Hydraulic suspension system, suspension control method, vehicle, electronic device, readable medium, and computer program product

Abstract

A hydraulic suspension system, a suspension control method, a vehicle, an electronic device, a readable medium, and a computer program product. The hydraulic suspension system comprises: a shock absorber (1), the shock absorber (1) comprising a housing (11) and a piston assembly (12), and the housing (11) being divided into a first chamber (13) and a second chamber (14) by the piston assembly (12); and a control oil circuit (2), used for achieving oil-liquid communication between the first chamber (13) and the second chamber (14). The control oil circuit (2) comprises a first interface (21) and a second interface (22). The first interface (21) is connected to the first chamber (13), and the second interface (22) is connected to the second chamber (14). A target valve (3) is provided on the control oil circuit (2) and is used for connecting or disconnecting the first chamber (13) and the second chamber (14).

Description

Hydraulic suspension system, suspension control method, vehicle, electronic device, readable medium and computer program product

[0001] The present application claims priority to the Chinese patent application No. 202411393240.2, filed on September 30, 2024, and entitled "Hydraulic suspension system, suspension control method and vehicle", the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the field of automobile technology, in particular to a hydraulic suspension system, a suspension control method, a vehicle, an electronic device, a readable medium and a computer program product. BACKGROUND

[0003] With the development of automobile technology, most vehicles are integrated with a suspension system. The suspension system is a structure for connecting a wheel and a vehicle body, which can support the vehicle body and reduce road impact. The height of the vehicle can also be adjusted through the suspension system to ensure the comfort and maneuverability of the vehicle.

[0004] However, the current suspension system has poor effect on adjusting the height of the vehicle. SUMMARY

[0005] The present application aims to provide a hydraulic suspension system, a suspension control method, a vehicle, an electronic device, a readable medium and a computer program product to solve the problem of poor vehicle height adjustment effect in the related art.

[0006] To solve the above technical problems, the present application is implemented as follows:

[0007] In a first aspect, the embodiments of the present application provide a hydraulic suspension system, comprising:

[0008] a shock absorber, comprising a housing and a piston assembly, the housing is divided into a first chamber and a second chamber by the piston assembly;

[0009] a control oil circuit, configured to realize the flow of oil between the first chamber and the second chamber, the control oil circuit comprises a first interface and a second interface, the first interface is connected with the first chamber, and the second interface is connected with the second chamber;

[0010] a target valve is arranged on the control oil circuit, configured to realize the connection or shutoff between the first chamber and the second chamber.

[0011] Optionally, the hydraulic suspension system has a first state, the control oil circuit comprises a first oil circuit, a first interface in the first oil circuit is connected to the first chamber, and the target valve is arranged in the first oil circuit and connected to the first chamber; after the hydraulic suspension system controls the piston assembly to move downward to a first height, the target valve is controlled to be disconnected; the first height is less than an initial height of the hydraulic suspension system.

[0012] Alternatively, the hydraulic suspension system has a second state, the control oil circuit comprises a second oil circuit, a second interface in the second oil circuit is connected to the second chamber, and the target valve is arranged in the second oil circuit and connected to the second chamber; after the hydraulic suspension system controls the piston assembly to move upward to a second height, the target valve is controlled to be disconnected; the second height is greater than the initial height of the hydraulic suspension system.

[0013] Optionally, the control oil circuit comprises a first oil circuit and a second oil circuit; the target valve comprises a first valve and a second valve, the first valve is arranged in the first oil circuit and connected to the first chamber, and the second valve is arranged in the second oil circuit and connected to the second chamber.

[0014] The hydraulic suspension system has a first state, and after the piston assembly is controlled to move downward to a first height, the first valve is controlled to be disconnected; the first height is less than an initial height of the hydraulic suspension system.

[0015] The hydraulic suspension system has a second state, and after the piston assembly is controlled to move upward to a second height, the second valve is controlled to be disconnected; the second height is greater than the initial height of the hydraulic suspension system.

[0016] Optionally, the target valve is a two-position two-way valve.

[0017] Optionally, the control oil circuit comprises a third oil circuit, the third oil circuit is used to connect the first chamber and the second chamber.

[0018] Optionally, the third oil circuit comprises a hydraulic pump; the hydraulic pump is connected to the first chamber and the target valve, or the hydraulic pump is connected to the second chamber and the target valve.

[0019] Optionally, the third oil circuit further comprises a bidirectional motor, and the hydraulic pump is a bidirectional hydraulic pump; the bidirectional motor is connected to the bidirectional hydraulic pump.

[0020] Optionally, the control oil circuit further comprises a storage assembly; the storage assembly is connected to the first chamber and the second chamber.

[0021] Optionally, the first oil path further comprises a first check valve; the first check valve is connected to the target valve and the storage assembly.

[0022] Optionally, the second oil path further comprises a second check valve; the second check valve is connected to the target valve and the storage assembly.

[0023] Optionally, the first oil path further comprises a first damping valve; the first damping valve is connected to the target valve and the storage assembly.

[0024] Optionally, the second oil path further comprises a second damping valve; the second damping valve is connected to the target valve and the storage assembly.

[0025] Optionally, the target valve is a two-position three-way valve.

[0026] In a second aspect, an embodiment of the present application provides a suspension control method, the method being applied to the hydraulic suspension system in the first aspect, and the method comprising:

[0027] obtaining driving information and / or road excitation information of a vehicle;

[0028] controlling a target valve in the hydraulic suspension system to switch a working state to a flow-through state or an off state based on the driving information and / or the road excitation information.

[0029] Optionally, the driving information comprises a vehicle speed of the vehicle, and the controlling the target valve in the hydraulic suspension system to switch the working state to the flow-through state or the off state based on the driving information and the road excitation information comprises:

[0030] controlling the target valve in the hydraulic suspension system to switch to the off state in a case where the vehicle speed is not higher than a preset vehicle speed threshold.

[0031] Optionally, the driving information further comprises a vehicle body height of the vehicle, and the controlling the target valve in the hydraulic suspension system to switch to the off state comprises:

[0032] controlling the target valve in the hydraulic suspension system to switch to the off state in a case where the vehicle body height reaches a preset height.

[0033] Optionally, the driving information comprises a vehicle speed of the vehicle, and the controlling the target valve in the hydraulic suspension system to switch the working state to the flow-through state or the off state based on the driving information and the road excitation information comprises:

[0034] controlling the target valve in the hydraulic suspension system to switch to the flow-through state in a case where the vehicle speed is higher than a preset vehicle speed threshold.

[0035] Optionally, the preset vehicle speed threshold is 0.

[0036] Optionally, the road excitation information comprises a road excitation frequency, and the driving information further comprises body posture information; the method further comprises:

[0037] In a case where the road excitation frequency is not greater than a preset frequency threshold, a first driving signal is output to a bidirectional motor in the hydraulic suspension system based on the body posture information, so that the bidirectional motor drives a bidirectional hydraulic pump in the hydraulic suspension system to deliver oil to a first chamber or a second chamber.

[0038] Optionally, the output of the first driving signal to the bidirectional motor in the hydraulic suspension system based on the body posture information, so that the bidirectional motor drives the bidirectional hydraulic pump in the hydraulic suspension system to deliver oil to the first chamber or the second chamber, comprises:

[0039] In a case where the body posture information indicates that a wheel connected to the lifting assembly is raised, a first sub-signal is output to the bidirectional motor in the hydraulic suspension system, so that the bidirectional motor drives the bidirectional hydraulic pump in the hydraulic suspension system to deliver oil to the first chamber.

[0040] Optionally, the output of the first driving signal to the bidirectional motor in the hydraulic suspension system based on the body posture information, so that the bidirectional motor drives the bidirectional hydraulic pump in the hydraulic suspension system to deliver oil to the first chamber or the second chamber, comprises:

[0041] In a case where the body posture information indicates that the wheel connected to the lifting assembly is lowered, a second sub-signal is output to the bidirectional motor in the hydraulic suspension system, so that the bidirectional motor drives the bidirectional hydraulic pump in the hydraulic suspension system to deliver oil to the second chamber.

[0042] Optionally, the method further comprises:

[0043] In a case where the road excitation frequency is greater than the preset frequency threshold, the bidirectional hydraulic pump is controlled to switch to an off state;

[0044] and a second driving signal is output to a first damping valve or a second damping valve in the hydraulic suspension system based on the body posture information, so that the first damping valve or the second damping valve adjusts a valve opening degree based on the second driving signal.

[0045] Optionally, the output of the second driving signal to the first damping valve or the second damping valve in the hydraulic suspension system based on the body posture information, so that the first damping valve or the second damping valve adjusts the valve opening degree based on the second driving signal, comprises:

[0046] determining, based on the vehicle body posture information, that the wheel connected with the lifting assembly is raised, outputting a second driving signal to the second damping valve in the hydraulic suspension system, so that the second damping valve adjusts the valve opening degree based on the second driving signal.

[0047] Optionally, the outputting, based on the vehicle body posture information, of the second driving signal to the first damping valve or the second damping valve in the hydraulic suspension system, so that the first damping valve or the second damping valve adjusts the valve opening degree based on the second driving signal, comprises:

[0048] determining, based on the vehicle body posture information, that the wheel connected with the lifting assembly is lowered, outputting a second driving signal to the first damping valve in the hydraulic suspension system, so that the first damping valve adjusts the valve opening degree based on the second driving signal.

[0049] In a third aspect, an embodiment of the present application provides a vehicle, comprising the hydraulic suspension system of the first aspect.

[0050] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising a processor, a communication interface, a memory and a communication bus; wherein the processor, the communication interface and the memory complete the communication among each other through the communication bus.

[0051] The memory is configured to store a computer program.

[0052] The processor is configured to execute the program stored on the memory, and implement the steps in the suspension control method of the second aspect.

[0053] In a fifth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the steps in the suspension control method of the second aspect.

[0054] In a sixth aspect, an embodiment of the present application provides a computer program product, which contains instructions, and when the instructions are run on a computer, the computer executes the suspension control method of the second aspect.

[0055] Compared with the prior art, the present application has the following advantages:

[0056] In the embodiment of the present application, the air suspension system is not used, but a shock absorber, a control oil circuit and a target valve are used to form a hydraulic suspension system. The pressure of the first chamber and the second chamber can be adjusted by the flow of the oil in the control oil circuit, and then the height of the vehicle body is adjusted by adjusting the position of the piston assembly. The efficiency of the height adjustment of the vehicle body can be improved by the hydraulic suspension system. Meanwhile, only one target valve arranged on the control oil circuit is used in the embodiment of the present application. When the height maintaining requirement exists, the target valve is closed, and then the first chamber and the second chamber are closed, so that the oil pressure difference between the first chamber and the second chamber is maintained. A large number of components do not need to be added, the height of the vehicle body can be maintained for a long time, the cost is low, and the hydraulic suspension system can have higher integration.

[0057] The above description is only a summary of the technical solutions of the present application. In order to more clearly understand the technical means of the present application, the content of the specification can be implemented, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings needed to be used in the embodiment or related technology description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creating any creative labor.

[0059] Fig. 1 is a structural schematic diagram of a hydraulic suspension system provided by an embodiment of the present application;

[0060] Fig. 2 is a structural schematic diagram of another hydraulic suspension system provided by an embodiment of the present application;

[0061] Fig. 3 is a structural schematic diagram of another hydraulic suspension system provided by an embodiment of the present application;

[0062] Fig. 4 is a structural schematic diagram of another hydraulic suspension system provided by an embodiment of the present application;

[0063] Fig. 5 is a structural schematic diagram of another hydraulic suspension system provided by an embodiment of the present application;

[0064] Fig. 6 is a structural schematic diagram of another hydraulic suspension system provided by an embodiment of the present application;

[0065] Fig. 7 is a structural schematic diagram of another hydraulic suspension system provided by an embodiment of the present application;

[0066] Fig. 8 is a structural schematic diagram of another hydraulic suspension system provided by an embodiment of the present application;

[0067] Fig. 9 is a structural schematic diagram of still another hydraulic suspension system provided by the embodiments of the present application;

[0068] Fig. 10 is a step flow chart of a suspension control method provided by the embodiments of the present application;

[0069] Fig. 11 is a structural schematic diagram of a vehicle provided by the embodiments of the present application;

[0070] Fig. 12 is a block diagram of an electronic device provided by the embodiments of the present application;

[0071] Fig. 13 is a schematic diagram of a computer readable medium provided by the embodiments of the present application;

[0072] Fig. 14 is a schematic diagram of a computer program product provided by the embodiments of the present application.

[0073] Fig. 14 is a schematic diagram of a computer program product provided by the embodiments of the present application. Specific Embodiments

[0074] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0075] The terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish different objects, and are not used to describe a particular order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but can optionally include other steps or units not listed or can optionally include other steps or units inherent to the process, product or device.

[0076] Reference to an "embodiment" in this application means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of one another. As will be apparent to those of ordinary skill in the art, embodiments described in this application can be combined with one another.

[0077] Fig. 1 is a structural schematic diagram of a hydraulic suspension system according to an embodiment of the application. As shown in Fig. 1, the hydraulic suspension system comprises:

[0078] a shock absorber 1, the shock absorber 1 comprising a housing 11 and a piston assembly 12, the housing 11 being divided into a first chamber 13 and a second chamber 14 by the piston assembly 12; a control oil passage 2 for realizing oil flow between the first chamber 13 and the second chamber 14, the control oil passage 2 comprising a first interface 21 and a second interface 22, the first interface 21 being connected with the first chamber 13, and the second interface 22 being connected with the second chamber 14; and a target valve 3 arranged on the control oil passage 2, for realizing communication or shutoff between the first chamber 13 and the second chamber 14.

[0079] The target valve comprises two working states, a flow state and a shutoff state. In the flow state, fluid can flow through the target valve in the control oil passage, the first chamber and the second chamber are in communication, and oil flow between the first chamber and the second chamber is realized. Correspondingly, in the shutoff state, fluid cannot pass through the target valve, and the first chamber and the second chamber are shutoff.

[0080] The shock absorber can be located between a vehicle body and a vehicle wheel, and the height of the vehicle body can be adjusted by adjusting the height of the piston assembly in the shock absorber. Specifically, the lower end of the shock absorber can be connected with the vehicle wheel, and the piston assembly can be connected with the vehicle body.

[0081] In one case, the piston assembly can comprise a piston and a piston rod, the piston rod being used to connect the vehicle body, the bottom of the housing being used to connect the vehicle wheel, and the piston dividing the housing into the first chamber and the second chamber.

[0082] Further, as shown in Fig. 1, the control oil passage is used to realize oil flow between the first chamber and the second chamber, the first interface is connected with the first chamber, and the second interface is connected with the second chamber. Meanwhile, the target valve is arranged on the control oil passage, for realizing communication or shutoff between the first chamber and the second chamber.

[0083] Specifically, the target valve can exist in a flow-through state and a shut-off state. When the target valve is in the flow-through state, the oil can flow through the first interface, the second interface and the target valve between the first chamber and the second chamber, so that the piston assembly moves up or down through oil transmission to achieve body height adjustment. Correspondingly, when the target valve is in the shut-off state, the oil in the control oil passage cannot flow through the target valve, so that the first chamber and the second chamber are shut off, the oil in the first chamber and the second chamber cannot flow, and the oil in the first chamber and the second chamber can remain unchanged for a certain period of time, the piston assembly remains unchanged, and the body height can be kept stationary.

[0084] Fig. 2 is a structural schematic diagram of another hydraulic suspension system provided by the embodiment of the application. As shown in Fig. 2, the target valve is in a shut-off state, the oil in the first chamber and the second chamber cannot flow, the oil in the first chamber and the second chamber can remain unchanged for a certain period of time, the piston assembly remains unchanged, and the body height can be kept stationary.

[0085] In summary, in the above implementation process, the embodiment of the application does not use an air suspension system, but uses a shock absorber, a control oil passage and a target valve to constitute a hydraulic suspension system. The pressure of the first chamber and the second chamber can be adjusted by controlling the flow of oil in the control oil passage, the position of the piston assembly can be adjusted to achieve body height adjustment, and the efficiency of body height adjustment can be improved by using the hydraulic suspension system. Meanwhile, only one target valve is used in the embodiment of the application, which is arranged on the control oil passage. When there is a height maintaining requirement, the target valve can be shut off, so that the first chamber and the second chamber are shut off, the oil pressure difference between the first chamber and the second chamber is maintained, a large number of components do not need to be added, long-term body height maintenance can be achieved, the cost is low, and the hydraulic suspension system can achieve higher integration.

[0086] Optionally, Fig. 3 is a structural schematic diagram of another hydraulic suspension system provided by the embodiment of the application. As shown in Fig. 3, the hydraulic suspension system exists in a first state, the control oil passage 2 includes a first oil passage 23, a first interface 21 in the first oil passage 23 is connected with the first chamber 13, the target valve 3 is arranged in the first oil passage 23 and connected with the first chamber 13; after the hydraulic suspension system controls the piston assembly to move downward to a first height, the target valve is controlled to be disconnected; the first height is less than the initial height of the hydraulic suspension system.

[0087] The initial height can be preset, can be the original height of the vehicle when it is manufactured, or can be set according to actual needs, and the embodiments of the present application do not make any limitation in this regard. Correspondingly, the first height is less than the initial height. The first state can be a low height maintaining state. Specifically, the target valve can be arranged in the first oil path and connected to the first chamber, so that the piston assembly is extruded to move downward by delivering oil to the first chamber, and after the piston assembly moves downward to the first height, the target valve is controlled to be disconnected, so that the first chamber is disconnected from the second chamber, and the piston assembly is maintained at the first height, thereby realizing low height maintaining.

[0088] Optionally, FIG. 4 is a structural schematic diagram of another hydraulic suspension system provided by the embodiments of the present application. As shown in FIG. 4, the hydraulic suspension system is in a second state, the control oil path 2 includes a second oil path 24, a second interface 22 in the second oil path 24 is connected to the second chamber 14, the target valve 3 is arranged in the second oil path 24 and connected to the second chamber 14; the hydraulic suspension system controls the piston assembly to move upward to a second height, and then controls the target valve to be disconnected; and the second height is greater than the initial height of the hydraulic suspension system.

[0089] The initial height can be preset, can be the original height of the vehicle when it is manufactured, or can be set according to actual needs, and the embodiments of the present application do not make any limitation in this regard. Correspondingly, the second height is greater than the initial height. The second state can be a high height maintaining state. Specifically, the target valve can be arranged in the second oil path and connected to the second chamber, so that the piston assembly is extruded to move upward by delivering oil to the second chamber, and after the piston assembly moves upward to the second height, the target valve is controlled to be disconnected, so that the first chamber is disconnected from the second chamber, and the piston assembly is maintained at the second height, thereby realizing high height maintaining.

[0090] In this way, the position of the target valve can be set according to actual needs, thereby reducing the cost of devices while realizing the control of height maintaining.

[0091] Optionally, FIG. 5 is a structural schematic diagram of another hydraulic suspension system provided by the embodiments of the present application. As shown in FIG. 5, the control oil path 2 includes a first oil path 23 and a second oil path 24; the target valve 3 includes a first valve 31 and a second valve 32, the first valve 31 is arranged in the first oil path 23 and connected to the first chamber 13; and the second valve 32 is arranged in the second oil path 24 and connected to the second chamber 14.

[0092] Specifically, the hydraulic suspension system in the first state (low height maintaining state) can deliver oil to the first chamber, and after the piston assembly is extruded to move downward to the first height, the first valve is disconnected, so that the first chamber is disconnected with the second chamber, so that the piston assembly is maintained at the first height, realizing low height maintaining.

[0093] Correspondingly, the hydraulic suspension system in the second state (high height maintaining state) can deliver oil to the second chamber, and after the piston assembly is extruded to move upward to the second height, the second valve is disconnected, so that the first chamber is disconnected with the second chamber, so that the piston assembly is maintained at the second height, realizing high height maintaining.

[0094] Further, the first state and the second state can be determined based on the vehicle driving state or the driver instruction, and the embodiments of the application do not limit this.

[0095] In this way, the first state and the second state can be realized by two target valves respectively, improving the flexibility of the body height control.

[0096] Optionally, the target valve is a two-position two-way valve.

[0097] Specifically, the two-position two-way valve refers to a valve having two working states and connecting two passages. The target valve can include a flow state and a closed state, and the target valve can connect the first chamber and the second chamber, thereby connecting the two passages. For example, as shown in FIGS. 2 and 3, the target valve connects the first chamber and the second chamber.

[0098] Optionally, FIG. 6 is a structure schematic diagram of another hydraulic suspension system provided by the embodiments of the application, as shown in FIG. 6, the hydraulic suspension system further includes a bidirectional motor 252 connected with a bidirectional hydraulic pump 251.

[0099] Optionally, as shown in FIG. 6, the control oil path 2 includes a third oil path 25, and the third oil path 25 is used to connect the first chamber 13 and the second chamber 14.

[0100] Optionally, the third oil path 25 includes a hydraulic pump 251; the hydraulic pump 251 is connected with the first chamber 13 and the target valve 3, or the hydraulic pump 251 is connected with the second chamber 14 and the target valve 3.

[0101] The third oil path 25 further includes a bidirectional motor 252, and the hydraulic pump 251 is a bidirectional hydraulic pump; wherein the bidirectional motor 252 is connected with the bidirectional hydraulic pump.

[0102] The bidirectional hydraulic pump is connected with the second chamber, and the bidirectional hydraulic pump is connected with the first chamber through the target valve, so that the bidirectional hydraulic pump can transmit fluid to the second chamber and can transmit fluid to the first chamber through the target valve. Alternatively, the bidirectional hydraulic pump is connected with the first chamber, and the bidirectional hydraulic pump is connected with the second chamber through the target valve, so that the bidirectional hydraulic pump can transmit oil to the first chamber and can transmit oil to the second chamber through the target valve.

[0103] The bidirectional motor 252 is configured to drive the bidirectional hydraulic pump to deliver oil to the first chamber or the second chamber.

[0104] Specifically, the bidirectional motor refers to a motor that can be reversed, and the bidirectional motor can be electrically connected with the bidirectional hydraulic pump. The bidirectional motor can drive the bidirectional hydraulic pump to deliver oil upward or downward through forward and reverse rotation.

[0105] By configuring the bidirectional motor, the control of forward and reverse rotation of the bidirectional motor can be realized by adjusting the input current of the bidirectional motor. Further, by controlling the forward and reverse rotation of the bidirectional motor, the delivery of oil to the first chamber or the second chamber can be controlled, and thus the lowering or lifting of the vehicle body can be realized, and the efficiency of the height adjustment of the vehicle body can be further improved.

[0106] Optionally, the control oil circuit further comprises a storage assembly; the storage assembly is connected with the first chamber and the second chamber.

[0107] Optionally, FIG. 7 is a structural schematic diagram of another hydraulic suspension system provided by the embodiment of the application. As shown in FIG. 7, the hydraulic suspension system can further comprise a storage assembly 4; the storage assembly 4 is connected with the first chamber 13 and the second chamber 14.

[0108] The storage assembly can be a gas bag or an accumulator, which can be used to store a certain amount of compressed gas. When the oil in the first chamber or the second chamber changes, the pressure of the storage assembly also changes, so that the storage assembly can supplement or store the oil flowing out during the lifting and lowering of the piston assembly, and attenuate the pressure fluctuation of the system. Specifically, the storage assembly can control the oil flowing out of the first chamber to flow into the second chamber through the gas pressure, or the storage assembly can control the oil flowing out of the second chamber to flow into the first chamber through the gas pressure.

[0109] Optionally, the first oil circuit further comprises a first one-way valve; the first one-way valve is connected with the target valve and the storage assembly.

[0110] Optionally, the second oil circuit further comprises a second one-way valve; the second one-way valve is connected with the target valve and the storage assembly.

[0111] The one-way valve refers to a valve allowing one-way flow. Specifically, the first one-way valve can be connected to the target valve and the storage assembly. The storage assembly is connected to the target valve through the first one-way valve, so that the storage assembly can make the oil flow into the target valve through the first one-way valve by air pressure, and enter the first chamber or the second chamber.

[0112] The storage assembly can also be connected to the target valve through the second one-way valve, so that the storage assembly can make the oil flow into the target valve through the second one-way valve by air pressure, and enter the first chamber or the second chamber.

[0113] FIG. 8 is a structural schematic diagram of another hydraulic suspension system provided by the embodiment of the present application. As shown in FIG. 8, the first one-way valve 51 can be connected to the storage assembly and the second chamber, and the second one-way valve 52 can be connected to the storage assembly 4 and the target valve 3. The storage assembly can make the oil flow into the second chamber 14 through the first one-way valve 51 by air pressure, and make the oil flow into the target valve 3 through the second one-way valve 52 by air pressure, and enter the first chamber 13.

[0114] Optionally, the first oil passage further comprises a first damping valve; the first damping valve is connected to the target valve and the storage assembly.

[0115] Optionally, the second oil passage further comprises a second damping valve; the second damping valve is connected to the target valve and the storage assembly.

[0116] Optionally, FIG. 9 is a structural schematic diagram of another hydraulic suspension system provided by the embodiment of the present application. As shown in FIG. 9, the hydraulic suspension system further comprises a first damping valve 61 and a second damping valve 62.

[0117] One end of the first damping valve 61 is connected to the first chamber through the target valve, and the other end of the first damping valve 61 is connected to the storage assembly.

[0118] One end of the second damping valve 62 is connected to the second chamber 14, and the other end of the second damping valve 62 is connected to the storage assembly.

[0119] Specifically, by arranging the damping valve, the oil pressed out of the first chamber or the second chamber can flow into the storage assembly through the damping valve, so that the damping force required by the vehicle can be adjusted by the damping valve, and the oil pressed out of the first chamber or the second chamber can be discharged through the damping valve.

[0120] Optionally, the target valve is a two-position three-way valve.

[0121] Specifically, the two-position three-way valve refers to a valve having two working states and connecting three passages. As described above, the target valve is used to connect the first chamber and the second chamber, and at the same time, the storage assembly is also used to connect the first chamber and the second chamber, on the basis of which the storage assembly can be connected with the first chamber or the second chamber through the target valve, so that the target valve needs to connect the first chamber, the second chamber and the storage assembly, on the basis of which the target valve is a two-position three-way valve.

[0122] FIG. 10 is a step flowchart of a suspension control method provided by an embodiment of the present application. As shown in FIG. 10, the method comprises:

[0123] Step 101, obtaining driving information and / or road excitation information of the vehicle.

[0124] Step 102, based on the driving information and / or the road excitation information, controlling the target valve in the hydraulic suspension system to switch the working state to the flow-through state or the off state.

[0125] Wherein, the embodiment of the present application can be applied to a suspension controller in a hydraulic suspension system, of course, it can also be other vehicle-mounted controllers, and the present application does not limit this. The above driving information can include driving mode, vehicle speed, steering wheel angle, vehicle body acceleration and battery power signal and other information, which is used to represent the driving state of the vehicle. The above road excitation information can include road excitation signal and road excitation frequency and other information, which is used to represent the current driving road condition.

[0126] Specifically, the road signal, height signal, suspension displacement, suspension acceleration signal and the like can be collected through the vehicle-mounted sensors integrated on the vehicle, further, the road excitation model can be used to calculate the road excitation information through the above signals collected by the vehicle-mounted sensors. Of course, the pre-set road excitation algorithm or statistical characteristics can also be used for calculation, and the present application does not limit this.

[0127] Further, the current driving state and driving road condition of the vehicle can be obtained through the driving information and / or road excitation information, and then the flow-through or off of the target valve can be controlled based on the driving state and driving road condition. For example, in the vehicle static state, the target valve can be controlled to be off, so that the height of the piston assembly is maintained unchanged, thereby ensuring that the vehicle height is maintained unchanged, at this time, it is convenient for the vehicle to load and unload personnel or to load the trunk and the like. For another example, in the vehicle turning state, the target valve can be controlled to be in flow-through state, and the oil flow-through of the first chamber and the second chamber is used to adaptively adjust the vehicle body height.

[0128] Specifically, the embodiment of the present application can generate a state switching signal based on the driving information and / or the road excitation information, and input the state switching signal to the target valve, so that the target valve switches states based on the state switching signal.

[0129] In summary, the suspension control method provided by the embodiment of the present application can control the target valve in the hydraulic suspension system based on the driving information and / or the road excitation information, and can adjust the height of the vehicle or keep the height of the vehicle unchanged according to the actual driving state of the vehicle, so as to ensure the comfort of the vehicle and the flexibility of height adjustment.

[0130] Optionally, the driving information includes the vehicle speed, and the control of the target valve in the hydraulic suspension system to switch to the flow-through state or the off state based on the driving information and the road excitation information includes:

[0131] S1021, in the case that the vehicle speed is not higher than a preset vehicle speed threshold, the target valve in the hydraulic suspension system is controlled to switch to the off state.

[0132] The preset vehicle speed threshold can be pre-set, which can be 0.5 m / s or 0.3 m / s. In one case, the preset vehicle speed threshold can also be 0, which can be set according to actual conditions, and the embodiment of the present application does not limit this.

[0133] Specifically, in the case that the vehicle speed is not higher than the preset vehicle speed threshold, the vehicle is usually in a slow or stationary state at this time, which is usually the case of getting on or off the vehicle or taking things from the vehicle, and in order to ensure the safety and comfort of the personnel in this case, the height of the vehicle can be kept unchanged, so that the embodiment of the present application can control the target valve in the hydraulic suspension system to switch to the off state, so that the oil in the first chamber and the second chamber cannot flow, and the height of the piston assembly is maintained, thereby maintaining the height of the vehicle body.

[0134] S1022, in the case that the vehicle speed is higher than the preset vehicle speed threshold, the target valve in the hydraulic suspension system is controlled to switch to the flow-through state.

[0135] Correspondingly, in the case that the vehicle speed is higher than the preset vehicle speed threshold, the vehicle is usually in a non-slow driving state at this time, and the hydraulic suspension system needs to adjust the height of the vehicle body according to the specific condition of the vehicle in the driving state, so that the target valve can be controlled to switch to the flow-through state, so as to realize the adjustment of the height of the vehicle body through the flow of the oil in the first chamber and the second chamber.

[0136] Optionally, the driving information further includes the height of the vehicle body, and the control of the target valve in the hydraulic suspension system to switch to the off state includes:

[0137] S10211、in the case where the vehicle body height reaches the preset height, the target valve in the hydraulic suspension system is controlled to switch to the off state.

[0138] The preset height can be a preset reference height, or a height determined by receiving a signal of the driver, and can be set according to actual needs, which is not limited in the embodiments of the application. Specifically, since the vehicle is often in a static or slow state, there is a need to load or unload personnel or goods, and the vehicle body height needs to be kept at a lower position at this time, so a lower preset height can be preset.

[0139] Specifically, in some cases, after the vehicle passes through a relatively bumpy road, the vehicle body often remains at a high height. If the vehicle is decelerated or stationary at this time, the vehicle body remains at a high height, and the difficulty of loading and unloading personnel and goods is higher. In order to avoid this situation, the embodiments of the application can control the target valve to be off when the vehicle body height reaches the preset height.

[0140] Optionally, in the case where the vehicle body height does not reach the preset height, the embodiments of the application can also deliver oil to the first chamber or the second chamber through the bidirectional hydraulic pump, so that the piston assembly moves upward or downward, so that the vehicle body height reaches the preset height.

[0141] Optionally, the road excitation information includes a road excitation frequency, and the driving information further includes vehicle body posture information, and the embodiments of the application specifically further include:

[0142] S103, in the case where the road excitation frequency is not greater than a preset frequency threshold, a first driving signal is output to the bidirectional motor in the hydraulic suspension system based on the vehicle body posture information, so that the bidirectional motor drives the bidirectional hydraulic pump in the hydraulic suspension system to deliver oil to the first chamber or the second chamber.

[0143] The road excitation frequency refers to the signal frequency of the road excitation signal, which can represent the flatness of the current road to some extent. The higher the road excitation frequency, the lower the flatness. The preset frequency threshold can be preset, for example, it can be 5HZ, 7HZ, 8HZ, etc., and can be set according to the actual needs of the vehicle, which is not limited in the embodiments of the application.

[0144] The vehicle body posture information is used to represent the vehicle body posture, which can include inclination and stable state, and the inclination state can include left inclination, right inclination, forward inclination and backward inclination. The required vehicle body height adjustment operation is different in different states.

[0145] Specifically, in the case that the road excitation frequency is not greater than the preset frequency threshold, the vehicle is usually driven on a relatively stable road surface at this time, and in order to maximize the comfort of passengers in the vehicle, the height of the vehicle body can be actively adjusted by the bidirectional motor, and a first driving signal can be generated and output according to the vehicle body posture information, so that the bidirectional motor drives the bidirectional hydraulic pump to deliver oil to the first chamber or the second chamber.

[0146] For example, in the case that the vehicle body posture information is a left tilt state, at this time, the vehicle is usually turning left, and at this time, the left wheel is pressed down and the right wheel is lifted up, in order to ensure the stability of the vehicle, the left vehicle body needs to be lifted up and the right vehicle body needs to be lowered down. At this time, for the hydraulic suspension system corresponding to the right wheel, the bidirectional motor can drive the bidirectional hydraulic pump to deliver oil upward, and after the oil flows through the target valve into the first chamber, the oil pushes the piston assembly to move downward, and the oil in the second chamber is extruded to flow back into the bidirectional hydraulic pump. In the case that the hydraulic suspension system further includes an air bag, the air bag can push part of the lost oil back into the bidirectional hydraulic pump through air pressure, so as to balance the system pressure.

[0147] Optionally, the S103 can specifically include the following steps in the embodiments of the present application:

[0148] S1031, when the wheel connected with the lifting assembly is lifted up based on the vehicle body posture information, outputting a first sub-signal to the bidirectional motor in the hydraulic suspension system, so that the bidirectional motor drives the bidirectional hydraulic pump in the hydraulic suspension system to deliver oil to the first chamber.

[0149] Optionally, the S103 can specifically include the following steps in the embodiments of the present application:

[0150] S1032, when the wheel connected with the lifting assembly is lowered down based on the vehicle body posture information, outputting a second sub-signal to the bidirectional motor in the hydraulic suspension system, so that the bidirectional motor drives the bidirectional hydraulic pump in the hydraulic suspension system to deliver oil to the second chamber.

[0151] At this time, for the hydraulic suspension system corresponding to the left wheel, the bidirectional motor can drive the bidirectional hydraulic pump to deliver oil downward, and the oil entering the second chamber pushes the piston assembly to move upward, and the oil in the first chamber is extruded to flow back into the bidirectional hydraulic pump through the target valve. Similarly, in the case that the hydraulic suspension system further includes an air bag, the air bag can push part of the lost oil back into the bidirectional hydraulic pump through air pressure, so as to balance the system pressure.

[0152] In this way, the height of the vehicle body can be actively adjusted by the bidirectional motor according to the road excitation frequency, so that the vehicle body is kept stable and the comfort of the vehicle is improved.

[0153] Optionally, the embodiment of the present application can further include:

[0154] S104, in the case that the road excitation frequency is greater than the preset frequency threshold, controlling the bidirectional hydraulic pump in the hydraulic suspension system to switch to an off state.

[0155] And S105, outputting a second driving signal to the first damping valve or the second damping valve in the hydraulic suspension system based on the vehicle body posture information, so that the first damping valve or the second damping valve adjusts the valve opening degree based on the second driving signal.

[0156] Wherein, in the case that the road excitation frequency is greater than the preset frequency threshold, at this time the vehicle tends to run on a more bumpy road, at this time if the vehicle body height is actively adjusted, the comfort of the vehicle will be reduced, at this time the comfort of the vehicle should be maintained through the oil damping in the first chamber and the second chamber, therefore, at this time the embodiment of the present application can control the bidirectional hydraulic pump to switch to an off state, without controlling the oil flow of the first chamber and the second chamber through the bidirectional hydraulic pump.

[0157] Specifically, the greater the valve opening degree of the damping valve, the smaller the damping force, which can be adjusted by the first damping valve and the second damping valve.

[0158] Optionally, the above S105 can specifically include:

[0159] S1051, based on the vehicle body posture information, when the wheel connected by the lifting assembly is raised, outputting a second driving signal to the second damping valve in the hydraulic suspension system, so that the second damping valve adjusts the valve opening degree based on the second driving signal.

[0160] Optionally, the above S105 can specifically further include:

[0161] S1052, based on the vehicle body posture information, when the wheel connected by the lifting assembly is lowered, outputting a second driving signal to the first damping valve in the hydraulic suspension system, so that the first damping valve adjusts the valve opening degree based on the second driving signal.

[0162] Specifically, the above vehicle body posture information is used to represent the vehicle body posture, which can include left tilt, right tilt, forward tilt, backward tilt, and stable state.

[0163] When the vehicle body tilts to cause the wheel to jump up, the piston assembly moves downward, the oil in the second chamber is extruded, flows through the second damping valve, part of which enters the air bag, and the other part enters the first chamber through the first one-way valve and the target valve, and the second driving signal can be output to the second damping valve to adjust the valve opening degree.

[0164] Correspondingly, when the vehicle body tilts to cause the wheel to jump down, the piston assembly moves upward, the oil in the first chamber is extruded, flows through the first damping valve, part of which enters the air bag, and the other part enters the second chamber through the second one-way valve, and the second driving signal can be output to the first damping valve to adjust the valve opening degree.

[0165] Specifically, the second driving signal can be a current signal, and the valve opening degree can be adjusted by the current signal. The greater the current, the smaller the valve opening degree. At the same time, since the valve opening degree is negatively correlated with the damping force, in order to ensure the comfort of the vehicle, a smaller damping force is often required. Therefore, the degree of wheel jump up or down can be determined based on the degree of vehicle body tilt, and a smaller current signal can be output as the second driving signal when the degree of wheel jump up or down is high, so that the valve opening degree is larger and the damping force is smaller. Correspondingly, when the degree of wheel jump up or down is low, a larger current signal can be output as the second driving signal, so that the valve opening degree is smaller and the damping force is larger.

[0166] It should be noted that the hydraulic suspension system is a mechanism for connecting the wheels and the vehicle body, and the main function is to support the stable driving of the vehicle body and to reduce the impact from the road. According to whether the hydraulic suspension system can adjust the force, the suspension can be divided into passive suspension, active suspension. According to whether the actuator is active, the active suspension is divided into semi-active suspension and full-active suspension. The active suspension includes height adjustment, stiffness adjustment and damping adjustment functions. At present, the related technology often uses an air suspension system or a hydraulic suspension system provided with a motor pump to provide active power. The air suspension system receives the height signal of the height sensor, and when the height signal is less than the target height, the first and second switch valves are opened to drive the gas in the air tank to flow to the air spring. When the height signal is less than the target height, the first and second switch valves are opened to drive the gas in the air spring to flow to the air tank until the height signal is equal to the target height, and the first and second switch valves are closed. Alternatively, the air pump is controlled according to the charging and discharging amount, the air spring assembly is inflated through the air tank, and the air spring assembly is deflated by controlling the air discharge electromagnetic valve assembly to be opened, so that the height adjustment of the hydraulic suspension system is realized. However, the height adjustment realized by inflating and deflating the air spring has slow adjustment speed, and the general adjustment rate is not more than 5mm / s, thereby affecting the user's use experience. On the other hand, the air spring has the problems of short service life and easy air leakage. The hydraulic suspension system provided with a motor pump to provide active power is communicated with the hydraulic pump through the hydraulic pipeline, the hydraulic pump charges and discharges the oil of the liftable shock absorber assembly to stretch or compress the shock absorber, so as to realize the rapid height adjustment of the vehicle body, but the realization of height keeping needs the active work of the hydraulic pump to maintain the pressure difference between the inlet and outlet of the hydraulic pump, and the high-power operation of the motor leads to the inability to keep the height for a long time.

[0167] The embodiment of the present application does not use an air suspension system, but uses a target valve, a bidirectional hydraulic pump and a lifting assembly to form a hydraulic suspension system. The position of the piston assembly can be adjusted by transmitting oil through the bidirectional hydraulic pump, so as to realize the adjustment of the height of the vehicle body. The efficiency of the height adjustment of the vehicle body can be improved through the hydraulic suspension system. Meanwhile, only one valve containing a flow-through state and an off state is used in the embodiment of the present application. When there is a static height requirement, the target valve can be turned off. In this process, the hydraulic pump does not need to work actively, and the oil pressure difference between the first chamber and the second chamber can be maintained. Without increasing a large number of components, the height of the vehicle body can be maintained for a long time, the cost is low, and the hydraulic suspension system can achieve higher integration. The suspension control method provided by the embodiment of the present application can control the target valve in the hydraulic suspension system based on the driving information and the road excitation information. The height of the vehicle can be adjusted or kept unchanged according to the actual driving state of the vehicle. In this way, the comfort and flexibility of the height adjustment of the vehicle can be ensured. The problems of slow lifting speed, short service life and air leakage of the air suspension system are solved. The hydraulic suspension system can quickly adjust and maintain different height states, and the passability, maneuverability and comfort of the vehicle are further improved.

[0168] In another embodiment provided by the present application, a vehicle is also provided, as shown in FIG. 11, which includes the hydraulic suspension system described in the above embodiments.

[0169] The electronic device provided by the embodiment of the present application includes a processor 501, a communication interface 502, a memory 503 and a communication bus 504. The processor 501, the communication interface 502 and the memory 503 can communicate with each other through the communication bus 504.

[0170] The memory 503 is used to store a computer program.

[0171] When the processor 501 executes the program stored in the memory 503, the following steps are implemented: obtaining driving information and / or road excitation information of a vehicle; and controlling a target valve in the hydraulic suspension system to switch the working state to a flow-through state or an off state based on the driving information and / or the road excitation information.

[0172] The processor 501 can also implement other steps in the suspension control method, which are not described here.

[0173] The hydraulic suspension system, the suspension control method and the vehicle provided by the embodiment of the present application do not adopt an air suspension system, but adopt a target valve, a bidirectional hydraulic pump and a lifting assembly to form a hydraulic suspension system, the position of the piston assembly can be adjusted by transmitting oil through the bidirectional hydraulic pump, and then the height of the vehicle body is adjusted, and the efficiency of the height adjustment of the vehicle body can be improved through the hydraulic suspension system. Meanwhile, only one valve containing a flow-through state and a shutdown state is adopted in the embodiment of the present application, the target valve can be shut down when there is a static height requirement, the oil pressure difference between the first chamber and the second chamber can be maintained without the active work of the hydraulic pump, a large number of components do not need to be added, the height of the vehicle body can be maintained for a long time, the cost is low, and the hydraulic suspension system can achieve higher integration. The suspension control method provided by the embodiment of the present application can control the target valve in the hydraulic suspension system based on the driving information and the road excitation information, the height of the vehicle can be adjusted or kept unchanged according to the actual driving state of the vehicle, and the comfort and flexibility of the height adjustment of the vehicle can be ensured. The problems of slow lifting speed, short service life and air leakage of the air suspension system are solved, the hydraulic suspension system can be quickly adjusted and maintained at different height states, and the passability, controllability and comfort of the vehicle are further improved.

[0174] The communication bus mentioned in the above electronic device can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For convenience of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0175] The communication interface is used for communication between the above electronic device and other devices.

[0176] The memory can include a random access memory (RAM) and can also include a non-volatile memory, such as at least one disk memory. Optionally, the memory can also be at least one storage device located away from the aforementioned processor.

[0177] The processor described above can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

[0178] In another embodiment provided in the present application, as shown in Fig. 13, a computer readable storage medium is also provided, and the computer readable storage medium stores instructions (i.e. computer programs), which, when running on a computer, enable the computer to perform the suspension control method described in the above embodiments.

[0179] In another embodiment provided in the present application, as shown in Fig. 14, a computer program product containing instructions (i.e. computer programs) is also provided, which, when running on a computer, enable the computer to perform the suspension control method described in the above embodiments.

[0180] The electronic device can also implement other steps in the suspension control method described above, which are not described herein again.

[0181] In the embodiments described above, all or some of the steps can be implemented by software, hardware or firmware, or any combination thereof. When implemented by software, all or some of the steps can be implemented in the form of one or more computer programs. The computer program can be stored in any computer readable medium, and when loaded into a computer system, causes the computer system to perform one or more of the steps of the computer program. The computer readable medium can be a magnetic disk, an optical disk or a solid state drive, or any combination thereof. The computer readable medium can be distributed to computer systems connected by a network, so that the computer programs that constitute the computer programs (which can also be in the form of computer readable medium) can be stored in and executed by the network connected computer systems in a distributed manner.

[0182] It should be noted that, in the present document, the terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Also, the terms "comprising", "containing" or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not only include those elements, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without more limitations, an element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0183] Each of the embodiments in the present specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments. For the embodiments of the apparatus, electronic device, computer readable storage medium and computer program product containing instructions thereof, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiment.

[0184] The above merely provides the preferred embodiment of the present application, and not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall fall within the protection scope of the present application.

Claims

1. A hydraulic suspension system, wherein, The hydraulic suspension system comprises: a shock absorber (1) comprising a housing (11) and a piston assembly (12), the housing (11) being divided into a first chamber (13) and a second chamber (14) by the piston assembly (12); a control oil circuit (2) for realizing oil flow between the first chamber (13) and the second chamber (14), the control oil circuit (2) comprising a first interface (21) connected with the first chamber (13) and a second interface (22) connected with the second chamber (14); a target valve (3) arranged on the control oil circuit (2) for realizing the connection or cut-off between the first chamber (13) and the second chamber (14).

2. The system of claim 1, wherein, In a first state of the hydraulic suspension system, the control oil circuit (2) comprises a first oil circuit (23), the first interface (21) in the first oil circuit (23) is connected with the first chamber (13), the target valve (3) is arranged in the first oil circuit (23) and connected with the first chamber (13); after the hydraulic suspension system controls the piston assembly (12) to move downward to a first height, the target valve (3) is controlled to be cut off; the first height is less than an initial height of the hydraulic suspension system. Or, in a second state of the hydraulic suspension system, the control oil circuit (2) comprises a second oil circuit (24), the second interface (22) in the second oil circuit (24) is connected with the second chamber (14), the target valve (3) is arranged in the second oil circuit (24) and connected with the second chamber (14); after the hydraulic suspension system controls the piston assembly (12) to move upward to a second height, the target valve (3) is controlled to be cut off; the second height is greater than the initial height of the hydraulic suspension system.

3. The system of claim 1, wherein, The control oil circuit (2) comprises a first oil circuit (23) and a second oil circuit (24); the target valve (3) comprises a first valve (31) and a second valve (32), the first valve (31) is arranged in the first oil circuit (23) and connected with the first chamber (13); the second valve (32) is arranged in the second oil circuit (24) and connected with the second chamber (14); In the first state of the hydraulic suspension system, after the piston assembly (12) is controlled to move downward to a first height, the first valve (31) is controlled to be cut off; the first height is less than the initial height of the hydraulic suspension system. In the second state of the hydraulic suspension system, after the piston assembly (12) is controlled to move upward to a second height, the second valve (32) is controlled to be cut off; the second height is greater than the initial height of the hydraulic suspension system.

4. The system of claim 2, wherein, The target valve (3) is a two-position two-way valve.

5. The system of claim 1, wherein, The control oil circuit (2) comprises a third oil circuit (25) for connecting the first chamber (13) and the second chamber (14).

6. The system of claim 5, wherein, The third oil path (25) comprises a hydraulic pump (251); the hydraulic pump (251) is connected with the first chamber (13) and the target valve (3), or the hydraulic pump (251) is connected with the second chamber (14) and the target valve (3).

7. The system of claim 6, wherein, The third oil path (25) further comprises a bidirectional motor (252), and the hydraulic pump (251) is a bidirectional hydraulic pump (251); wherein the bidirectional motor (252) is connected with the bidirectional hydraulic pump (251).

8. The system of claim 2 or 3, wherein, The control oil path (2) further comprises a storage assembly (4); the storage assembly (4) is connected with the first chamber (13) and the second chamber (14).

9. The system of claim 8, wherein, The first oil path (23) further comprises a first one-way valve (51); the first one-way valve (51) is connected with the target valve (3) and the storage assembly (4).

10. The system of claim 8, wherein, The second oil path (24) further comprises a second one-way valve (52); the second one-way valve (52) is connected with the target valve (3) and the storage assembly (4).

11. The system of claim 8, wherein, The first oil path (23) further comprises a first damping valve (61); the first damping valve (61) is connected with the target valve (3) and the storage assembly (4).

12. The system of claim 8, wherein, The second oil path (24) further comprises a second damping valve (62); the second damping valve (62) is connected with the target valve (3) and the storage assembly (4).

13. The system of any of claims 8-12, wherein, The target valve (3) is a two-position three-way valve.

14. A suspension control method wherein, The method is applied to the hydraulic suspension system of any one of claims 1-13.

15. The method of claim 14, wherein, The method comprises: obtaining driving information and / or road excitation information of a vehicle; controlling a target valve (3) in the hydraulic suspension system to switch a working state to a flow-through state or a shut-off state based on the driving information and / or the road excitation information.

16. The method of claim 15, wherein, The driving information comprises a vehicle speed of the vehicle, and the controlling the target valve (3) in the hydraulic suspension system to switch the working state to the flow-through state or the shut-off state based on the driving information and / or the road excitation information comprises: controlling the target valve (3) in the hydraulic suspension system to switch to the shut-off state when the vehicle speed is not higher than a preset vehicle speed threshold.

17. The method of claim 16, wherein, The driving information further comprises a vehicle body height of the vehicle, and the controlling the target valve (3) in the hydraulic suspension system to switch to the shut-off state comprises: controlling the target valve (3) in the hydraulic suspension system to switch to the shut-off state when the vehicle body height reaches a preset height; the preset height is less than an initial height of the hydraulic suspension system, or the preset height is greater than the initial height of the hydraulic suspension system.

18. The method of claim 15, wherein, The driving information comprises a vehicle speed of the vehicle, and the controlling the target valve (3) in the hydraulic suspension system to switch the working state to the flow-through state or the shut-off state based on the driving information and / or the road excitation information comprises: controlling the target valve (3) in the hydraulic suspension system to switch to the flow-through state when the vehicle speed is higher than a preset vehicle speed threshold.

19. The method of claim 16 or 18, wherein, The preset vehicle speed threshold is 0.

20. The method of claim 15, wherein, The road excitation information comprises a road excitation frequency, and the driving information further comprises body posture information; the method further comprises: In a case where the road excitation frequency is not greater than a preset frequency threshold, a first driving signal is output to a bidirectional motor (252) in the hydraulic suspension system based on the body posture information, so that the bidirectional motor (252) drives a hydraulic pump (251) in the hydraulic suspension system to deliver oil to a first chamber (13) or a second chamber (14).

21. The method of claim 20, wherein, The first driving signal is output to the bidirectional motor (252) in the hydraulic suspension system based on the body posture information, so that the bidirectional motor (252) drives the hydraulic pump (251) in the hydraulic suspension system to deliver oil to the first chamber (13) or the second chamber (14), comprising: In a case where the road excitation frequency is not greater than a preset frequency threshold, a first driving signal is output to a bidirectional motor (252) in the hydraulic suspension system based on the body posture information, so that the bidirectional motor (252) drives a hydraulic pump (251) in the hydraulic suspension system to deliver oil to a first chamber (13) or a second chamber (14).

22. The method of claim 20, wherein, The first driving signal is output to the bidirectional motor (252) in the hydraulic suspension system based on the body posture information, so that the bidirectional motor (252) drives the hydraulic pump (251) in the hydraulic suspension system to deliver oil to the first chamber (13) or the second chamber (14), comprising: In a case where the road excitation frequency is not greater than a preset frequency threshold, a first driving signal is output to a bidirectional motor (252) in the hydraulic suspension system based on the body posture information, so that the bidirectional motor (252) drives a hydraulic pump (251) in the hydraulic suspension system to deliver oil to a first chamber (13) or a second chamber (14).

23. The method of claim 20, wherein, The method further comprises: In a case where the road excitation frequency is not greater than a preset frequency threshold, a first driving signal is output to a bidirectional motor (252) in the hydraulic suspension system based on the body posture information, so that the bidirectional motor (252) drives a hydraulic pump (251) in the hydraulic suspension system to deliver oil to a first chamber (13) or a second chamber (14). The first driving signal is output to the bidirectional motor (252) in the hydraulic suspension system based on the body posture information, so that the bidirectional motor (252) drives the hydraulic pump (251) in the hydraulic suspension system to deliver oil to the first chamber (13) or the second chamber (14), comprising:

24. The method of claim 23, wherein, In a case where the road excitation frequency is not greater than a preset frequency threshold, a first driving signal is output to a bidirectional motor (252) in the hydraulic suspension system based on the body posture information, so that the bidirectional motor (252) drives a hydraulic pump (251) in the hydraulic suspension system to deliver oil to a first chamber (13) or a second chamber (14). The first driving signal is output to the bidirectional motor (252) in the hydraulic suspension system based on the body posture information, so that the bidirectional motor (252) drives the hydraulic pump (251) in the hydraulic suspension system to deliver oil to the first chamber (13) or the second chamber (14), comprising: In a case where the road excitation frequency is not greater than a preset frequency threshold, a first driving signal is output to a bidirectional motor (252) in the hydraulic suspension system based on the body posture information, so that the bidirectional motor (252) drives a hydraulic pump (251) in the hydraulic suspension system to deliver oil to a first chamber (13) or a second chamber (14).

25. The method of claim 23, wherein, outputting a second driving signal to a first damper valve (61) or a second damper valve (62) in the hydraulic suspension system based on the vehicle body posture information, so that the first damper valve (61) or the second damper valve (62) adjusts a valve opening degree based on the second driving signal, comprising: determining, based on the vehicle body posture information, that a wheel connected with the shock absorber (1) is lowered, and outputting a second driving signal to a first damper valve (61) in the hydraulic suspension system, so that the first damper valve (61) adjusts a valve opening degree based on the second driving signal.

26. A vehicle, wherein, The hydraulic suspension system according to any one of claims 1-13.

27. An electronic device, comprising: comprising: a processor (501), a communication interface (502), a memory (503) and a communication bus (504); the processor (501), the communication interface (502) and the memory (503) complete communication with each other through the communication bus (504); the memory (503) is used for storing a computer program; the processor (501) is used for executing the program stored on the memory (503) to realize the suspension control method according to any one of claims 14-25.

28. A computer readable medium, the computer readable storage medium (600) stores instructions, when running on a computer, causes the computer to execute the suspension control method according to any one of claims 14-25.

29. A computer program product, the computer program product (700) contains instructions, when running on a computer, causes the computer to execute the suspension control method according to any one of claims 14-25.

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