or steps can be executed in sequence or in parallel, and these operations or steps can be combined.

[0097] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by software and the necessary general hardware platform, of course, it can also be realized by hardware, but in many cases, the former is a better implementation. Based on such understanding, the technical solutions of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disc) as described above, and includes a plurality of instructions to make a terminal device execute the method described in each embodiment of the present disclosure.

[0098] The technical solutions provided by the embodiments of the present disclosure have the following beneficial effects:

[0099] By detecting the presence of an obstacle in front of the vehicle, obtaining obstacle information, the obstacle information includes the height direction of the obstacle and the height of the obstacle; determining the target reserve stroke of the shock absorber, the target reserve stroke corresponds to the height direction; subtracting the target reserve stroke from the height of the obstacle to obtain a difference; when the difference is outside the first numerical interval, determining the shock absorber damping control mode based on the target numerical interval to which the difference belongs; when the difference is within the first numerical interval, and the target reserve stroke is greater than the stroke threshold, determining the shock absorber damping control mode based on the vehicle speed; and controlling the shock absorber damping according to the shock absorber damping control mode, the present disclosure intelligently controls the shock absorber damping in combination with the target reserve stroke, the difference between the target reserve stroke and the height of the obstacle, and the vehicle speed, etc. On the premise of ensuring the safety of the shock absorber, the driving comfort is maximized.

[0100] The above merely preferred embodiments of the present disclosure and are not intended to limit the patent scope of the present disclosure, and any equivalent structure or equivalent process transformation made by using the content of the present disclosure specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present disclosure.

Claims

1. A shock absorber damping control method, comprising: obtaining obstacle information when an obstacle in front of a vehicle is detected, the obstacle information comprising a height direction of the obstacle and a height of the obstacle; determining a target reserve stroke of a shock absorber, the target reserve stroke corresponding to the height direction; subtracting the target reserve stroke from the height of the obstacle to obtain a difference value; determining a shock absorber damping control mode based on a target numerical interval to which the difference value belongs when the difference value is outside a first numerical interval; determining a shock absorber damping control mode based on a vehicle speed when the difference value is within the first numerical interval and the target reserve stroke is greater than a stroke threshold; and controlling a shock absorber damping according to the shock absorber damping control mode. The determining of the target reserve stroke of the shock absorber comprises:

2. The damper damping control method according to claim 1, wherein obtaining a total stroke of the shock absorber and a height of an air spring; determining a position of a piston rod in the shock absorber based on the height of the air spring; and determining the target reserve stroke of the shock absorber based on the height direction, the total stroke and the position of the piston rod. The determining of the position of the piston rod in the shock absorber based on the height of the air spring comprises:

3. The damper damping control method according to claim 2, wherein determining the height of the air spring as the position of the piston rod in the shock absorber when an arrangement mode of the air spring and the shock absorber is an integrated arrangement. The determining of the position of the piston rod in the shock absorber based on the height of the air spring comprises:

4. The damper damping control method according to claim 2, wherein multiplying the height of the air spring by a proportionality coefficient to obtain the position of the piston rod in the shock absorber when the arrangement mode of the air spring and the shock absorber is a split arrangement. The determining of the target reserve stroke of the shock absorber based on the height direction, the total stroke and the position of the piston rod comprises:

5. The damper damping control method according to claim 2, wherein subtracting the position of the piston rod from half of the total stroke to obtain the target reserve stroke of the shock absorber when the height direction is a positive direction. The determining of the target reserve stroke of the shock absorber based on the height direction, the total stroke and the position of the piston rod further comprises:

6. The damper damping control method according to claim 5, wherein adding the position of the piston rod to half of the total stroke to obtain the target reserve stroke of the shock absorber when the height direction is a reverse direction. The determining of the shock absorber damping control mode based on the target numerical interval to which the difference value belongs when the difference value is outside the first numerical interval comprises:

7. The damper damping control method according to claim 1, wherein determining the shock absorber damping control mode as lowering a level of the shock absorber damping to a low level when the difference value belongs to a second numerical interval; wherein a lower limit value of the second numerical interval is greater than an upper limit value of the first numerical interval. The determining of the shock absorber damping control mode based on the target numerical interval to which the difference value belongs when the difference value is outside the first numerical interval further comprises:

8. The damper damping control method according to claim 7, wherein determining the shock absorber damping control mode as raising the level of the shock absorber damping to a high level when the difference value belongs to a third numerical interval; wherein an upper limit value of the third numerical interval is less than a lower limit value of the first numerical interval. The determining of the shock absorber damping control mode based on the vehicle speed comprises: ​ 9. The damper damping control method according to claim 1, wherein ​ determining the damper damping control mode based on the vehicle speed, further comprising:

10. The damper damping control method according to claim 9, wherein when the vehicle speed is greater than the first threshold value and less than a second threshold value, determining the damper damping control mode as lowering the level of the damper damping to a low level first, and then raising the damper damping from the low level to a medium level. determining the damper damping control mode based on the vehicle speed, further comprising:

11. The damper damping control method according to claim 10, wherein when the vehicle speed is greater than the first threshold value and less than a second threshold value, determining the damper damping control mode as lowering the level of the damper damping to a low level first, and then raising the damper damping from the low level to a medium level. determining the damper damping control mode based on the vehicle speed, further comprising: when the vehicle speed is greater than or equal to the second threshold value, determining the damper damping control mode as keeping the damper damping unchanged.

12. The damper damping control method of claim 1, further comprising:

13. The damper damping control method according to claim 1, wherein, when the difference value is within the first numerical interval, and the target reserve stroke is less than or equal to the stroke threshold value, determining the damper damping control mode as keeping the damper damping unchanged. the obstacle information further comprises a first distance between the obstacle and the vehicle, and the controlling the damper damping according to the damper damping control mode comprises: obtaining a response time corresponding to the damper damping control mode; obtaining a vehicle speed; determining a first time required for the vehicle to reach the obstacle based on the vehicle speed and the first distance; and when the first time is greater than or equal to the response time and less than a time threshold value, controlling a current of an electromagnetic valve coil of the damper according to the damper damping control mode for controlling the damper damping.

14. A damper damping control device, comprising: an obtaining module configured to obtain obstacle information when it is detected that there is an obstacle in front of a vehicle, the obstacle information comprising a height direction of the obstacle and a height of the obstacle; a first determining module configured to determine a target reserve stroke of a damper, the target reserve stroke corresponding to the height direction; a calculating module configured to subtract the height of the obstacle from the target reserve stroke to obtain a difference value; a second determining module configured to, when the difference value is outside a first numerical interval, determine a damper damping control mode based on a target numerical interval to which the difference value belongs; further configured to, when the difference value is within the first numerical interval and the target reserve stroke is greater than a stroke threshold value, determine a damper damping control mode based on a vehicle speed; and 15. The shock absorber damping control device according to claim 1, wherein a control module configured to control the damper damping according to the damper damping control mode. The first determining module is further configured to: obtain a total stroke of the damper and a height of an air spring; determine a position of a piston rod in the damper based on the height of the air spring; and 16. The shock absorber damping control device of claim 15, wherein, determine the target reserve stroke of the damper based on the height direction, the total stroke, and the position of the piston rod. The first determining module is further configured to: when the height direction is a positive direction, subtract the position of the piston rod from half of the total stroke to obtain the target reserve stroke of the damper; and 17. The shock absorber damping control device of claim 14, wherein, when the height direction is a reverse direction, add the position of the piston rod to half of the total stroke to obtain the target reserve stroke of the damper. The second determining module is further configured to: determining the damper damping control mode as lowering the level of the damper damping to a low level when the difference belongs to a second numerical interval; and determining the damper damping control mode as raising the level of the damper damping to a high level when the difference belongs to a third numerical interval; wherein the lower limit value of the second numerical interval is greater than the upper limit value of the first numerical interval, and the upper limit value of the third numerical interval is less than the lower limit value of the first numerical interval.

18. A damper damping control device comprising a processor, a memory, and a damper damping control program stored on the memory and executable by the processor, wherein the damper damping control program, when executed by the processor, causes the processor to implement the steps of the damper damping control method according to any one of claims 1 to 14.

19. A computer readable storage medium having stored thereon a damper damping control program, wherein the damper damping control program, when executed by a processor, causes the processor to implement the steps of the damper damping control method according to any one of claims 1 to 14.

20. A computer program product comprising a computer program, characterized in that, The computer program, when executed by a processor, causes the processor to implement the steps of the method according to any one of claims 1 to 14.

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