Method and apparatus for controlling suspension

Abstract

The present application relates to the technical field of intelligent vehicles. Provided are a method and apparatus for controlling a suspension. The method is applied to a first terminal device, wherein the first terminal device is independent of the chassis of a vehicle. The method comprises: acquiring first indication information, wherein the first indication information is used for indicating the attitude of a suspension that is set by a user; on the basis of the first indication information, determining target attitude angle information, wherein the target attitude angle information is used for a vehicle to adjust the attitude of the suspension; and sending the target attitude angle information to the vehicle. On the basis of the method, a user can directly customize the attitude of a suspension by means of a portable terminal device or an in-cabin terminal device, thereby increasing the flexibility of a suspension attitude adjustment function.

Description

Method and device for controlling suspension TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a method and device for controlling suspension. BACKGROUND

[0002] With the continuous development of the automobile industry and the increasing demand of users for automobile performance, the importance of automobile suspension technology, which affects the stability and comfort of automobile driving, is also increasing.

[0003] Full active suspension is an advanced suspension technology that can automatically adjust the suspension posture by combining the information collected by the sensors of the chassis control system to improve the driving performance and user comfort of the vehicle, and has gradually become an important direction of the development of modern automobile technology.

[0004] However, in the current full active suspension solution, the suspension posture of the vehicle is determined and adjusted by the suspension controller based on the data collected by the sensors, and the user cannot conveniently set the suspension posture individually, so that the flexibility of the suspension posture adjustment function is poor.

[0005] SUMMARY

[0006] The embodiments of the present application provide a method and device for controlling suspension, so that the user can directly indicate the posture angle of the suspension to the vehicle through the terminal device carried by the user or the terminal device in the cabin, thereby setting the posture of the suspension individually and increasing the flexibility of the suspension posture adjustment function.

[0007] In a first aspect, a method for controlling suspension is provided, applied to a first terminal device independent of the chassis of a vehicle, and the method comprises: obtaining first indication information, the first indication information being used to indicate the posture of the suspension set by the user; determining target posture angle information according to the first indication information, the target posture angle information being used to adjust the posture of the suspension of the vehicle; and sending the target posture angle information to the vehicle.

[0008] For example, the first terminal device described above can be a portable terminal device such as a smart phone, a tablet computer, a notebook computer, a smart wearable device (such as a smart bracelet, a smart watch), and the like, or a vehicle-mounted terminal, a camera, a microphone, and the like deployed in the cabin of the vehicle.

[0009] For example, the first terminal device described above can be a portable terminal device such as a smart phone, a tablet computer, a notebook computer, a smart wearable device (such as a smart bracelet, a smart watch), and the like, or a vehicle-mounted terminal, a camera, a microphone, and the like deployed in the cabin of the vehicle.

[0010] For example, the target posture angle information described above can also be displayed to the user through the display panel of the first terminal device.

[0011] Based on the above technical solution, by linking the intelligent terminal or the cockpit independent of the vehicle chassis with the full active suspension, the user can directly set the posture of the suspension through the terminal device carried by the user or the terminal device in the cockpit through a more convenient human-computer interaction form, thereby increasing the flexibility and convenience of the suspension posture adjustment function.

[0012] In some implementations of the first aspect, the first indication information is acquired once every first time period.

[0013] It should be understood that the plurality of first indication information acquired by the first terminal device in the plurality of first time periods can be continuously changed, i.e., the plurality of first indication information can be different from each other.

[0014] For example, in the case where the first terminal device determines that the first indication information acquired this time is the same as the first indication information acquired last time, the first terminal device can interrupt the operation of determining the target posture angle information according to the first indication information and sending the target posture angle information to the vehicle.

[0015] For example, the first time period can be set to the millisecond level.

[0016] Based on the above technical solution, the first terminal device can continuously acquire the first indication information from the user in a short period, and in each period, the target posture angle information can be determined and sent to the vehicle based on the first indication information of the user, so that the suspension of the vehicle can respond in real time and continuously to the continuously changing suspension posture indicated by the first indication information of the user.

[0017] In some implementations of the first aspect, the length of the first time period is any length within a first time period range.

[0018] For example, the first time period range can be a preset range.

[0019] For example, the length of the first time period can be configured before the first indication information is acquired for the first time, or the length of the first time period can be dynamically configured during the process of continuously acquiring the first indication information. During the process, the first terminal device can automatically configure the length of the first time period according to the posture change represented by the target posture angle information corresponding to the adjacent two first indication information. For example, the greater the posture change represented by the target posture angle information corresponding to the adjacent two first indication information, the shorter the length of the first time period configured.

[0020] Based on the technical solution, the first period of acquiring the first indication information is adjustable, so that the first terminal device can adaptively respond to the user input according to the change of the user inputting the first indication information, so that the first terminal device can more smoothly respond to the user input, and further help the suspension posture to be more smoothly adjusted.

[0021] With reference to the first aspect, in some implementations of the first aspect, the target posture angle information is used to indicate a target included angle at which the suspension is inclined towards a target direction, the target direction being any direction along a horizontal plane, and the target included angle being an included angle between a vehicle body plane of the vehicle and the horizontal plane.

[0022] For example, the horizontal plane refers to a plane on which a ground on which the vehicle travels is located, and therefore, the horizontal plane can also be referred to as the ground. The vehicle body plane can be a plane on which a center of gravity of the suspension is located, and the plane is parallel to the horizontal plane when the suspension of the vehicle is in an initial state.

[0023] With reference to the first aspect, in some implementations of the first aspect, the target posture angle information includes a target pitch angle and a target roll angle.

[0024] For example, in a case where the first indication information indicates that the vehicle adjusting the posture of the suspension does not involve pitch angle adjustment, the target pitch angle in the target posture angle information can be set to 0, or the target posture angle information can only include the target roll angle. Similarly, in a case where the first indication information indicates that the vehicle adjusting the posture of the suspension does not involve roll angle adjustment, the target roll angle in the target posture angle information can be set to 0, or the target posture angle information can only include the target pitch angle.

[0025] Based on the technical solution, by decomposing the target included angle at which the suspension is inclined towards the target direction into the target pitch angle and the target roll angle, the angles in the two directions can be decoupled, which helps to reduce the calculation difficulty of the vehicle in adjusting the suspension.

[0026] With reference to the first aspect, in some implementations of the first aspect, the target pitch angle is any one of a plurality of angle values in a first angle interval, and the target roll angle is any one of a plurality of angle values in a second angle interval.

[0027] For example, the first angle interval and the second angle interval can be a preset angle interval, and the range of the angle interval can be related to the hardware architecture of the vehicle suspension, such as the vehicle model, the inclination stiffness of the suspension, and the like.

[0028] Based on the above technical solution, the user can indicate any one of the multiple angle values in the specified angle interval as the suspension adjustment through the first indication information. The number of suspension postures that the user can indicate is large, and the user can select a posture that meets personal preferences from the multiple suspension postures, which helps to realize the function of personalized setting of the suspension posture by the user, and makes the suspension posture adjustment more operable.

[0029] In some implementations of the first aspect, the number of the multiple angle values in the first angle interval is related to a first step precision corresponding to the target pitch angle, and the number of the multiple angle values in the second angle interval is related to a second step precision corresponding to the target roll angle.

[0030] It should be understood that, under the premise that the interval range of the first angle interval is certain, the smaller the angle corresponding to the first step precision is, the more the angle values selectable in the first angle interval are; under the premise that the interval range of the second angle interval is certain, the smaller the angle corresponding to the second step precision is, the more the angle values selectable in the second angle interval are.

[0031] In some implementations of the first aspect, the first step precision and the second step precision are less than or equal to N degrees, and N is a unit or a decimal.

[0032] Based on the above technical solution, the degrees of the first step precision corresponding to the target pitch angle and the second step precision corresponding to the target roll angle are unit or decimal, so that the number of angle values selectable in the first angle interval and the second angle interval and the number of combinations of the two angles are quite large, which also means that the process of the user step control of the target pitch angle or the target roll angle is quite smooth, thereby helping to improve the user experience of controlling the suspension posture through the first terminal device.

[0033] In some implementations of the first aspect, after obtaining the multiple first indication information and determining the multiple target posture angle information according to the multiple first indication information, the multiple target posture angle information is sent to the vehicle.

[0034] It should be understood that the first terminal device can send the target attitude angle information corresponding to the first indication information received in sequence in real time to the vehicle based on the first indication information input by the user continuously, so that the vehicle can respond to the first indication information input by the user on the first terminal device in real time; in addition, the first terminal device can process the plurality of first indication information input by the user with a delay, so as to determine a plurality of target attitude angle information, and after the plurality of target attitude angle information is packaged, it is sent to the vehicle, and the vehicle controls the suspension according to the plurality of target attitude information obtained after unpacking in sequence according to each target attitude angle information to reach the attitude indicated by the target attitude angle information, so as to realize that the user controls the suspension to realize the "dance function" or "rhythm function" through the first terminal device in a self-programming manner.

[0035] For example, the plurality of target attitude angle information can include sequence information, which can be used to indicate the time sequence.

[0036] For example, before the user controls the suspension to realize the "dance function" or "rhythm function" through the first terminal device, the cabin can instruct the user to park and synchronize the chassis of the vehicle, so that the vehicle indicates the suspension controller to continuously adjust the attitude of the suspension according to the plurality of target attitude angle information sent by the first terminal device under the condition that the vehicle is determined to be completely stationary, the electrical park brake (EPB) caliper is pulled up, and the steering and power systems are disabled, so as to ensure the safety of the user.

[0037] Based on the above technical solutions, the user can control the continuous attitude change of the suspension in the future through the first terminal device in a self-programming manner, so as to control the suspension to realize the "dance function" or "rhythm function", improve the interaction experience between the user and the vehicle, and increase the interest of the interaction between the user and the vehicle.

[0038] In combination with the first aspect, in some implementations of the first aspect, the first indication information includes a first pitch angle and a first roll angle of the first terminal device, the reference angle information is used to indicate a second pitch angle and a second roll angle initially set by the first terminal device, and the target attitude angle information is determined according to a first angle difference between the first pitch angle and the second pitch angle and a second angle difference between the first roll angle and the second roll angle, the first angle difference corresponds to a target pitch angle, and the second angle difference corresponds to a target roll angle.

[0039] For example, the reference angle information can be information preset in the first terminal device, for example, the second pitch angle and the second roll angle indicated by the reference angle information are both 0, that is, the preset initial posture of the first terminal device is horizontally placed. Of course, the initial posture of the first terminal device can also be other postures.

[0040] Based on the above technical solution, the user can directly indicate the posture angle of the suspension to the vehicle through the terminal device carried by the user, thereby performing personalized setting on the posture of the suspension, and the convenience and flexibility of the user in controlling the suspension are increased.

[0041] In combination with the first aspect, in some implementations of the first aspect, the first terminal device includes a touch interface, the touch interface includes a first reference point, the first indication information includes a first coordinate of a first touch point under the touch interface, the first touch point is a point at which a user touches a first region of the touch interface, and a first horizontal coordinate difference value and a first vertical coordinate difference value of the first touch point relative to the first reference point are determined; target posture angle information is determined according to the first horizontal coordinate difference value, the first vertical coordinate difference value, a first corresponding relationship, and a second corresponding relationship, wherein the first corresponding relationship includes a corresponding relationship between the first horizontal coordinate difference value and a first angle, the second corresponding relationship includes a corresponding relationship between the first vertical coordinate difference value and a second angle, the first angle corresponds to a target roll angle, and the second angle corresponds to a target pitch angle.

[0042] It should be understood that the first angle corresponding to the target roll angle can mean that the first angle is equal to the target roll angle, or that the difference between the first angle and the target roll angle is within a preset range. The same applies to the second angle and the target pitch angle.

[0043] For example, the first terminal device can establish a first coordinate system based on the touch interface, so that the first reference point and the first touch point both correspond to a coordinate.

[0044] For example, the first reference point can be any point in the first coordinate system, or the origin of the first coordinate system.

[0045] For example, the first horizontal coordinate difference value can be positive or negative, in the case of a positive first horizontal coordinate difference value, the first angle can be a right angle; in the case of a negative first horizontal coordinate difference value, the first angle can be a left angle; similarly, the first vertical coordinate difference value can be positive or negative, in the case of a positive first vertical coordinate difference value, the second angle can be a pitch angle; in the case of a negative first vertical coordinate difference value, the second angle can be a pitch angle.

[0046] For example, in the first corresponding relationship, the roll angle and the horizontal coordinate difference corresponding to the first touch point are in a positive correlation; in the second corresponding relationship, the pitch angle and the vertical coordinate difference corresponding to the first touch point are in a positive correlation.

[0047] Based on the above technical solution, the user can directly indicate the attitude angle of the suspension to the vehicle by performing a touch operation in the touch area of the terminal device, thereby personalizing the attitude of the suspension and increasing the convenience and flexibility of the user in controlling the suspension.

[0048] In combination with the first aspect, in some implementations of the first aspect, the first touch point is located in an edge region of the first region, and the edge region is an annular region with the first reference point as the center.

[0049] In combination with the first aspect, in some implementations of the first aspect, the first indication information is image information, the first indication information includes a first gesture, a third pitch angle and a third roll angle of the suspension at a current time are acquired; according to the first gesture and a third corresponding relationship, a fourth pitch angle and a fourth roll angle are determined, wherein the third corresponding relationship indicates a corresponding relationship among a reference gesture, a pitch angle and a roll angle, and the fourth pitch angle and the fourth roll angle correspond to a reference gesture matching the first gesture; according to the third pitch angle, the third roll angle, the fourth pitch angle and the fourth roll angle, the target attitude angle information is determined.

[0050] It should be understood that the first gesture matches the reference gesture, which means that the similarity of the two gestures is higher than a preset similarity threshold. When there are multiple reference gestures with a similarity higher than the similarity threshold to the first gesture, the reference gesture with the highest similarity is selected to correspond to the pitch angle and the roll angle as the fourth pitch angle and the fourth roll angle.

[0051] For example, the first terminal device can be a terminal with a shooting function, such as a camera in the cabin, a vehicle-mounted terminal with a shooting function in the cabin, a vehicle-mounted visual sensor, a portable terminal device with a shooting function, etc.

[0052] For example, after the first terminal device receives the first indication information in the form of an image, the image can be subjected to feature extraction and other digital image processing operations to extract the first gesture in the first indication information, so that the target attitude angle information can be more accurately determined subsequently.

[0053] For example, the user can customize the third corresponding relationship, that is, the meanings of various gestures can be personalized by the user according to personal preferences after the suspension is put into use.

[0054] Based on the technical solution, the user can directly indicate the attitude angle of the suspension to the vehicle by inputting the corresponding gesture image to the first terminal device, thereby performing personalized setting on the attitude of the suspension, and increasing the convenience and flexibility of the user in controlling the suspension.

[0055] In combination with the first aspect, in some implementations of the first aspect, the first indication information is voice information, the first indication information includes a first voice segment, a fifth pitch angle and a fifth roll angle are determined according to the first voice segment and a fourth correspondence relationship, the fourth correspondence relationship is used to indicate the correspondence relationship between a reference voice segment, a pitch angle and a roll angle, and the reference voice segment corresponding to the fifth pitch angle and the fifth roll angle matches the first voice segment; the target attitude angle information is determined according to the fifth pitch angle and the fifth roll angle.

[0056] For example, the first terminal device can be a terminal with a recording function, such as a microphone arranged in a cabin, a vehicle terminal with a recording function arranged in the cabin, a portable terminal device with a recording function, etc.

[0057] It should be understood that the first voice segment matches the reference voice segment, which means that the similarity of the two voice segments is higher than a preset similarity threshold, and when there are multiple reference voice segments with a similarity higher than the similarity threshold to the first voice segment, the reference voice segment with the highest similarity is selected to correspond to the pitch angle and the roll angle as the fifth pitch angle and the fifth roll angle.

[0058] Based on the technical solution, the user can directly indicate the attitude angle of the suspension to the vehicle by inputting the corresponding gesture image to the first terminal device, thereby performing personalized setting on the attitude of the suspension, and increasing the convenience and flexibility of the user in controlling the suspension.

[0059] In combination with the first aspect, in some implementations of the first aspect, the target attitude angle information is sent to the vehicle, so that the suspension controller of the vehicle acquires a starting pitch angle and a starting roll angle of the suspension at the current time, combines the target pitch angle and the target roll angle included in the target attitude angle information, determines a pitch angle change amount and a roll angle change amount, and determines a first control amount according to the pitch angle change amount and the roll angle change amount, the first control amount being used to control the suspension to reach the attitude indicated by the target attitude angle information, thereby realizing closed-loop control of the suspension controller on the adjustment of the attitude of the suspension, that is, when the suspension controller determines that the pitch angle change amount and the roll angle change amount are 0, it means that the current attitude of the suspension has reached the attitude indicated by the target attitude angle information.

[0060] In a second aspect, a method for controlling a suspension is provided. The method comprises: obtaining target attitude angle information, the target attitude angle information being used for a vehicle to adjust an attitude of the suspension, the target attitude angle information being determined by a first terminal device based on first indication information, the first indication information being used for indicating a user-set attitude of the suspension; determining a first control quantity based on the target attitude angle information, the first control quantity being used for controlling the suspension of the chassis to adjust to an attitude consistent with the target attitude angle information within a second time period, a length of the second time period being related to a speed of adjusting the attitude of the suspension; and sending the first control quantity to an actuator used for adjusting the attitude of the suspension.

[0061] For example, the method described above can be executed by a suspension controller of the chassis.

[0062] It should be understood that, under the condition that the target attitude angle information is certain, the shorter the length of the second time period is, the faster the speed of the suspension actuator to complete the adjustment of the attitude of the suspension is, and the longer the length of the second time period is, the slower the speed of the suspension actuator to complete the adjustment of the attitude of the suspension is.

[0063] For example, the second time period described above can be equal to a period in which the first terminal device obtains the first indication information (i.e., a first time period), so as to realize that the suspension controller controls the actuator to respond to the continuously changing attitude of the suspension indicated by the user through the first indication information in real time and continuously.

[0064] For example, the actuator used for adjusting the attitude of the suspension is multiple, and accordingly, the first control quantity described above can comprise multiple first sub-control quantities, each of the first sub-control quantities being sent to a corresponding actuator, and each of the suspension actuators applies a force corresponding to the first sub-control quantity to a corresponding suspension spring based on the first sub-control quantity received by the suspension actuator, so that the attitude angle of the suspension finally presented is consistent with the target attitude angle information sent by the first terminal device.

[0065] Based on the technical solution described above, the suspension controller can directly control the attitude of the suspension based on the obtained target attitude angle information, so as to simplify the control logic of the suspension controller for adjusting the attitude of the suspension, and further improve the flexibility of the control of the attitude of the vehicle suspension.

[0066] In combination with the second aspect, in some implementations of the second aspect, the target attitude angle information is received from the first terminal device.

[0067] For example, the target attitude angle information described above can also be downloaded from a cloud server, and accordingly, the target attitude angle information can be uploaded to the cloud server by the first terminal device or by another terminal device.

[0068] Based on the technical scheme, the independent intelligent terminal or the cockpit is linked with the full active suspension, the user can set the posture of the suspension through the terminal device carried by the user or the terminal device in the cockpit, and the flexibility and convenience of the suspension posture adjustment function are improved.

[0069] With reference to the second aspect, in some implementations of the second aspect, the target posture angle information is used to indicate a target included angle at which the suspension is inclined to a target direction, the target direction is any direction along a horizontal plane, and the target included angle is an included angle between a vehicle body plane of the vehicle and the horizontal plane.

[0070] With reference to the second aspect, in some implementations of the second aspect, the target posture angle information includes a target pitch angle and a target roll angle.

[0071] For example, the target posture angle information uploaded by the user to the cloud server through the first terminal device can include the target pitch angle and the target roll angle, and can also include a target vehicle body center of gravity height, so as to further improve the flexibility of the suspension posture control.

[0072] With reference to the second aspect, in some implementations of the second aspect, the target pitch angle is any one of a plurality of angle values in a first angle interval, and the target roll angle is any one of a plurality of angle values in a second angle interval.

[0073] With reference to the second aspect, in some implementations of the second aspect, the number of the plurality of angle values in the first angle interval is related to a first step precision corresponding to the target pitch angle, and the number of the plurality of angle values in the second angle interval is related to a second step precision corresponding to the target roll angle.

[0074] With reference to the second aspect, in some implementations of the second aspect, the first step precision and the second step precision are less than or equal to N degrees, and N is a unit digit or a decimal.

[0075] With reference to the second aspect, in some implementations of the second aspect, a starting pitch angle and a starting roll angle of the suspension at a current time are obtained, a pitch angle change amount is determined according to the target pitch angle and the starting pitch angle, a roll angle change amount is determined according to the target roll angle and the starting roll angle, and a first control amount is determined according to the pitch angle change amount and the roll angle change amount.

[0076] It should be understood that when the pitch angle change amount and the roll angle change amount are equal to 0, it indicates that the current posture of the suspension is consistent with the target posture angle information, and thus it indicates that the adjustment of the posture of the suspension by the suspension controller is completed.

[0077] Based on the technical solution, the suspension controller can determine whether the current attitude of the suspension is consistent with the target attitude angle information in combination with the current attitude of the suspension. If not, the corresponding pitch angle change and roll angle change are determined, and then the first control quantity is determined based on the angle change, so as to realize the closed-loop control of the suspension controller adjusting the attitude of the suspension.

[0078] In a third aspect, a device for controlling a suspension is provided, which can be applied to a first terminal device independent of a chassis of a vehicle, and the device comprises: an obtaining unit configured to obtain first indication information, the first indication information being used to indicate an attitude of the suspension set by a user; a determining unit configured to determine target attitude angle information according to the first indication information, the target attitude angle information being used to adjust the attitude of the suspension by the vehicle; and a sending unit configured to send the target attitude angle information to the vehicle.

[0079] With reference to the third aspect, in some implementations of the third aspect, the obtaining unit is specifically configured to: obtain the first indication information once every first time period.

[0080] With reference to the third aspect, in some implementations of the third aspect, the first time period has a length of any length in a first time period range.

[0081] With reference to the third aspect, in some implementations of the third aspect, the target attitude angle information is used to indicate a target included angle at which the suspension is inclined to a target direction, the target direction being any direction along a horizontal plane, and the target included angle being an included angle between a vehicle body plane of the vehicle and the horizontal plane.

[0082] With reference to the third aspect, in some implementations of the third aspect, the target attitude angle information comprises: a target pitch angle and a target roll angle.

[0083] With reference to the third aspect, in some implementations of the third aspect, the target pitch angle is any one of a plurality of angle values in a first angle range, and the target roll angle is any one of a plurality of angle values in a second angle range.

[0084] With reference to the third aspect, in some implementations of the third aspect, the number of the plurality of angle values in the first angle range is related to a first step precision corresponding to the target pitch angle, and the number of the plurality of angle values in the second angle range is related to a second step precision of the target roll angle.

[0085] With reference to the third aspect, in some implementations of the third aspect, the first step precision and the second step precision are less than or equal to N degrees, and N is a unit of digits or a decimal.

[0086] In some implementations of the third aspect, after the plurality of first indication information is obtained and the plurality of target attitude angle information is determined according to the plurality of first indication information, the sending unit is specifically configured to: send the plurality of target attitude angle information to the vehicle.

[0087] In some implementations of the third aspect, the first indication information includes a first pitch angle and a first roll angle of the first terminal device, and the determining unit is specifically configured to: determine reference angle information, the reference angle information being used to indicate a second pitch angle and a second roll angle initially set by the first terminal device; determine the target attitude angle information according to a first angle difference between the first pitch angle and the second pitch angle and a second angle difference between the first roll angle and the second roll angle, the first angle difference corresponding to a target pitch angle, and the second angle difference corresponding to a target roll angle.

[0088] In some implementations of the third aspect, the first terminal device includes a touch interface, and the touch interface includes a first reference point, the first indication information includes a first coordinate of a first touch point under the touch interface, the first touch point being a point at which a user touches a first region of the touch interface, and the determining unit is specifically configured to: determine a first horizontal coordinate difference value and a first vertical coordinate difference value of the first touch point relative to the first reference point; and determine the target attitude angle information according to the first horizontal coordinate difference value, the first vertical coordinate difference value, a first correspondence relationship, and a second correspondence relationship, the first correspondence relationship including a correspondence relationship between the first horizontal coordinate difference value and a first angle, the second correspondence relationship including a correspondence relationship between the first vertical coordinate difference value and a second angle, the first angle corresponding to the target roll angle, and the second angle corresponding to the target pitch angle.

[0089] In some implementations of the third aspect, the first touch point is located at an edge region of the first region, the edge region being an annular region with the first reference point as a center.

[0090] In some implementations of the third aspect, the first indication information is image information, the first indication information includes a first gesture, and the determining unit is specifically configured to: obtain a third pitch angle and a third roll angle of the suspension at a current time; determine a fourth pitch angle and a fourth roll angle according to the first gesture and a third correspondence relationship, the third correspondence relationship being used to indicate a correspondence relationship between a reference gesture, a pitch angle, and a roll angle, the reference gesture corresponding to the fourth pitch angle and the fourth roll angle matching the first gesture; and determine the target attitude angle information according to the third pitch angle, the third roll angle, the fourth pitch angle, and the fourth roll angle.

[0091] In some implementations of the third aspect, in conjunction with the third aspect, the first indication information is voice information, the first indication information includes a first voice segment, and the determining unit is specifically configured to: determine a fifth pitch angle and a fifth roll angle according to the first voice segment and a fourth correspondence relationship, where the fourth correspondence relationship is used to indicate a correspondence relationship among a reference voice segment, a pitch angle, and a roll angle, the reference voice segment corresponding to the fifth pitch angle and the fifth roll angle matches the first voice segment; and determine the target attitude angle information according to the fifth pitch angle and the fifth roll angle.

[0092] In the fourth aspect, a device for controlling a suspension is provided, which includes: an obtaining unit configured to obtain target attitude angle information from a first terminal device, the first terminal device being independent of a chassis of a vehicle, the target attitude angle information being used to adjust an attitude of the suspension of the vehicle, the target attitude angle information being determined by the first terminal device based on first indication information, the first indication information being used to indicate an attitude of the suspension set by a user; a determining unit configured to determine a first control quantity according to the target attitude angle information, the first control quantity being used to control the suspension of the chassis to be adjusted to an attitude consistent with the target attitude angle information within a second time period, a length of the second time period being related to a speed of adjusting the attitude of the suspension; and a sending unit configured to send the first control quantity to an actuator used to adjust the attitude of the suspension.

[0093] In some implementations of the fourth aspect, in conjunction with the fourth aspect, the obtaining unit is specifically configured to: receive the target attitude angle information from the first terminal device.

[0094] In some implementations of the fourth aspect, in conjunction with the fourth aspect, the target attitude angle information is used to indicate a target included angle at which the suspension is inclined toward a target direction, the target direction being any direction along a horizontal plane, and the target included angle being an included angle between a vehicle body plane of the vehicle and the horizontal plane.

[0095] In some implementations of the fourth aspect, in conjunction with the fourth aspect, the target attitude angle information includes a target pitch angle and a target roll angle.

[0096] In some implementations of the fourth aspect, in conjunction with the fourth aspect, the target pitch angle is any one of a plurality of angle values in a first angle interval, and the target roll angle is any one of a plurality of angle values in a second angle interval.

[0097] In some implementations of the fourth aspect, in conjunction with the fourth aspect, a number of the plurality of angle values in the first angle interval is related to a first step precision of the target pitch angle, and a number of the plurality of angle values in the second angle interval is related to a second step precision of the target roll angle.

[0098] In some implementations of the fourth aspect, in combination with the fourth aspect, the first step precision and the second step precision are less than or equal to N degrees, N being a unit or a decimal.

[0099] In some implementations of the fourth aspect, in combination with the fourth aspect, the determining unit is specifically configured to: obtain a starting pitch angle and a starting roll angle of the suspension at a current time; determine a pitch angle change amount according to the target pitch angle and the starting pitch angle, and determine a roll angle change amount according to the target roll angle and the starting roll angle; and determine the first control amount according to the pitch angle change amount and the roll angle change amount.

[0100] In the fifth aspect, a device for controlling a suspension is provided, which includes a processor and a memory, wherein the processor and the memory are connected, the memory is configured to store program code, and the processor is configured to invoke the program code to execute the method in any one of the possible implementation manners of the method design of the first aspect or the method in any one of the possible implementation manners of the method design of the second aspect.

[0101] In the sixth aspect, a vehicle is provided, which includes the device in any one of the possible implementation manners of the device design of the third aspect, and includes the device in any one of the possible implementation manners of the device design of the fourth aspect.

[0102] In the seventh aspect, a chip system is provided, which is applied to an electronic device; the chip system includes one or more interface circuits and one or more processors; the interface circuit and the processor are interconnected through a line; the interface circuit is configured to receive a signal from a memory of the electronic device and send a signal to the processor, the signal including computer instructions stored in the memory; when the processor executes the computer instructions, the electronic device executes the method in any one of the possible implementation manners of the method design of the first aspect or the second aspect.

[0103] In the eighth aspect, a computer readable storage medium is provided, which stores a computer program or instructions, and the computer program or instructions are used to implement the method in any one of the possible implementation manners of the method design of the first aspect or the second aspect.

[0104] In the ninth aspect, a computer program product is provided, and the computer program code or instructions are executed on a computer to make the computer execute the method in any one of the possible implementation manners of the method design of the first aspect or the second aspect. BRIEF DESCRIPTION OF DRAWINGS

[0105] FIG. 1 is a schematic diagram of an architecture of a chassis control system 100;

[0106] FIG. 2 is a schematic diagram of a method 200 for controlling a suspension according to an embodiment of the present application.

[0107] FIG. 3 is a schematic diagram of an architecture of a suspension control system 300 according to an embodiment of the present application;

[0108] FIG. 4 is a schematic diagram of a method 400 for determining target attitude angle information according to an embodiment of the present application;

[0109] FIG. 5 is a schematic diagram of a principle of obtaining first indication information according to an embodiment of the present application;

[0110] FIG. 6 is a schematic diagram of an architecture of a suspension control system 600 according to an embodiment of the present application;

[0111] FIG. 7 is a schematic diagram of a method 700 for determining target attitude angle information according to an embodiment of the present application;

[0112] FIG. 8 is a schematic diagram of a principle of obtaining first indication information according to an embodiment of the present application;

[0113] FIG. 9 is a schematic diagram of a principle of obtaining first indication information according to an embodiment of the present application;

[0114] FIG. 10 is a schematic diagram of an architecture of a suspension control system 1000 according to an embodiment of the present application;

[0115] FIG. 11 is a schematic diagram of a method 1100 for determining target attitude angle information according to an embodiment of the present application;

[0116] FIG. 12 is a schematic diagram of a set of preset gestures for controlling suspension attitude according to an embodiment of the present application;

[0117] FIG. 13 is a schematic diagram of an architecture of a suspension control system 1300 according to an embodiment of the present application;

[0118] FIG. 14 is a schematic diagram of a method 1400 for determining target attitude angle information according to an embodiment of the present application;

[0119] FIG. 15 is a schematic diagram of an architecture of a suspension control system 1500 according to an embodiment of the present application;

[0120] FIG. 16 is a schematic diagram of a method 1600 for controlling suspension according to an embodiment of the present application;

[0121] FIG. 17 is a schematic diagram of an apparatus 1700 for controlling suspension according to an embodiment of the present application;

[0122] FIG. 18 is a schematic diagram of an apparatus 1800 for controlling suspension according to an embodiment of the present application. DETAILED DESCRIPTION

[0123] It should be noted that, in the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" herein is only a description of the relationship between the associated objects, which means that there can be three relationships, for example, A and / or B, which can mean: A exists alone, A and B exist together, and B exists alone.

[0124] In the embodiments of the present application, the terms "first", "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two, "at least one" and "one or more" means one, two or more than two. The singular expression "one", "a kind", "the", "the above", "the" and "this" is intended to also include, for example, the expression "one or more", unless the context clearly indicates the opposite.

[0125] In the description of the present application, the reference to "one embodiment" or "some embodiments" and the like means that the specific features, structures or characteristics described in connection with the embodiment are included in one or more embodiments of the present application. Therefore, the statements "in one embodiment", "in some embodiments", "in other some embodiments", "in some other embodiments" and the like appearing in different places in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "include", "contain", "have" and their variants mean "include but not limited to", unless otherwise specifically emphasized.

[0126] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

[0127] Fig. 1 is a schematic diagram of the architecture of a chassis control system 100.

[0128] For example, the chassis control system 100 can be used to control the suspension of a car, i.e. the suspension is a full active suspension, or an active guided suspension or a full active suspension, i.e. a suspension with the function of automatically adjusting the attitude of the suspension in combination with the information collected by the sensors of the chassis control system.

[0129] It should be noted that the vehicle or car involved in the present application can include a road vehicle, a water vehicle, an air vehicle, an industrial device, an agricultural device, or an entertainment device, etc. For example, the vehicle can include an unmanned vehicle, which is a vehicle in a broad sense, and can be a vehicle (such as a commercial vehicle, a passenger vehicle, a motorcycle, a flying vehicle, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), an agricultural device (such as a mower, a harvester, etc.), a recreational device, a toy vehicle, etc. The type of vehicle is not limited in the embodiments of the present application. For the convenience of description, the embodiments of the present application will be described in detail taking an intelligent car as an example.

[0130] Referring to FIG. 1, the devices related to the full active suspension in the chassis control system 100 include:

[0131] A sensor set 110 is configured to collect information of a driving state and a driving environment of the vehicle. The sensor set 110 can include a suspension stroke sensor configured to measure a telescopic amount of the suspension and to monitor a change in a vehicle attitude in real time, a vehicle body inclination angle sensor configured to measure a roll angle and a pitch angle of the vehicle to obtain information of a dynamic balance state of the vehicle, a road surface sensor configured to sense a flatness (or a concave-convex degree) and a slope of the road surface to provide road surface information for the control system, and an acceleration sensor configured to measure vertical acceleration, front-rear acceleration, and lateral acceleration of the vehicle to provide information of a driving state of the vehicle.

[0132] A suspension controller 120 is configured to receive sensor data collected by the sensor set 110, analyze the sensor data through a built-in calculation module set 121, determine a target attitude of the suspension, and then determine a control amount for controlling the suspension to adjust to the target attitude in combination with a current attitude of the suspension.

[0133] Taking an ordinary household intelligent car as an example, a spring (which can be an air spring) for adjusting the attitude of the suspension is usually arranged at the left front end, the right front end, the left rear end, and the right rear end of the suspension. Correspondingly, the calculation module set 121 can include four sub-modules, each of which is configured to calculate a torque control amount of the corresponding suspension spring. The suspension controller 120 can send the calculated torque control amounts to the actuators for controlling the deformation of the corresponding springs, respectively.

[0134] A suspension actuator set 130 can include four actuators, i.e., a left front suspension actuator 131, a right front suspension actuator 132, a left rear suspension actuator 133, and a right rear suspension actuator 133, taking an ordinary household intelligent car as an example. Based on the torque control amounts from the suspension controller 120, the suspension actuators control the deformation of the corresponding springs, thereby achieving the function of adjusting the attitude of the suspension.

[0135] It should be noted that the chassis control system mentioned in the embodiments of the present application can be used to indicate electronic control devices such as chassis electronic control unit (ECU), vehicle domain controller (VDC), etc. For the convenience of description, the chassis control system, chassis ECU, vehicle VDC, etc. will be collectively referred to as chassis hereinafter.

[0136] It should be understood that the operation of linkage between the above-mentioned various devices to adjust the attitude of the suspension is autonomously executed, but in the current full-active suspension solution, only a scheme is provided for adaptively adjusting the attitude of the suspension for some preset basic scenarios. Or the user can only select a few modes (not attitude angles) through the specified control button at the vehicle end, such as comfort mode, sports mode, etc., and then the suspension adjusts the suspension attitude based on the data collected by the related sensors according to the mode selected by the user. It can be seen that the user cannot conveniently directly set the suspension attitude individually, so that the flexibility of the suspension attitude adjustment function is poor.

[0137] In view of this, the embodiments of the present application propose a method and device for controlling the suspension, so that the user can input the indication information for controlling the attitude of the suspension to the terminal device (such as a portable terminal device or a vehicle-mounted terminal device in the cabin) in a relatively convenient way, and realize the linkage between the terminal device and the chassis (further, the suspension controller in the chassis), so that the user can control the attitude of the suspension through the terminal device.

[0138] FIG. 2 is a flow diagram of a method 200 for controlling the suspension according to an embodiment of the present application.

[0139] S210: Obtain first indication information, which is used to indicate the attitude of the suspension set by the user.

[0140] For example, the suspension in the method 200 can be the full-active suspension mentioned in the above content. For the convenience of description, the full-active suspension will be referred to as suspension hereinafter.

[0141] S220: According to the first indication information, determine target attitude angle information, which is used to adjust the attitude of the suspension by the vehicle.

[0142] S230: Send the target attitude angle information to the vehicle.

[0143] The above-mentioned method 200 can be executed by a first terminal device, which is independent of the chassis of the vehicle.

[0144] For example, the first terminal device can be a smart phone, a tablet computer, a notebook computer, a smart wearable device (e.g., a smart bracelet, a smart watch), or the like portable terminal device, or can be a vehicle-mounted terminal device, a camera, a microphone, or the like device deployed in a vehicle cabin.

[0145] For example, the chassis refers to a series of components supporting vehicle driving and controlling vehicle driving state. The chassis can be a system in a vehicle, for example, can be referred to as a chassis control system, and the system can be further divided into a transmission system, a driving system, a steering system, and a braking system. The driving system refers to a system responsible for supporting and suspending a vehicle body, and is composed of a frame, an axle, a suspension, and a wheel. The suspension refers to a system integrating a guide mechanism or a mechanical component, a sensor, a controller, and an actuator, and thus can also be referred to as a suspension system. In view of this, the chassis mentioned in the embodiments of the present application can be used to represent the chassis control system, the suspension system, the suspension, or the suspension controller.

[0146] In some possible embodiments, the first terminal device can send the target attitude angle information to the vehicle, for example, can send the target attitude angle information to a chassis of the vehicle, and further can send the target attitude angle information to a suspension controller of the chassis.

[0147] After the target attitude angle information is received at the vehicle side, the target attitude angle information can be transmitted to the chassis, so that the suspension controller of the chassis determines a control amount of each suspension actuator based on the target attitude angle information, so that the suspension finally reaches an attitude indicated by the target attitude angle information.

[0148] In some possible embodiments, the target attitude angle information can also be displayed to a user through a display panel of the first terminal device.

[0149] Based on the technical solution, by linking the intelligent terminal independent of the vehicle chassis or the cabin with the full-active suspension, a user can directly set an attitude of the suspension through a terminal device carried by the user or a terminal device in the cabin through a more convenient human-computer interaction form, thereby increasing flexibility and convenience of a suspension attitude adjustment function.

[0150] In some possible embodiments, the first terminal device can execute the S210 once every first time period, thereby continuously acquiring a plurality of first indication information.

[0151] It should be understood that the plurality of first indication information acquired by the first terminal device in the plurality of first time periods can be continuously changed, i.e., the plurality of first indication information can be different from each other. Then, in the process of continuously acquiring the plurality of first indication information, the plurality of corresponding target attitude angle information will also be continuously determined, and the plurality of target attitude angle information will also be continuously sent to the vehicle. And the suspension controller of the vehicle chassis will also continuously adjust the attitude of the suspension based on the plurality of target attitude angle information continuously received.

[0152] In some possible embodiments, in an ideal state, the first terminal device performs the operations of S210 to S230 in the first time period, and after entering the next first time period, the first terminal device will repeat the operations of S210 to S230, and so on, until the user stops inputting the first indication information to the first terminal device, or the first terminal device cannot acquire the first indication information.

[0153] In some possible embodiments, in the case where the first terminal device determines that the first indication information acquired this time is the same as the first indication information acquired last time, the first terminal device can interrupt the operation of determining the target attitude angle information according to the first indication information and sending the target attitude angle information to the vehicle in the current cycle.

[0154] In some possible embodiments, the first time period can be set to a millisecond level, for example, 10 ms, 20 ms.

[0155] Correspondingly, on the chassis side, the suspension controller can complete the operation of adjusting the attitude of the suspension based on the target attitude angle information in a preset second time period each time the target attitude angle information is received. The second time period can be equal to the first time period, so as to realize the rapid response to the first indication information input by the user.

[0156] Based on the above technical solutions, the first terminal device can continuously acquire the first indication information from the user in a relatively short period, and in each period, the target attitude angle information can be determined and sent to the vehicle based on the first indication information of the user, so that the vehicle suspension can respond to the continuously changing attitude of the suspension indicated by the user through the first indication information in real time and continuously.

[0157] In some possible embodiments, the length of the first time period is any length in a first time period range interval. The first time period range interval can be a preset range interval.

[0158] In some possible embodiments, the first time period range interval can be [3 ms, 100 ms].

[0159] In some possible embodiments, the duration of the first time period can be configured before the first time of obtaining the first indication information; or the duration of the first time period can be dynamically configured in the process of continuously obtaining the first indication information, in which process, the first terminal device can automatically configure the duration of the first time period according to the size of the attitude change indicated by the target attitude angle information corresponding to adjacent two times of the first indication information, for example, the greater the size of the attitude change indicated by the target attitude angle information corresponding to adjacent two times of the first indication information, the shorter the duration of the first time period configured.

[0160] Based on the technical solution described above, the first time period for obtaining the first indication information is adjustable, so that the first terminal device can adaptively respond to the user input according to the change of the user inputting the first indication information, so that the first terminal device can more smoothly respond to the user input, and thus help the suspension attitude to be more smoothly adjusted.

[0161] In some possible embodiments, the target attitude angle information is used to indicate a target included angle at which the suspension is inclined towards a target direction, where the target direction is any direction along the horizontal plane, and the target included angle is an included angle between the vehicle body plane and the horizontal plane.

[0162] For example, the horizontal plane refers to a plane on which the ground on which the vehicle travels is located, so the horizontal plane can also be referred to as the ground; or the horizontal plane can also refer to an absolute horizontal plane, i.e., a plane perpendicular to the direction of gravity. In the initial state of the suspension attitude, the vehicle body plane can be a plane on which the vehicle transverse axis and the vehicle longitudinal axis are located, where the vehicle longitudinal axis is usually defined as an axis along the driving direction of the vehicle (i.e., the front-rear direction), and the vehicle transverse axis is perpendicular to the vehicle longitudinal axis and refers to an axis along the left-right direction of the vehicle. Alternatively, the vehicle body plane can be a reference plane on which the center of gravity of the suspension is located, and the reference plane is parallel to the horizontal plane when the vehicle suspension is in the initial state. Therefore, with the adjustment of the suspension attitude, the vehicle body plane will also be inclined with the adjustment of the suspension attitude, so that the vehicle body plane forms an included angle with the horizontal plane.

[0163] The center of gravity of the suspension is essentially a reference point for abstracting the suspension as a plane, and the reference point can also be selected as other points in space, which is not limited in the embodiments of the present application.

[0164] In some possible embodiments, in the process of determining the target attitude angle information, the first terminal device can decompose the attitude angle of the suspension or the target included angle at which the suspension is inclined towards the target direction into angles in two directions (the front-rear direction of the vehicle, also referred to as the pitch direction and the left-right direction, also referred to as the roll direction), that is, the target attitude angle information can include a target pitch angle and a target roll angle; further, the target pitch angle includes a pitch angle or a pitch angle, and the target roll angle includes a left roll angle or a right roll angle. For example, the vehicle adjusts the suspension to lean towards the left front end, and the attitude angle formed by the leaning towards the left front end can be decomposed into a left roll angle and a pitch angle.

[0165] In some possible embodiments, in the case where the first indication information indicates that the attitude adjustment of the suspension by the vehicle does not involve pitch angle adjustment, the target pitch angle in the target attitude angle information can be 0, or the target attitude angle information can only include the target roll angle; similarly, in the case where the first indication information indicates that the attitude adjustment of the suspension by the vehicle does not involve roll angle adjustment, the target roll angle in the target attitude angle information can be 0, or the target attitude angle information can only include the target pitch angle.

[0166] Based on the technical solution described above, by decomposing the target included angle at which the suspension is inclined towards the target direction into a target pitch angle and a target roll angle, the angles in the two directions can be decoupled, and the vehicle only needs to consider the angles in the two directions respectively when adjusting the attitude of the suspension, and the control amount corresponding to the suspension actuator is calculated respectively, thereby helping to reduce the calculation difficulty of the vehicle in the process of adjusting the suspension.

[0167] In some possible embodiments, the target pitch angle is any one of a plurality of angle values in a first angle interval, and the target roll angle is any one of a plurality of angle values in a second angle interval.

[0168] In some possible embodiments, the first angle interval and the second angle interval can be a preset angle interval, and the range of the angle interval can be related to the hardware architecture and performance of the vehicle suspension, for example, the vehicle model, the inclination stiffness of the suspension, and the like.

[0169] Based on the technical solution described above, the user can indicate any one of a plurality of attitude angles in a specified angle interval through the first indication information, the number of attitudes that can be indicated by the user is large, and the user can select an attitude that meets personal preferences from the large number of attitudes, thereby helping to realize the function of personalized setting of the attitude of the suspension by the user, and making the attitude adjustment of the suspension more operable.

[0170] In some possible embodiments, the number of angle values in the first angle interval corresponds to the first step precision of the target pitch angle, and the number of angle values in the second angle interval corresponds to the second step precision of the target roll angle.

[0171] It should be understood that, under the premise that the interval range of the first angle interval is fixed, the smaller the angle corresponding to the first step precision is, the more angle values the first angle interval can select; under the premise that the interval range of the second angle interval is fixed, the smaller the angle corresponding to the second step precision is, the more angle values the second angle interval can select.

[0172] In some possible embodiments, the first step precision and the second step precision are less than or equal to N degrees, and N is a unit or a decimal.

[0173] It should be understood that, in the prior art, the user cannot directly control the attitude of the suspension, and at most inputs a suspension mode such as a comfort mode or a sports mode through a cockpit, and the specific suspension attitude angle is determined by a suspension controller according to the mode and the data collected by a vehicle-related sensor, and the user cannot directly indicate the attitude angle during the whole process of adjusting the suspension attitude angle.

[0174] Based on the technical solution, the degrees of the first step precision corresponding to the target pitch angle and the second step precision of the target roll angle are unit or decimal, so that the number of angle values selected by the user in the first angle interval and the second angle interval and the number of combinations of the two angles are quite large, which also means that the process of the user step controlling the target pitch angle or the target roll angle is quite smooth, thereby helping to improve the experience of the user controlling the suspension attitude through the first terminal device.

[0175] In some possible embodiments, the S230 can be extended to the following steps: after obtaining the plurality of first indication information and determining the plurality of target attitude angle information according to the plurality of first indication information, the plurality of target attitude angle information is sent to the vehicle.

[0176] It should be understood that the first terminal device can send the target attitude angle information corresponding to the first indication information received in sequence to the vehicle in real time based on the first indication information input by the user continuously, so that the vehicle can respond to the first indication information input by the user on the first terminal device in real time; in addition, the first terminal device can process the plurality of first indication information input by the user with a delay, so as to determine a plurality of target attitude angle information, and after the plurality of target attitude angle information is packaged, it is sent to the vehicle, and the vehicle controls the suspension according to the plurality of target attitude information obtained after unpacking, and controls the suspension to reach the attitude indicated by the target attitude angle information in sequence, so as to realize that the user controls the suspension to realize the "dance function" or "rhythm function" through the first terminal device in a self-programming manner.

[0177] In some possible embodiments, the plurality of target attitude angle information can include sequence information, which can be used to represent the time sequence.

[0178] In some possible embodiments, before the user controls the suspension to realize the "dance function" or "rhythm function" through the first terminal device, the cabin can instruct the user to park and synchronize the chassis of the vehicle, so that the vehicle instructs the suspension controller to continuously adjust the attitude of the suspension according to the plurality of target attitude angle information sent by the first terminal device under the condition that the vehicle is determined to be completely stationary, the EPB caliper is pulled up, and the steering and power systems are disabled, so as to ensure the safety of the user.

[0179] Based on the above technical solutions, the user can control the continuous attitude change of the suspension in a future period of time through the first terminal device in a self-programming manner, so as to control the suspension to realize the "dance function" or "rhythm function", improve the interactive experience between the user and the vehicle, and increase the interest of the interaction between the user and the vehicle.

[0180] FIG. 3 is a schematic diagram of an architecture of a suspension control system 300 according to an embodiment of the present application. The suspension control system 300 shown in FIG. 3 represents a four-support-point suspension system applied to a general intelligent vehicle.

[0181] Unlike the system 100 described above, the architecture of the system 300 includes two parts: a first terminal device and a chassis, wherein the chassis includes a suspension controller and a suspension actuator.

[0182] The first terminal device and the chassis (and thus the suspension controller) can be connected through a wireless local area network (WLAN), Bluetooth, or other wireless communication protocols. In addition, the above wireless communication protocols can also add heartbeat control, verification, and other mechanisms to avoid responding to incorrect operations performed by the user on the first terminal device.

[0183] The first terminal device is configured to acquire the first indication information to determine the target attitude angle information, and send the target attitude angle information to the suspension controller.

[0184] The suspension controller is configured to receive the target attitude angle information, and parse the target pitch angle and / or the target roll angle from the information; four suspension torque calculation modules (front left, front right, rear left, and rear right) of the suspension controller can convert the angle values into control torque values according to the target pitch angle and / or the target roll angle, so as to determine the control amounts corresponding to the four suspension actuators (front left, front right, rear left, and rear right) of the suspension, respectively.

[0185] Taking the home smart car mentioned in the foregoing as an example, the plurality of suspension torque calculation modules can include:

[0186] The front left suspension torque calculation module is configured to determine the torque applied to the spring by the front left suspension actuator according to the target attitude angle information and in combination with the current attitude of the suspension;

[0187] The front right suspension torque calculation module is configured to determine the torque applied to the spring by the front right suspension actuator according to the target attitude angle information and in combination with the current attitude of the suspension;

[0188] The rear left suspension torque calculation module is configured to determine the torque applied to the spring by the rear left suspension actuator according to the target attitude angle information and in combination with the current attitude of the suspension;

[0189] The rear right suspension torque calculation module is configured to determine the torque applied to the spring by the rear right suspension actuator according to the target attitude angle information and in combination with the current attitude of the suspension.

[0190] The torques applied to the springs connected to the suspension by the plurality of suspension actuators described above cause the corresponding springs to deform, so as to adjust the attitude of the suspension.

[0191] Based on the operation mechanism of the plurality of calculation modules, in order to obtain the torque applied by the suspension actuator, the calculation module needs to not only obtain the target attitude angle information, but also obtain the current attitude of the suspension. Therefore, the suspension (including the related sensors of the suspension) and the suspension controller can also communicate data, that is, the suspension can feed back the current attitude angle information, such as the current pitch angle and roll angle, to the suspension controller in real time through the related sensors. Then, the suspension controller can compare the attitude angle information fed back by the suspension in real time with the target attitude angle information sent by the first terminal device during the adjustment of the attitude of the suspension. If the two attitude angle information are inconsistent, the suspension continues to be controlled to adjust the attitude, until the two attitude angle information are consistent, so as to realize the closed-loop control of the attitude of the suspension.

[0192] In some possible embodiments, the method 200 described above can be executed during the driving of the vehicle. In order to ensure the driving safety of the user, when the first terminal device determines that the pitch angle or the roll angle in the target attitude angle information is greater than the preset angle threshold, the user can be instructed to stop the vehicle through voice reminding or interface pop-up window reminding, and the instruction can also be transmitted to the chassis of the vehicle synchronously, so that the vehicle instructs the suspension controller to adjust the suspension attitude according to the target attitude angle information sent by the first terminal device under the condition that the vehicle is determined to have completely stopped, the EPB caliper is pulled up, and the steering and power systems are disabled, thereby ensuring the driving safety of the user.

[0193] Alternatively, the action of determining whether the pitch angle or the roll angle in the target attitude angle information is greater than the preset angle threshold can be executed on the vehicle side. If the pitch angle or the roll angle is greater than the preset angle threshold, the user can be instructed to stop the vehicle through the related device in the cabin, for example, the vehicle terminal tablet or the audio device. The vehicle adjusts the suspension attitude according to the target attitude angle information under the condition that the vehicle is determined to have completely stopped, the EPB caliper is pulled up, and the steering and power systems are disabled, thereby ensuring the driving safety of the user.

[0194] It should be understood that the manner in which the first indication information indicates the attitude of the vehicle suspension can be various. The manner in which the first terminal device determines the target attitude angle information according to the first indication information is also different for different forms of the first indication information. The subsequent embodiments of the present application will describe in detail the process in which the first terminal device determines the target attitude angle information in a corresponding manner based on different forms of the first indication information.

[0195] FIG. 4 is a flow diagram of a method 400 for determining target attitude angle information according to an embodiment of the present application.

[0196] In the method 400, the first indication information includes the first pitch angle and the first roll angle of the first terminal device, and the method 400 includes the following steps.

[0197] S410: Determine reference angle information, which is used to indicate the second pitch angle and the second roll angle initially set by the first terminal device.

[0198] S420: Determine the target attitude angle information according to a first angle difference between the first pitch angle and the second pitch angle and a second angle difference between the first roll angle and the second roll angle, wherein the first angle difference corresponds to a target pitch angle, and the second angle difference corresponds to a target roll angle.

[0199] In some possible embodiments, in the case that the user needs to determine the target attitude angle information by tilting the first terminal device, the user can input a first instruction to the first terminal device by touch, voice control or the like, where the first instruction is used to instruct the first terminal device to start controlling the suspension attitude. Then, the first terminal device can detect the attitude angle of the current first terminal device by using the built-in inertial measurement unit, as the second pitch angle and the second roll angle initially set by the first terminal device, so as to determine the reference angle information.

[0200] In some possible embodiments, the reference angle information can also be information preset in the first terminal device, for example, the second pitch angle and the second roll angle indicated by the reference angle information are both 0, i.e., the initial attitude of the first terminal device is horizontally placed. Of course, the initial attitude of the first terminal device can also be other attitudes.

[0201] FIG. 5 is a schematic diagram of a principle of obtaining first indication information according to an embodiment of the present application.

[0202] For the convenience of description, the initial attitude of the first terminal device is horizontally placed as an example.

[0203] Referring to FIG. 5, a three-dimensional coordinate system can be established based on the first terminal device, which includes an x-axis, a y-axis and a z-axis, and it is assumed that the current vehicle is static or travels at a constant speed. Then, based on the initial setting attitude of the first terminal device detected by the inertial measurement unit of the first terminal device, the acceleration of the x-axis and the y-axis corresponding to the first terminal device is 0, and the acceleration of the z-axis is the gravitational acceleration g.

[0204] Then, the user can tilt the first terminal device around the y-axis to form an angle θ between the gravity direction and the z-axis of the three-dimensional coordinate system of the first terminal device. At this time, the inertial measurement unit can calculate the acceleration of the three axes as follows:

[0205] a(x) = 0; a(y) = g*sin(θ); a(z) = -g*cos(θ);

[0206] The calculation unit of the first terminal device can calculate the value of the angle θ based on the acceleration of the three axes. Then, the first terminal device can obtain the first indication information according to the angle θ, i.e., the angle θ is the first pitch angle, and the first roll angle is equal to 0.

[0207] Similarly, the user can tilt the first terminal device around the x-axis to form an angle γ between the gravity direction and the z-axis of the three-dimensional coordinate system of the first terminal device. At this time, the inertial measurement unit can detect the acceleration of the three axes as follows:

[0208] a(x) = g*sin(gamma); a(y) = 0; a(z) = -g*cos(gamma);

[0209] The computing unit of the first terminal device can calculate the value of the angle gamma based on the accelerations corresponding to the above three axes. Then the first terminal device can obtain the first indication information according to the angle gamma, that is, the angle gamma is the first roll angle and the first pitch angle is equal to 0.

[0210] Of course, the user can tilt the first terminal device around the direction of the non-x axis and the non-y axis, for example, tilt the first terminal device to the left front direction, and the tilt angle can be decomposed into the angle theta of tilting the first terminal device around the y axis and the angle gamma of tilting the first terminal device around the x axis, and the way of determining the angle theta and the angle gamma is the same as the above, which is not repeated here.

[0211] In some possible embodiments, the first terminal device in the method 400 can be a smartphone, a smart wearable device, a tablet computer, a notebook computer, or the like portable terminal device.

[0212] Based on the above technical solution, the user can directly indicate the attitude angle of the suspension to the vehicle by tilting the portable terminal device, thereby personalizing the attitude of the suspension, and increasing the convenience and flexibility of the user in controlling the suspension.

[0213] FIG. 6 is an architecture schematic diagram of another suspension control system 600 according to an embodiment of the present application.

[0214] As shown in FIG. 6, in the suspension control system 600, the first terminal device can send the target attitude angle information to the suspension controller through the above method 400, and the plurality of moment calculation modules of the suspension controller calculate the moment to be applied to the spring by the corresponding actuator (left front, right front, left rear, and right rear) of the suspension according to the target attitude angle information, the pitch coefficient, the roll coefficient, and the current attitude angle information of the suspension. Then the suspension controller converts the moment calculated by each moment calculation module into a control instruction or a control quantity signal, and sends it to the corresponding actuator, so that the actuator adjusts the attitude of the suspension until the target attitude angle information is met.

[0215] The pitch coefficient and the roll coefficient are used to convert the angle value into the moment value.

[0216] In some possible embodiments, the moment calculation module further includes an amplitude limiting unit to limit the maximum value of the calculated moment, so as to avoid the moment calculation module determining a too large moment in the case of calculation error, causing the suspension to be adjusted to an angle that does not meet the expectation or exceeding the maximum angle of the suspension, thereby protecting the user and the suspension.

[0217] Similar to the system 300 shown in FIG. 3, the suspension (including the suspension-related sensors) and the suspension controller in the system 400 can also communicate with each other, i.e., the suspension can feed back the current attitude angle information to the suspension controller in real time through the suspension-related sensors, so that the suspension controller can realize closed-loop control of the attitude of the suspension during the adjustment of the attitude of the suspension.

[0218] In some possible embodiments, the first terminal device includes a touch interface, and the touch interface includes the first reference point.

[0219] FIG. 7 is a flow diagram of another method 700 for determining target attitude angle information according to an embodiment of the present application.

[0220] In the method 700, the first indication information includes a first coordinate of the first touch point under the touch interface, and the first touch point is a touch point of the user on the first region of the touch interface. The method 700 includes the following steps.

[0221] S710: Determine a first horizontal coordinate difference value and a first vertical coordinate difference value of the first touch point relative to the first reference point.

[0222] In some possible embodiments, the first terminal device can establish a first coordinate system based on the touch interface, so that the first reference point and the first touch point both correspond to a coordinate.

[0223] In some possible embodiments, the first reference point can be any point in the first coordinate system, or can be the origin of the first coordinate system.

[0224] S720: Determine the target attitude angle information according to the first horizontal coordinate difference value, the first vertical coordinate difference value, a first correspondence relationship and a second correspondence relationship. The first correspondence relationship includes a correspondence relationship between the first horizontal coordinate difference value and a first angle, and the second correspondence relationship includes a correspondence relationship between the first vertical coordinate difference value and a second angle. The first angle corresponds to a target roll angle, and the second angle corresponds to a target pitch angle.

[0225] It should be understood that the first angle corresponding to the target roll angle can mean that the first angle is equal to the target roll angle, or that the difference between the first angle and the target roll angle is within a preset range. The same applies to the second angle and the target pitch angle.

[0226] In some possible embodiments, the first horizontal coordinate difference value can be positive or negative. When the first horizontal coordinate difference value is positive, the first angle can be a right tilt angle. When the first horizontal coordinate difference value is negative, the first angle can be a left tilt angle. Similarly, the first vertical coordinate difference value can be positive or negative. When the first vertical coordinate difference value is positive, the second angle can be a pitch angle. When the first vertical coordinate difference value is negative, the second angle can be a roll angle.

[0227] Of course, the correspondence between the sign of the coordinate difference value and the category of the angle can also be customized.

[0228] In some possible embodiments, the first correspondence and the second correspondence can be calibrated before the suspension system is put into use, and can be acquired by the first terminal device (for example, by downloading from a cloud server) and stored in the first terminal device. In addition, the first correspondence can further include a correspondence between other horizontal coordinate difference values and other roll angles, and the second correspondence can further include a correspondence between other vertical coordinate difference values and other pitch angles.

[0229] In some possible embodiments, in the first correspondence, the roll angle and the horizontal coordinate difference value corresponding to the first touch point are in a positive correlation relationship. In the second correspondence, the pitch angle and the vertical coordinate difference value corresponding to the first touch point are in a positive correlation relationship.

[0230] FIG. 8 is another schematic diagram of a principle of acquiring the first indication information according to an embodiment of the present application.

[0231] FIG. 8 takes a smartphone as an example of the first terminal device. The first area of the touch interface of the first terminal device can include a virtual joystick, which can be a circular area as shown in FIG. 8. After the user touches the first area, the reference point (usually the center point) of the virtual joystick moves to the touch point position of the user, so as to determine the first touch point. Then, based on the horizontal and vertical coordinate difference values of the first touch point and the first reference point, a table for representing the first correspondence and the second correspondence is looked up to determine the corresponding first angle and second angle, and then the target posture angle information is determined.

[0232] In some possible embodiments, the first terminal device can repeatedly respond to the touch operation of the user in the first area through a millisecond-level response period, so that the reference point of the virtual rocker is synchronously moved along the sliding track of the user in the first area, and in this process, the first terminal device determines the target attitude angle information in each response period and sends it to the vehicle end. Then, the suspension controller also controls the attitude of the suspension based on the target attitude angle information in each response period. Since the computing power and response speed of the suspension controller are usually also fast, the operation of adjusting the attitude of the suspension based on the target attitude angle information is completed in each response period. Therefore, the user can continuously adjust the attitude of the suspension during the process of pulling the virtual rocker to slide in the first area.

[0233] FIG. 9 is another schematic diagram of a principle for obtaining first indication information according to an embodiment of the present application.

[0234] Referring to FIG. 9, the first area of the touch interface of the first terminal device can be a ring-shaped area with the first reference point as the center, and the radius of the ring-shaped area is denoted as R. The first reference point is provided with a virtual rocker. After the user touches the first area, the reference point (usually the center point) of the virtual rocker is moved to the touch point position of the user, so as to determine the first touch point and determine the first coordinate corresponding to the first touch point in the first coordinate system with the first reference point as the origin.

[0235] Since the radius R of the ring-shaped area is known, the abscissa x1 and the ordinate y1 of the first coordinate can also be determined, so the first sine value sin(a1) and the first cosine value cos(a1) corresponding to the included angle a1 formed by the first line segment connecting the first reference point and the first touch point and the x-axis of the first coordinate system can be determined.

[0236] wherein sin(a1) = C1(y1 / R); cos(a1) = C2(x1 / R); wherein C1 and C2 are constants, which can be adaptively adjusted according to different computing platforms, vehicle models or the capabilities of the suspension actuators.

[0237] Then, the above first corresponding relationship can further include a corresponding relationship between the first cosine value and the first angle; and the above second corresponding relationship can further include a corresponding relationship between the first sine value and the second angle.

[0238] It should be understood that, since the radius R is a known fixed value in the first cosine value, the correspondence between the first cosine value in the above first correspondence and the first angle is essentially the correspondence between the above first horizontal coordinate difference value and the first angle; the correspondence between the first sine value in the above second correspondence and the second angle is essentially the correspondence between the above first vertical coordinate difference value and the second angle.

[0239] In some possible embodiments, in the first correspondence in the scenario shown in FIG. 9, there is a positive correlation between the roll angle and the cosine value corresponding to the first touch point; in the second correspondence, there is a positive correlation between the pitch angle and the sine value corresponding to the first touch point.

[0240] Then, the first terminal device can find the table for representing the above first correspondence and second correspondence based on the above first sine value and first cosine value, to determine the corresponding first angle and second angle, and further determine the above target attitude angle information.

[0241] In some possible embodiments, the above first region can include both the circular region shown in FIG. 8 and the annular region shown in FIG. 9, where the annular region can be an edge region of the first region. Based on the first region, the first terminal device can determine the target attitude angle information by the principle shown in FIG. 8 or by the principle shown in FIG. 9.

[0242] Then, in order to be compatible with the methods for determining the target attitude angle information corresponding to FIG. 8 and FIG. 9, it is necessary to ensure that the determined first angle and second angle do not change abruptly when the touch position of the user switches between the circular region and the annular region, and that the target attitude angle information calculated based on the principle shown in FIG. 8 and based on the principle shown in FIG. 9 should be consistent in the case of the intersection line of the above first touch point between the circular region and the annular region.

[0243] Based on the above technical solutions, the user can directly indicate the attitude angle of the suspension to the vehicle by performing a touch operation in the touch region of the terminal device, thereby performing personalized setting on the attitude of the suspension, and increasing the convenience and flexibility of the user in controlling the suspension.

[0244] In some possible embodiments, the manner in which the user inputs the first indication information to the first terminal device through the virtual rocker is also applicable to the following scenario: the first terminal device is provided with a physical rocker, and the active region of the physical rocker can be any one of the first regions in the foregoing embodiments. The user can input the first indication information to the first terminal device through the physical rocker. Of course, the first terminal device can also be the physical rocker itself.

[0245] FIG. 10 is a schematic diagram of another architecture of a suspension control system 1000 according to an embodiment of the present application.

[0246] As shown in FIG. 10, in the suspension control system 1000, the first terminal device can send the target attitude angle information to the suspension controller according to the method 700 described above. The plurality of moment calculation modules of the suspension controller calculate the moments to be applied to the springs by the actuators (left front, right front, left rear, and right rear) corresponding to the suspension pivot points according to the target attitude angle information, the pitch coefficient, the roll coefficient, the current attitude angle information of the suspension, and the limiting angle value. Then, the suspension controller converts the moments calculated by the moment calculation modules into control instructions or control signals and sends them to the corresponding actuators, so that the actuators adjust the attitude of the suspension until the target attitude angle information is met.

[0247] Similar to the system 300 shown in FIG. 3, the suspension (including the suspension-related sensors) and the suspension controller in the system 1000 can also communicate with each other. The suspension can feed back the current attitude angle information to the suspension controller in real time, so that the suspension controller realizes closed-loop control of the attitude of the suspension during the adjustment of the attitude of the suspension.

[0248] In some possible embodiments, the first correspondence relationship and the second correspondence relationship described above can be stored in the suspension controller. Based on this, the first terminal device can directly send the first indication information to the suspension controller. The processing module in the suspension controller can determine the target attitude angle information based on the first indication information, the first correspondence relationship, and the second correspondence relationship, and forward the target attitude angle information to the moment calculation modules.

[0249] FIG. 11 is a schematic diagram of a method 1100 for determining target attitude angle information according to an embodiment of the present application.

[0250] In the method 1100, the first indication information is image information, and the first indication information includes a first gesture.

[0251] In some possible embodiments, in the method 1100, the first terminal device can be a terminal with a photographing function, such as a camera arranged in the cabin, a vehicle terminal with a photographing function arranged in the cabin, a vehicle visual sensor, or a portable terminal device with a photographing function.

[0252] In some possible embodiments, after the first terminal device receives the first indication information in the form of an image, the image can be subjected to a digital image processing operation such as feature extraction, so as to extract the first gesture in the first indication information, so that the target attitude angle information can be determined more accurately subsequently.

[0253] Referring to FIG. 11, the method 1100 includes the following steps:

[0254] S1110: Obtain a third pitch angle and a third roll angle of the suspension at the current time.

[0255] S1120: Determine a fourth pitch angle and a fourth roll angle according to the first gesture and a third correspondence relationship, wherein the third correspondence relationship is used to indicate a correspondence relationship between a reference gesture, a pitch angle and a roll angle, and the fourth pitch angle and the fourth roll angle correspond to a reference gesture that matches the first gesture.

[0256] In some possible embodiments, in the third correspondence relationship, some reference gestures can only correspond to the fourth pitch angle, to indicate that the fourth roll angle corresponding to the reference gesture is 0; and some reference gestures can only correspond to the fourth roll angle, to indicate that the fourth pitch angle corresponding to the reference gesture is 0.

[0257] It should be understood that the first gesture matches the reference gesture means that the similarity between the two gestures is higher than a preset similarity threshold, and when there are multiple reference gestures that are similar to the first gesture and the similarity is higher than the similarity threshold, the reference gesture with the highest similarity is selected to correspond to the pitch angle and the roll angle as the fourth pitch angle and the fourth roll angle.

[0258] S1130: Determine the target attitude angle information according to the third pitch angle, the third roll angle, the fourth pitch angle and the fourth roll angle.

[0259] In some possible embodiments, in a case where the similarity of the reference gesture with the highest similarity to the first gesture is lower than the preset similarity threshold, the first terminal device can terminate the execution of S1120 and prompt the user to re-input the gesture to re-execute the method 1100.

[0260] It should be noted that the fourth pitch angle and the fourth roll angle can have two meanings:

[0261] 1. The fourth pitch angle = the target pitch angle; and the fourth roll angle = the target roll angle.

[0262] 2. The fourth pitch angle + the third pitch angle of the suspension at the current time = the target pitch angle; and the fourth roll angle + the third roll angle of the suspension at the current time = the target roll angle.

[0263] The above meanings corresponding to the fourth pitch angle and the fourth roll angle can be pre-configured before the execution of the method 1100, so that the first terminal device can accurately analyze the indication intention of the user.

[0264] In the first interpretation manner, S1130 can be further adjusted as follows:

[0265] The target pitch angle and the target roll angle are determined directly according to the fourth pitch angle and the fourth roll angle, so as to determine the target attitude angle information.

[0266] In the second interpretation manner, S1130 can be further extended as follows:

[0267] The target pitch angle is determined by adding the third pitch angle and the fourth pitch angle, and the target roll angle is determined by adding the third roll angle and the fourth roll angle, so as to determine the target attitude angle information.

[0268] Since the third pitch angle and the third roll angle of the suspension at the current time are needed in the second interpretation manner, before S1110 is executed, the first terminal device can further send a request information to the chassis to request the chassis to send the third pitch angle and the third roll angle of the suspension at the current time to the first terminal device.

[0269] FIG. 12 is a set of preset gesture illustrations for controlling the attitude of the suspension according to an embodiment of the present application.

[0270] In some possible embodiments, referring to FIG. 12, the correspondence between the gestures and the suspension control instructions, for example, the third correspondence, can be calibrated before the suspension system is put into use. Examples of the correspondence are as follows:

[0271] Gesture 1 corresponds to a fourth pitch angle of A° (pitch angle of A°) and a fourth roll angle of 0;

[0272] Gesture 2 corresponds to a fourth pitch angle of -A° (pitch angle of A°) and a fourth roll angle of 0;

[0273] Gesture 3 corresponds to a fourth pitch angle of 0 and a fourth roll angle of B° (left roll angle of B°);

[0274] Gesture 4 corresponds to a fourth pitch angle of 0 and a fourth roll angle of -B° (right roll angle of -B°);

[0275] Of course, different gestures can also be used to represent the same meaning, for example, gesture 5 can be used to represent the same meaning as gesture 1.

[0276] In addition, there are some gestures that can correspond to a fourth pitch angle and a fourth roll angle of a corresponding non-zero value at the same time, for example, a gesture pointing to the upper left can correspond to a fourth pitch angle of C° (pitch angle of C°) and a fourth roll angle of D° (roll angle of D°), and so on. Here, it is not listed in detail.

[0277] In addition, there can be some special gestures, for example, gesture 6, which is used to indicate that the suspension adjustment is stopped. Accordingly, the first terminal device can stop executing the above method 1100 after extracting gesture 6, and wait for triggering the execution of the next method 1100.

[0278] In some possible embodiments, the above third correspondence relationship can be obtained by the first terminal device (for example, by downloading from a cloud server, etc.) and stored in the first terminal device.

[0279] In some possible embodiments, the user can also customize the third correspondence relationship, that is, the meaning of each gesture can be personalized by the user according to personal preferences after the suspension is put into use.

[0280] Based on the above technical solutions, the user can directly indicate the attitude angle of the suspension to the vehicle by inputting a corresponding gesture image to the first terminal device, thereby personalizing the attitude of the suspension, increasing the convenience and flexibility of the user controlling the suspension.

[0281] FIG. 13 is an architecture schematic diagram of another suspension control system 1300 according to an embodiment of the present application. The suspension control system 1300 adopts the second gesture meaning interpretation manner in the above embodiments.

[0282] As shown in FIG. 13, in the suspension control system 1300, the central processing unit (CPU) of the first terminal device can determine a corresponding gesture according to the image form of the first indication information, and then perform gesture comparison with a plurality of preset reference gestures of the third correspondence relationship to determine a reference gesture with the highest similarity.

[0283] In some possible embodiments, the CPU of the first terminal device sets a corresponding subprogram for different preset gestures, for calculating a target pitch angle and a target roll angle according to a fourth pitch angle and a fourth roll angle corresponding to the preset gesture, in combination with a third pitch angle and a third roll angle of the suspension at a current time, to determine target attitude angle information, and sending the target attitude angle information to the suspension controller, and the suspension controller determines a torque to be applied to the spring by each of the actuators (front left, front right, rear left, and rear right) according to the target attitude angle information, the pitch coefficient, the roll coefficient, and the current attitude angle information of the suspension, in combination with the limiting angle value, and then converts the torque determined by each torque calculation module into a control instruction or a control amount signal and sends it to the corresponding actuator, so that the actuator adjusts the attitude of the suspension until the target attitude angle information is met.

[0284] Similar to the system 300 shown in FIG. 3, the suspension (including suspension-related sensors) and the suspension controller in the system 1300 can also communicate data, and the suspension can feed back the current attitude angle information to the suspension controller in real time, so that the suspension controller realizes closed-loop control of the attitude of the suspension during the adjustment of the attitude of the suspension.

[0285] In some possible embodiments, the third correspondence described above can be stored in the suspension controller, based on which the first terminal device can send the first indication information or the first gesture image extracted from the first indication information to the suspension controller, and the processing module in the suspension controller can determine the target attitude angle information based on the first gesture, the third correspondence, the third pitch angle and the third roll angle fed back by the suspension in real time, and forward the target attitude angle information to each torque calculation module.

[0286] FIG. 14 is a flow diagram of another method 1400 for determining target attitude angle information according to an embodiment of the present application.

[0287] In the method 1400, the first indication information is voice information, and the first indication information includes a first voice segment.

[0288] In some possible embodiments, in the method 1400, the first terminal device can be a terminal with a recording function, such as a microphone arranged in the cabin, a vehicle terminal with a recording function arranged in the cabin, a portable terminal device with a recording function, and the like.

[0289] In some possible embodiments, after the first terminal device receives the first indication information in the form of voice data, the voice data can be subjected to audio data processing operations such as noise reduction, semantic information of the voice data is obtained, and then the first voice segment in the first indication information is extracted, so that the target attitude angle information can be determined more accurately subsequently.

[0290] Referring to FIG. 14, the method 1400 includes the following steps:

[0291] S1410: determining a fifth pitch angle and a fifth roll angle according to the first voice segment and a fourth correspondence relationship, where the fourth correspondence relationship is used to indicate a correspondence relationship between a reference voice segment, a pitch angle, and a roll angle, and the fifth pitch angle and the fifth roll angle correspond to the reference voice segment that matches the first voice segment.

[0292] In some possible embodiments, in the fourth correspondence relationship, some reference voice segments can correspond to only the fifth pitch angle, to indicate that the fifth roll angle corresponding to the reference voice segment is 0; and some reference voice segments can correspond to only the fifth roll angle, to indicate that the fifth pitch angle corresponding to the reference voice segment is 0.

[0293] S1420: determining the target attitude angle information according to the fifth pitch angle and the fifth roll angle.

[0294] It should be understood that the first voice segment matches the reference voice segment means that the similarity of the two voice segments is higher than a preset similarity threshold, and when there are multiple reference voice segments that are similar to the first voice segment and have a similarity higher than the similarity threshold, the reference voice segment with the highest similarity is selected to correspond to the pitch angle and the roll angle, as the fifth pitch angle and the fifth roll angle.

[0295] In some possible embodiments, in a case where the similarity of the reference voice segment with the highest similarity to the first voice segment is lower than the similarity threshold, the first terminal device can terminate the execution of S1420 and prompt the user to re-enter the voice to re-execute the method 1400.

[0296] It should be noted that the reference voice segment can include the following two semantic expression forms corresponding to the examples:

[0297] 1, "adjust the pitch angle of the suspension to A°, and adjust the roll angle of the suspension to B°".

[0298] At this time, A° = target pitch angle; and B° = target roll angle.

[0299] 2, "increase the pitch angle of the suspension by A°, and increase the roll angle of the suspension by B°".

[0300] At this time, the third pitch angle of the suspension at the current time + the third roll angle of the suspension at the current time = the target pitch angle; the third roll angle of the suspension at the current time + the third roll angle of the suspension at the current time = the target roll angle.

[0301] When the first voice segment adopts the first expression manner, the S1420 can be further extended as follows:

[0302] The fifth pitch angle is directly taken as the target pitch angle, and the fifth roll angle is directly taken as the target roll angle, to determine the target attitude angle information.

[0303] When the first voice segment adopts the second expression manner, the S1420 can be further extended as follows:

[0304] The third pitch angle and the third roll angle of the suspension at the current time are obtained; the third pitch angle and the fifth pitch angle are added to determine the target pitch angle, and the third roll angle and the fifth roll angle are added to determine the target attitude angle information.

[0305] Since the third pitch angle and the third roll angle of the suspension at the current time are needed when the first voice segment adopts the second expression manner, before the S1420 is executed, the first terminal device can further send request information to the chassis to request the chassis to send the pitch angle and the roll angle of the suspension at the current time to the first terminal device.

[0306] Based on the technical solution, the user can directly indicate the attitude angle of the suspension to the vehicle by inputting the corresponding voice to the first terminal device, thereby performing personalized setting on the attitude of the suspension, and the convenience and flexibility of the user in controlling the suspension are increased.

[0307] FIG. 15 is an architecture schematic diagram of another suspension control system 1500 provided by an embodiment of the present application.

[0308] As shown in FIG. 15, in the suspension control system 1500, the CPU of the first terminal device can extract a corresponding voice segment according to the voice-form first indication information, and then perform voice segment comparison on the voice segment and the fourth corresponding relationship of multiple preset voice segments, to determine a preset voice segment with the highest similarity.

[0309] In some possible embodiments, the CPU of the first terminal device is further configured to set a corresponding subprogram for the different preset voice segments expressed by the second expression mode, to calculate a target pitch angle and a target roll angle according to the fifth pitch angle and the fifth roll angle corresponding to the preset voice segment, in combination with the third pitch angle and the third roll angle of the suspension at the current time, to determine the target attitude angle information, and to send the target attitude angle information to the suspension controller, and the plurality of moment calculation modules of the suspension controller calculate the moment to be applied to the spring by the actuators (front left, front right, rear left, and rear right) of each support point of the suspension according to the target attitude angle information, the pitch coefficient, the roll coefficient, and the current attitude angle information of the suspension, in combination with the limiting angle value. Then, the suspension controller converts the moment determined by each moment calculation module into a control instruction or a control quantity signal and sends it to the corresponding actuator, so that the actuator adjusts the attitude of the suspension until the target attitude angle information is met.

[0310] Similar to the system 300 shown in FIG. 3, the suspension (including suspension-related sensors) and the suspension controller in the system 1300 can also communicate data, and the suspension can feed back the current attitude angle information to the suspension controller in real time, so that the suspension controller realizes closed-loop control of the attitude of the suspension during the adjustment of the attitude of the suspension.

[0311] In some possible embodiments, the fourth correspondence can be stored in the suspension controller, based on which the first terminal device can send the first indication information or the first voice segment extracted from the first indication information to the suspension controller, and the processing module in the suspension controller can determine the target attitude angle information based on the first voice segment, the fourth correspondence, the third pitch angle and the third roll angle fed back by the suspension in real time, and forward the target attitude angle information to each moment calculation module.

[0312] Since the current scheme for controlling the suspension to adjust the attitude of the vehicle is that the suspension controller adjusts the attitude of the suspension based on the data collected by the related sensors, for example, when the vehicle is accelerating or braking, the acceleration sensor of the vehicle can collect the acceleration value of the vehicle, and the suspension controller can determine the moment of the active suspension based on the size of the acceleration, so that the user does not perceive the forward inclination or backward inclination during the acceleration or braking of the vehicle. As can be seen, the current suspension controller cannot directly obtain the target attitude angle information indicated by the user. Considering that the two parties for implementing linkage in the embodiments of the present application are the first terminal device and the chassis, the vehicle end also needs to be technically improved to adapt to the method for controlling the attitude of the suspension proposed in the embodiments of the present application.

[0313] FIG. 16 is a flow diagram of another method 1600 for controlling a suspension according to an embodiment of the present application.

[0314] The method 1600 can be performed by a suspension controller in the chassis. The method 1600 can include the following steps:

[0315] S1610: Obtain target attitude angle information, the target attitude angle information being used for adjusting the attitude of the suspension by the vehicle, the target attitude angle information being determined by the first terminal device based on first indication information, the first indication information being used for indicating the attitude of the suspension set by the user.

[0316] It should be understood that the above-mentioned first terminal device can be the first terminal device mentioned in the foregoing embodiments, and the expansion of the first terminal device is described in detail in the foregoing corresponding content.

[0317] S1620: Determine a first control quantity according to the target attitude angle information, the first control quantity being used for controlling the suspension of the chassis to adjust to an attitude consistent with the target attitude angle information within a second time period, the length of the second time period being related to the speed of adjusting the attitude of the suspension.

[0318] S1630: Send the first control quantity to an actuator used for adjusting the attitude of the suspension.

[0319] It should be understood that the above-mentioned first control quantity is used for indicating the torque corresponding to each actuator in the suspension.

[0320] It should be understood that, under the condition that the target attitude angle information is certain, the shorter the length of the second time period is, the faster the speed of completing the adjustment of the attitude of the suspension by the actuator of the suspension is, and the longer the length of the second time period is, the slower the speed of completing the adjustment of the attitude of the suspension by the actuator of the suspension is.

[0321] In some possible embodiments, the length of the above-mentioned second time period can be determined by a preset, and the basis for presetting the length of the second time period can be the period of obtaining the first indication information by the first terminal device, that is, the above-mentioned first time period. For example, the above-mentioned second time period can be equal to the period of obtaining the first indication information by the first terminal device, that is, the first time period, so as to realize that the suspension controller controls the actuator to respond to the continuously changing attitude of the suspension indicated by the user through the first indication information in real time and continuously.

[0322] In some possible embodiments, the above-mentioned first control quantity can include a plurality of first sub-control quantities, each first sub-control quantity being sent to a corresponding actuator, and all the actuators of the suspension respectively apply forces corresponding to the first sub-control quantities to the corresponding suspension springs based on the respective received first sub-control quantities, so that the final attitude angle of the suspension is consistent with the target attitude angle information sent by the first terminal device.

[0323] In some possible embodiments, the suspension controller described above can be a proportional-integral-derivative (PID) controller, a model predictive controller (MPC), or a linear quadratic regulator (LQR) controller, etc.

[0324] Based on the technical solution described above, the suspension controller can directly control the attitude of the suspension based on the acquired target attitude angle information, thereby simplifying the control logic of the suspension controller for adjusting the attitude of the suspension, and further improving the flexibility of the attitude control of the vehicle suspension.

[0325] In some possible embodiments, S1610 described above can be extended to the following step: receiving target attitude angle information from the first terminal device.

[0326] In some possible embodiments, the target attitude angle information described above can also be downloaded from a cloud server. Accordingly, the target attitude angle information can be uploaded to the cloud server by the first terminal device, or uploaded to the cloud server by other terminal devices.

[0327] In some possible embodiments, the target attitude angle information uploaded by the user to the cloud server through the first terminal device can include not only the target pitch angle and the target roll angle, but also the target vehicle body gravity center height, thereby further increasing the flexibility of the suspension control.

[0328] Based on the technical solution described above, by linking the intelligent terminal independent of the chassis or the cockpit with the full-active suspension, the user can directly set the attitude of the suspension through the terminal device carried by the user or the terminal device in the cockpit through a more convenient human-computer interaction form, thereby increasing the flexibility and convenience of the suspension attitude adjustment function.

[0329] In some possible embodiments, during the process in which the suspension controller adjusts the attitude of the suspension, S1620 described above can be extended to the following steps:

[0330] S1621: acquiring a starting pitch angle and a starting roll angle of the suspension at the current time.

[0331] S1622: determining a pitch angle variation based on the target pitch angle and the starting pitch angle, and determining a roll angle variation based on the target roll angle and the starting roll angle.

[0332] S1623: determining a first control amount based on the pitch angle variation and the roll angle variation.

[0333] It should be understood that the steps S1621 to S1623 and S1630 above can be executed in a loop during the adjustment of the suspension posture by the suspension controller until the initial pitch angle and the initial roll angle of the suspension feedback match the target posture angle information, so as to achieve closed-loop control of the suspension posture.

[0334] Based on the technical solution above, the suspension controller can determine whether the current posture of the suspension matches the target posture angle information in combination with the current posture of the suspension, and if not, determine the corresponding pitch angle change and roll angle change, and then determine the first control quantity based on the angle change, so as to achieve closed-loop control of the suspension controller adjusting the suspension posture.

[0335] In some possible embodiments, the target posture angle information received by the suspension controller at one time can be multiple, and the multiple target posture angles can be determined by the first terminal device according to multiple first indication information input by the user in succession. The first terminal device packs the multiple target posture angle information and sends the same to the vehicle, and the suspension controller obtains the same. The suspension controller can control the suspension according to the multiple target posture information obtained after unpacking, and make the suspension reach the posture indicated by each target posture angle information in sequence, so as to realize the user controlling the suspension to achieve the “dance function” or “rhythm function” through the first terminal device in a self-programming manner.

[0336] In some possible embodiments, the multiple target posture angle information above can include sequence information, which can be used to indicate the time sequence.

[0337] In addition, the embodiments of the present application also provide a device for implementing any of the above methods, for example, a device for controlling a suspension, which includes units (or means) for implementing any of the above methods for controlling a suspension.

[0338] FIG. 17 is a schematic diagram of a device 1700 for controlling a suspension according to an embodiment of the present application. The device 1700 can be applied to the first terminal device described above, and the device 1700 includes:

[0339] The obtaining unit 1710 is configured to obtain first indication information, the first indication information being used to indicate a posture of a suspension set by a user.

[0340] The determining unit 1720 is configured to determine target posture angle information according to the first indication information, the target posture angle information being used to adjust the posture of the suspension by a vehicle.

[0341] The sending unit 1730 is configured to send the target posture angle information to the vehicle.

[0342] In some possible embodiments, the acquisition unit 1710 is specifically configured to acquire the first indication information once every first time period.

[0343] In some possible embodiments, the first time period has a length of any length within a first time period range interval. The first time period range interval can be a preset range interval.

[0344] In some possible embodiments, the target attitude angle information is used to indicate a target included angle at which the suspension is inclined towards a target direction, the target direction being any direction along a horizontal plane, and the target included angle being an included angle between a vehicle body plane of the vehicle and the horizontal plane.

[0345] In some possible embodiments, the target attitude angle information includes a target pitch angle and a target roll angle.

[0346] In some possible embodiments, the target pitch angle is any one of a plurality of angle values within a first angle interval, and the target roll angle is any one of a plurality of angle values within a second angle interval.

[0347] In some possible embodiments, the number of the plurality of angle values within the first angle interval is related to a first step precision of the target pitch angle, and the number of the plurality of angle values within the second angle interval is related to a second step precision of the target roll angle.

[0348] In some possible embodiments, the first step precision and the second step precision are less than or equal to N degrees, N being a unit of digits or a decimal.

[0349] In some possible embodiments, after the plurality of first indication information is acquired and the plurality of target attitude angle information is determined according to the plurality of first indication information, the sending unit 1730 is specifically configured to send the plurality of target attitude angle information to the vehicle.

[0350] In some possible embodiments, the first indication information includes a first pitch angle and a first roll angle of the first terminal device, and the determining unit 1720 is specifically configured to determine reference angle information, the reference angle information being used to indicate a second pitch angle and a second roll angle initially set by the first terminal device; determine the target attitude angle information according to a first angle difference between the first pitch angle and the second pitch angle and a second angle difference between the first roll angle and the second roll angle, the first angle difference corresponding to the target pitch angle, and the second angle difference corresponding to the target roll angle.

[0351] In some possible embodiments, the first terminal device includes a touch interface, and the touch interface includes a first reference point. The first indication information includes a first coordinate of a first touch point under the touch interface, and the first touch point is a point at which a user touches a first region of the touch interface. The determining unit 1720 is specifically configured to: determine a first horizontal coordinate difference value and a first vertical coordinate difference value of the first touch point relative to the first reference point; and determine the target attitude angle information according to the first horizontal coordinate difference value, the first vertical coordinate difference value, a first correspondence relationship, and a second correspondence relationship. The first angle corresponds to a target roll angle, and the second angle corresponds to a target pitch angle. The first correspondence relationship includes a correspondence relationship between the first horizontal coordinate difference value and the first angle. The second correspondence relationship includes a correspondence relationship between the first vertical coordinate difference value and the second angle.

[0352] In some possible embodiments, the first touch point is located at an edge region of the first region, and the edge region is an annular region with the first reference point as a center.

[0353] In some possible embodiments, the first indication information is image information, and the first indication information includes a first gesture. The determining unit 1720 is specifically configured to: obtain a third pitch angle and a third roll angle of the suspension at a current moment; determine a fourth pitch angle and a fourth roll angle according to the first gesture and a third correspondence relationship. The third correspondence relationship is used to indicate a correspondence relationship between a reference gesture, a pitch angle, and a roll angle. The fourth pitch angle and the fourth roll angle correspond to a reference gesture that matches the first gesture. The determining unit 1720 is specifically configured to: determine the target attitude angle information according to the third pitch angle, the third roll angle, the fourth pitch angle, and the fourth roll angle.

[0354] In some possible embodiments, the first indication information is voice information, and the first indication information includes a first voice segment. The determining unit 1720 is specifically configured to: determine a fifth pitch angle and a fifth roll angle according to the first voice segment and a fourth correspondence relationship. The fourth correspondence relationship is used to indicate a correspondence relationship between a reference voice segment, a pitch angle, and a roll angle. The fifth pitch angle and the fifth roll angle correspond to the reference voice segment that matches the first voice segment. The determining unit 1720 is specifically configured to: determine the target attitude angle information according to the fifth pitch angle and the fifth roll angle.

[0355] Correspondingly, FIG. 18 is a schematic diagram of another device 1800 for controlling a suspension according to an embodiment of the present application. The device 1800 can be applied to the suspension controller. The device 1800 includes:

[0356] The acquisition unit 1810 is configured to acquire target attitude angle information, the target attitude angle information being used for adjusting the attitude of the suspension of the vehicle, and the target attitude angle information being determined by the first terminal device based on first indication information, the first indication information being used for indicating the attitude of the suspension set by the user.

[0357] The determination unit 1820 is configured to determine a first control quantity according to the target attitude angle information, the first control quantity being used for controlling the suspension of the chassis to be adjusted to an attitude consistent with the target attitude angle information within a second time period, and the length of the second time period being related to the speed of adjusting the attitude of the suspension.

[0358] The sending unit 1830 is configured to send the first control quantity to an actuator used for adjusting the attitude of the suspension.

[0359] In some possible embodiments, the acquisition unit 1810 is specifically configured to receive the target attitude angle information from the first terminal device.

[0360] In some possible embodiments, the target attitude angle information is used for indicating a target included angle at which the suspension is inclined to a target direction, the target direction being any direction along a horizontal plane, and the target included angle being an included angle between the body plane of the vehicle and the horizontal plane.

[0361] In some possible embodiments, the target attitude angle information includes a target pitch angle and a target roll angle.

[0362] In some possible embodiments, the target pitch angle is any one of a plurality of angle values in a first angle interval, and the target roll angle is any one of a plurality of angle values in a second angle interval.

[0363] In some possible embodiments, the number of the plurality of angle values in the first angle interval is related to a first step precision of the target pitch angle, and the number of the plurality of angle values in the second angle interval is related to a second step precision of the target roll angle.

[0364] In some possible embodiments, the first step precision and the second step precision are less than or equal to N degrees, and N is a unit digit or a decimal number. In some possible embodiments, the determination unit 1820 is specifically configured to acquire a starting pitch angle and a starting roll angle of the suspension at a current time; determine a pitch angle change amount according to the target pitch angle and the starting pitch angle, and determine a roll angle change amount according to the target roll angle and the starting roll angle; and determine the first control quantity according to the pitch angle change amount and the roll angle change amount.

[0365] The embodiment of the present application further provides another device for controlling a suspension, the device comprising a processor and a memory, wherein the processor is connected to the memory, the memory is used for storing program codes, and the processor is used for calling the program codes to execute any one of the methods for controlling a suspension provided by the embodiments of the present application.

[0366] The embodiment of the present application further provides a vehicle, which comprises any one of the devices for controlling a suspension 1700 and the device for controlling a suspension 1800 provided by the embodiments of the present application.

[0367] Those skilled in the art can understand that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software mode depends on the specific application and design constraints of the technical solutions. Those skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0368] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working processes of the above-mentioned system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0369] In several embodiments provided by the present application, it should be understood that the disclosed system, device and method can be implemented by other ways. For example, the device embodiments described above are only schematic, and the division of the units is only a logical function division, and there can be another division way in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0370] The units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present application.

[0371] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically independently, or two or more units can be integrated into one unit.

[0372] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.

[0373] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of controlling a suspension, characterized by, The method is applied to a first terminal device, the first terminal device is independent of a chassis of a vehicle, and the method comprises: obtaining first indication information, the first indication information being used to indicate a posture of the suspension set by a user; determining target posture angle information according to the first indication information, the target posture angle information being used for the vehicle to adjust the posture of the suspension; sending the target posture angle information to the vehicle.

2. The method of claim 1, wherein, The obtaining of the first indication information comprises: obtaining the first indication information once every first time period.

3. The method of claim 2, wherein, The first time period has a length of any length within a first time period range.

4. The method according to any one of claims 1 to 3, characterized in that, The target posture angle information is used to indicate a target included angle at which the suspension is inclined to a target direction, the target direction being any direction along a horizontal plane, and the target included angle being an included angle between a vehicle body plane of the vehicle and the horizontal plane.

5. The method according to any one of claims 1 to 4, characterized in that, The target posture angle information comprises a target pitch angle and a target roll angle.

6. The method of claim 5, wherein, The target pitch angle is any one of a plurality of angle values within a first angle range, and the target roll angle is any one of a plurality of angle values within a second angle range.

7. The method of claim 6, wherein, The number of the plurality of angle values within the first angle range is related to a first step precision corresponding to the target pitch angle, and the number of the plurality of angle values within the second angle range is related to a second step precision corresponding to the target roll angle.

8. The method of claim 7, wherein, The first step precision and the second step precision are less than or equal to N degrees, the N being a unit digit or a decimal.

9. The method according to any one of claims 5 to 8, characterized in that, The sending of the target posture angle information to the vehicle comprises: after a plurality of the first indication information is obtained and a plurality of the target posture angle information is determined according to the plurality of the first indication information, sending the plurality of the target posture angle information to the vehicle.

10. The method according to any one of claims 5 to 9, characterized in that, The first indication information comprises a first pitch angle and a first roll angle of the first terminal device, and the determining of the target posture angle information according to the first indication information comprises: determining reference angle information, the reference angle information being used to indicate a second pitch angle and a second roll angle initially set by the first terminal device; determining the target posture angle information according to a first angle difference between the first pitch angle and the second pitch angle and a second angle difference between the first roll angle and the second roll angle, the first angle difference corresponding to the target pitch angle, and the second angle difference corresponding to the target roll angle.

11. The method according to any one of claims 5 to 9, characterized in that, The first terminal device comprises a touch interface, the touch interface comprising a first reference point, the first indication information comprising a first coordinate of a first touch point under the touch interface, the first touch point being a point at which the user touches a first region of the touch interface, and the determining of the target posture angle information according to the first indication information comprises: determining a first horizontal coordinate difference value and a first vertical coordinate difference value of the first touch point relative to the first reference point; The target attitude angle information is determined according to the first horizontal coordinate difference value, the first vertical coordinate difference value, a first correspondence relationship and a second correspondence relationship, the first correspondence relationship includes a correspondence relationship between the first horizontal coordinate difference value and a first angle, the second correspondence relationship includes a correspondence relationship between the first vertical coordinate difference value and a second angle, the first angle corresponds to the target roll angle, and the second angle corresponds to the target pitch angle.

12. The method of claim 11, wherein, The first touch point is located in an edge region of the first region, and the edge region is an annular region with the first reference point as a center.

13. The method according to any one of claims 5 to 9, characterized in that, The first indication information is image information, the first indication information includes a first gesture, and the target attitude angle information is determined according to the first indication information. A third pitch angle and a third roll angle of the suspension at a current time are acquired. A fourth pitch angle and a fourth roll angle are determined according to the first gesture and a third correspondence relationship, the third correspondence relationship is used to indicate a correspondence relationship among a reference gesture, a pitch angle and a roll angle, the fourth pitch angle and the fourth roll angle correspond to the reference gesture that matches the first gesture, and the target attitude angle information is determined according to the third pitch angle, the third roll angle, the fourth pitch angle and the fourth roll angle. The target attitude angle information is determined according to the first horizontal coordinate difference value, the first vertical coordinate difference value, a first correspondence relationship and a second correspondence relationship, the first correspondence relationship includes a correspondence relationship between the first horizontal coordinate difference value and a first angle, the second correspondence relationship includes a correspondence relationship between the first vertical coordinate difference value and a second angle, the first angle corresponds to the target roll angle, and the second angle corresponds to the target pitch angle.

14. The method according to any one of claims 5 to 9, characterized in that, The first indication information is voice information, the first indication information includes a first voice segment, and the target attitude angle information is determined according to the first indication information. A fifth pitch angle and a fifth roll angle are determined according to the first voice segment and a fourth correspondence relationship, the fourth correspondence relationship is used to indicate a correspondence relationship among a reference voice segment, a pitch angle and a roll angle, the fifth pitch angle and the fifth roll angle correspond to the reference voice segment that matches the first voice segment, and the target attitude angle information is determined according to the fifth pitch angle and the fifth roll angle. The method comprises:

15. A method of controlling a suspension, characterized by, Target attitude angle information is acquired, the target attitude angle information is used for adjusting an attitude of a suspension of a vehicle, and the target attitude angle information is determined by a first terminal device based on first indication information, the first indication information being used for indicating an attitude of the suspension set by a user. A first control quantity is determined according to the target attitude angle information, the first control quantity being used for controlling the suspension of a chassis to be adjusted to an attitude consistent with the target attitude angle information within a second time period, and a length of the second time period is related to a speed of adjusting the attitude of the suspension. The first control quantity is sent to an actuator used for adjusting the attitude of the suspension. The target attitude angle information is acquired by:

16. The method of claim 15, wherein, The target attitude angle information is received from the first terminal device. The target attitude angle information is used for indicating a target included angle at which the suspension is inclined to a target direction, the target direction being any direction along a horizontal plane, and the target included angle being an included angle between a vehicle body plane of the vehicle and the horizontal plane.

17. The method according to claim 15 or 16, characterized in that, The target attitude angle information includes a target pitch angle and a target roll angle.

18. The method of any one of claims 15-17, wherein, ​ 19. The method of claim 18, wherein, The target pitch angle is any one of a plurality of angle values in a first angle interval, and the target roll angle is any one of a plurality of angle values in a second angle interval.

20. The method of claim 19, wherein, The number of the plurality of angle values in the first angle interval is related to a first step precision corresponding to the target pitch angle, and the number of the plurality of angle values in the second angle interval is related to a second step precision corresponding to the target roll angle.

21. The method of claim 20, wherein, The first step precision and the second step precision are less than or equal to N degrees, and the N is a unit digit or a decimal.

22. The method of any one of claims 18-21, wherein, The determining the first control quantity according to the target attitude angle information includes: obtaining a starting pitch angle and a starting roll angle of the suspension at a current time; determining a pitch angle change quantity according to the target pitch angle and the starting pitch angle, and determining a roll angle change quantity according to the target roll angle and the starting roll angle; determining the first control quantity according to the pitch angle change quantity and the roll angle change quantity.

23. An apparatus for controlling a suspension, characterized by The device is applied to a first terminal device, and the first terminal device is independent of a chassis of a vehicle.

24. An apparatus for controlling a suspension, characterized by The device includes a module or a unit for executing the method according to any one of claims 15 to 22.

25. An apparatus for controlling a suspension, characterized by The device includes a processor and a memory, wherein the processor and the memory are connected, wherein the memory is used to store program code, and the processor is used to call the program code to execute the method according to any one of claims 1 to 14 or the method according to any one of claims 15 to 22.

26. A vehicle characterized by The device includes the device according to claim 23, and the device according to claim 24.

27. A chip system, characterized by The chip system is applied to an electronic device; the chip system includes one or more interface circuits and one or more processors; the interface circuit and the processor are connected through a line; the interface circuit is used to receive a signal from a memory of the electronic device and send the signal to the processor, and the signal includes computer instructions stored in the memory; when the processor executes the computer instructions, the electronic device executes the method according to any one of claims 1 to 14 or the method according to any one of claims 15 to 22.

28. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method according to any one of claims 1 to 14 or the method according to any one of claims 15 to 22.

29. A computer program product, characterised in that, The computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method according to any one of claims 1 to 14 or the method according to any one of claims 15 to 22. The computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method according to any one of claims 1 to 14 or the method according to any one of claims 15 to 22.

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