Suspension control method and apparatus, and vehicle

Abstract

The present application provides a suspension control method and apparatus and a vehicle, which can be applied to the field of intelligent vehicles. The method comprises: detecting that a vehicle enters a transport mode, the vehicle comprising an air suspension; and, in response to the vehicle entering the transport mode, controlling the height of the air suspension to be adjusted to a preset height. The present application can be applied to intelligent vehicles or electric vehicles, and helps to avoid scratching undersides of vehicles in transit.

Description

Suspension control methods, devices and vehicles Technical Field

[0001] This application relates to the field of intelligent vehicles, and more specifically, to a suspension control method, apparatus, and vehicle. Background Technology

[0002] With the development of the automotive industry, air springs are being used more and more widely. However, vehicles equipped with air suspension systems may scrape the bottom during transportation due to their low ground clearance caused by their vehicle posture.

[0003] Summary of the Invention

[0004] This application provides a suspension control method, device, and vehicle that helps prevent the vehicle from scraping its bottom during transportation.

[0005] In a first aspect, a suspension control method is provided, the method comprising: detecting that a vehicle has entered a transport mode, the vehicle including an air suspension; and in response to the vehicle entering the transport mode, controlling the height of the air suspension to be adjusted to a preset height.

[0006] Based on the above technical solution, by adjusting the height of the air suspension to a preset height in the transportation mode, the risk of the vehicle scraping its bottom during transportation can be reduced or avoided.

[0007] In some possible implementations, this transportation mode can be activated when the vehicle is transported from the OEM to the sales location.

[0008] In some possible implementations, the transport mode may not be displayed on the vehicle's screen. For example, as the vehicle is about to be transported from the OEM to the sales location, a command can be entered into the vehicle to instruct it to enter transport mode. Upon arrival at the sales location, a technician can enter another command to instruct the vehicle to exit transport mode.

[0009] In conjunction with the first aspect, in some implementations of the first aspect, controlling the height adjustment of the air suspension to a preset height includes: controlling the height adjustment of the air suspension to a maximum value.

[0010] Based on the above technical solution, by adjusting the height of the air suspension to the highest value in the transportation mode, the risk of the vehicle scraping its bottom during transportation can be further reduced or avoided.

[0011] In conjunction with the first aspect, in some implementations of the first aspect, the air suspension includes an air spring comprising a plurality of cavities, and the method further includes: in response to the vehicle entering the transport mode, controlling the first cavity with the greatest stiffness among the plurality of cavities to operate and controlling the other cavities among the plurality of cavities other than the first cavity to not operate.

[0012] Based on the above technical solution, while keeping the air volume in the air spring constant, the stiffest cavity among multiple chambers can be controlled to operate while other chambers remain inactive, which helps to improve the stiffness of the air suspension. Thus, under the same road surface bumps, when only the stiffest cavity is in operation, the vertical travel of the vehicle can be shortened, thereby further reducing or avoiding the risk of the vehicle scraping its undercarriage during transportation.

[0013] In conjunction with the first aspect, in some implementations of the first aspect, the air suspension includes a shock absorber, and the method further includes: in response to the vehicle entering the transport mode, controlling the damping of the shock absorber to a preset damping.

[0014] Based on the above technical solution, for the same road bumpy conditions, by adjusting the damping value of the shock absorber to the preset damping, the vertical travel of the vehicle can be shortened, thereby further reducing or avoiding the risk of the vehicle scraping its bottom during transportation.

[0015] In conjunction with the first aspect, in some implementations of the first aspect, controlling the damping adjustment of the shock absorber to a preset damping includes: controlling the damping adjustment of the shock absorber to a maximum damping.

[0016] Based on the above technical solution, in response to the vehicle entering transport mode, the vehicle can adjust the damping value of the shock absorber to the maximum damping. In this way, for the same road bumps, by adjusting the damping value of the shock absorber to the maximum damping, the vertical travel of the vehicle can be further shortened, thereby further reducing or avoiding the risk of the vehicle scraping its bottom during transportation.

[0017] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: in response to the vehicle entering the transport mode, ignoring the first instruction received, the first instruction being used to instruct adjustment of the height of the air suspension, or the first instruction being used to instruct adjustment of the damping of the shock absorber in the air suspension.

[0018] Based on the above technical solution, by not responding to the first command in the transportation mode, the height of the air suspension can be maintained at the preset height, which can reduce or avoid the risk of the vehicle scraping its bottom during transportation.

[0019] In conjunction with the first aspect, in some implementations of the first aspect, the first instruction includes an instruction for the user to select a driving mode, road mode, power saving mode, welcome mode, display mode, trailer mode, or maintenance mode; or, the first instruction is an instruction to trigger a first function, the first function being the function of automatically adjusting the height of the air suspension according to changes in vehicle speed.

[0020] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: within one or more preset periods from the time the vehicle enters the transportation mode, obtaining the height of the air spring corresponding to each of the multiple wheels of the vehicle; when the height of the air spring corresponding to at least some of the multiple wheels is lower than the preset height, controlling the height of the air spring corresponding to the at least some wheels to be adjusted to the preset height; or, when the height of the air spring corresponding to at least some of the multiple wheels is higher than the preset height, controlling the height of the air spring corresponding to the at least some wheels to remain unchanged; or, when the pressure value of the air spring corresponding to at least some of the multiple wheels is greater than or equal to a preset pressure value, controlling the height of the air spring corresponding to the at least some wheels to remain unchanged.

[0021] Based on the above technical solution, by executing the automatic leveling function within one or more preset cycles during transportation, the air suspension height can be maintained at a preset height. Simultaneously, during the automatic leveling process, only raising the air suspension height is permitted, and lowering it is not allowed, which can reduce or avoid the risk of the vehicle scraping its undercarriage during transportation.

[0022] Meanwhile, during the automatic leveling process, if the pressure value of the air spring corresponding to certain tires is greater than or equal to the preset pressure value, the height of the air spring corresponding to these tires can be kept unchanged, which helps to avoid damage to the air springs caused by over-inflating.

[0023] In some possible implementations, the automatic leveling function in transport mode can be uninterrupted by other wake-up commands. For example, other wake-up commands include commands to unlock or lock the doors.

[0024] Secondly, this application provides a suspension control device, which includes: a detection unit for detecting that a vehicle has entered a transport mode, the vehicle including an air suspension; and a control unit for controlling the height adjustment of the air suspension to a preset height in response to the vehicle entering the transport mode.

[0025] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is specifically used to: control the height adjustment of the air suspension to the maximum value.

[0026] In conjunction with the second aspect, in some implementations of the second aspect, the air suspension includes an air spring comprising a plurality of cavities, and the control unit is further configured to, in response to the vehicle entering the transport mode, control the first cavity with the greatest stiffness among the plurality of cavities to operate and control the other cavities among the plurality of cavities other than the first cavity to not operate.

[0027] In conjunction with the second aspect, in some implementations of the second aspect, the air suspension includes a shock absorber, and the control unit is further configured to control the damping adjustment of the shock absorber to a preset damping in response to the vehicle entering the transport mode.

[0028] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is specifically used to: control the damping adjustment of the shock absorber to the maximum damping.

[0029] In conjunction with the second aspect, in some implementations of the second aspect, the device further includes: a receiving unit, configured to ignore the first instruction received in response to the vehicle entering the transport mode, the first instruction being configured to instruct adjustment of the height of the air suspension, or the first instruction being configured to instruct adjustment of the damping of the shock absorber in the air suspension.

[0030] In conjunction with the second aspect, in some implementations of the second aspect, the first instruction includes an instruction for the user to select a driving mode, road mode, power saving mode, welcome mode, display mode, trailer mode, or maintenance mode; or, the first instruction is an instruction to trigger a first function, the first function being the function of automatically adjusting the height of the air suspension according to changes in vehicle speed.

[0031] In conjunction with the second aspect, in some implementations of the second aspect, the device further includes: an acquisition unit, configured to acquire the height of the air spring corresponding to each of the plurality of wheels of the vehicle within one or more preset periods from the time the vehicle enters the transportation mode; the control unit, further configured to control the height of the air spring corresponding to at least some of the plurality of wheels to be adjusted to the preset height when the height of the air spring corresponding to at least some of the plurality of wheels is lower than the preset height; or, control the height of the air spring corresponding to at least some of the plurality of wheels to remain unchanged when the height of the air spring corresponding to at least some of the plurality of wheels is higher than the preset height; or, control the height of the air spring corresponding to at least some of the plurality of wheels to remain unchanged when the pressure value of the air spring corresponding to at least some of the plurality of wheels is greater than or equal to a preset pressure value.

[0032] Thirdly, this application provides a suspension control device including a processor and a memory, wherein the memory is used to store instructions, and the processor executes the instructions stored in the memory to cause the device to perform any of the possible methods in the first aspect.

[0033] Fourthly, this application provides a suspension control system, which includes a sensing system and any one of the possible suspension control devices in the second or third aspect described above.

[0034] Fifthly, this application provides a vehicle that includes any of the possible suspension control devices in the second or third aspect described above, or includes the suspension control system described in the fourth aspect described above.

[0035] Sixthly, this application provides a computer program product comprising: computer program code, which, when run on a computer, causes the computer to perform any of the possible methods described in the first aspect above.

[0036] It should be noted that the above-mentioned computer program code can be stored in whole or in part on the first storage medium, wherein the first storage medium can be packaged together with the processor or packaged separately from the processor. This application embodiment does not specifically limit this.

[0037] In a seventh aspect, this application provides a computer-readable storage medium storing program code that, when executed on a computer, causes the computer to perform any of the possible methods described in the first aspect above.

[0038] Eighthly, this application provides a chip system including circuitry for performing any of the possible methods described in the first aspect above. Attached Figure Description

[0039] Figure 1 is a functional block diagram of the vehicle provided in an embodiment of this application.

[0040] Figure 2 is a schematic flowchart of the suspension control method provided in an embodiment of this application.

[0041] Figure 3 is a schematic diagram of the system architecture provided in an embodiment of this application.

[0042] Figure 4 is a schematic block diagram of a suspension control device provided in an embodiment of this application. Detailed Implementation

[0043] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B; "and / or" in this document is merely a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. "At least one" refers to one or more. For example, "at least one of A and B," similar to "A and / or B," describes the association relationship between related objects, indicating that three relationships can exist. For example, at least one of A and B can represent: A existing alone, A and B existing simultaneously, and B existing alone.

[0044] The prefixes such as "first" and "second" used in this application embodiment are merely for distinguishing different descriptive objects and do not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes used to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is given in the claims or the context of the embodiments, and should not constitute unnecessary restrictions due to the use of such prefixes. Furthermore, in the description of this embodiment, unless otherwise stated, "multiple" means two or more.

[0045] Figure 1 is a functional block diagram of a vehicle 100 provided in an embodiment of this application. The vehicle 100 may include a sensing system 110, a computing platform 120, a display device 130, and an air suspension 140. The sensing system 110 may include one or more sensors for sensing information about the environment surrounding the vehicle 100. For example, the sensing system 110 may include a positioning system, which may be a Global Positioning System (GPS), a BeiDou system, or another positioning system. As another example, the sensing system 110 may include one or more of the following: an inertial measurement unit (IMU), an accelerometer, a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera device.

[0046] Some or all of the functions of vehicle 100 can be controlled by computing platform 120. Computing platform 120 may include one or more processors, such as processors 121 to 12n (n being a positive integer). A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the processor loading instructions to implement the functions of some or all of the above units. Furthermore, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In addition, the computing platform 120 may also include a memory for storing instructions. Some or all of the processors 121 to 12n can call the instructions in the memory to implement the corresponding functions.

[0047] The in-cabin display devices 130 are mainly divided into two categories: the first is the in-vehicle display screen; the second is the projection display screen, such as the head-up display (HUD). An in-vehicle display screen is a physical display screen and an important component of the in-vehicle infotainment system. Multiple displays can be installed in the cabin, such as the digital instrument cluster display, the central control screen, the display screen in front of the front passenger (also known as the front-seat passenger), the display screen in front of the left rear passenger, the display screen in front of the right rear passenger, and even the car window can be used as a display screen. A head-up display, also known as a head-up display system, is mainly used to display driving information such as speed and navigation on a display device in front of the driver (such as the windshield). This reduces the driver's eye-shift time, avoids pupil changes caused by eye-shifting, and improves driving safety and comfort. Examples of HUDs include combiner-HUD (C-HUD) systems, windshield-HUD (W-HUD) systems, and augmented reality HUD (AR-HUD) systems. It should be understood that HUDs can also evolve into other types of systems as technology progresses, and this application does not limit them.

[0048] The above description of the display device 130 uses an in-vehicle display screen and a projection display screen as examples, but the embodiments of this application are not limited thereto. For example, the display device 130 can also be a light display screen or a projection screen.

[0049] The air suspension 140 uses air springs and shock absorbers working together to adjust the vehicle height, thereby improving driving stability and comfort.

[0050] As mentioned earlier, with the development of the automotive industry, air springs are being used more and more widely. However, vehicles equipped with air suspension systems may experience bottoming out during transportation due to factors such as low ground clearance caused by vehicle posture, leakage of the air springs themselves, low suspension stiffness, and improper settings of the air suspension control logic.

[0051] For example, during transportation, the low stiffness of the air suspension causes the vehicle to bounce more frequently due to bumps, which can lead to damage to the vehicle's skid plates.

[0052] This application provides a suspension control method, device, and vehicle that can control the height of the air suspension to a preset height (e.g., the maximum value) when the vehicle enters transport mode. This can reduce or avoid the risk of the vehicle bottoming out during transport.

[0053] Figure 2 shows a schematic flowchart of a suspension control method 200 provided in an embodiment of this application. This method 200 can be executed by the vehicle 100; or by the computing platform 120; or by a processor, chip, or circuit in the computing platform 120. The method 200 includes:

[0054] S210, a vehicle equipped with air suspension has been detected to have entered transport mode.

[0055] For example, this transportation mode can be activated when a vehicle is transported from the OEM to a sales location (e.g., an automobile sales service shop, 4S store).

[0056] For example, this transport mode may not be displayed on the vehicle's screen. For instance, when the vehicle is about to be transported from the OEM to the sales location, the OEM's technician can enter a command in the vehicle instructing it to enter transport mode. Upon arrival at the sales location, sales staff can enter another command instructing the vehicle to exit transport mode.

[0057] S220, in response to the vehicle entering the transport mode, controls the height adjustment of the air suspension to a preset height.

[0058] For example, the air suspension height can be adjusted to different values. For instance, a vehicle may have five preset air suspension height settings: highest, higher, standard, lower, and lowest. The highest setting corresponds to a suspension height of +20mm, the higher setting to +10mm, the standard setting to 0mm, the lower setting to -10mm, and the lowest setting to -20mm.

[0059] The different air suspension heights mentioned above can correspond to different vehicle heights.

[0060] For example, the preset height can be the height value corresponding to a higher gear, or the preset height can be the height value corresponding to the highest gear.

[0061] Optionally, since different driving modes can correspond to different air suspension heights, in response to the vehicle entering the transport mode, controlling the air suspension height to adjust to a preset height includes: in response to the vehicle entering the transport mode, controlling the vehicle's driving mode to adjust to a preset driving mode.

[0062] For example, the multiple driving modes include Comfort mode, Standard mode, and Sport mode, where the air suspension height corresponding to Comfort mode is the highest among the multiple modes. After detecting that the vehicle has entered Transport mode, the vehicle's driving mode can be adjusted to Comfort mode.

[0063] Optionally, controlling the height adjustment of the air suspension to a preset height includes: controlling the height adjustment of the air suspension to the maximum value.

[0064] For example, in response to the vehicle entering the transport mode, the air suspension height is adjusted to the height value corresponding to the highest gear. Thus, by adjusting the air suspension height to the highest value in transport mode, the risk of the vehicle scraping its undercarriage during transport can be further reduced or avoided.

[0065] Optionally, the air suspension includes an air spring comprising a plurality of cavities, and the method 200 further includes: in response to the vehicle entering the transport mode, controlling the first cavity with the greatest stiffness among the plurality of cavities to operate and controlling the other cavities among the plurality of cavities other than the first cavity to not operate.

[0066] For example, an air suspension may include multiple chambers connected in series. With a constant air volume in the air springs, the chamber with the highest stiffness can be controlled to operate while the others remain inactive, thus improving the overall stiffness of the air suspension. Consequently, under the same road surface roughness, by operating only the chamber with the highest stiffness, the vertical travel of the vehicle can be shortened, further reducing or eliminating the risk of the vehicle scraping its undercarriage during transport.

[0067] Optionally, the air suspension includes a shock absorber, and the method 200 further includes: in response to the vehicle entering the transport mode, controlling the damping of the shock absorber to adjust to a preset damping.

[0068] For example, the damping value of the shock absorbers in the air suspension can be adjusted. In response to the vehicle entering transport mode, the vehicle can adjust the damping value of the shock absorbers to a preset damping. In this way, for the same road bumps, by adjusting the damping value of the shock absorbers to the preset damping, the vertical travel of the vehicle can be shortened, thereby reducing or avoiding the risk of the vehicle scraping its bottom during transport.

[0069] For example, the preset damping can be 80% of the maximum damping of the shock absorber.

[0070] Optionally, controlling the damping adjustment of the shock absorber to a preset damping includes: controlling the damping adjustment of the shock absorber to the maximum damping.

[0071] For example, the damping value of the shock absorbers in the air suspension can be adjusted. In response to the vehicle entering transport mode, the vehicle can adjust the damping value of the shock absorbers to the maximum damping. In this way, for the same road bumps, by adjusting the damping value of the shock absorbers to the maximum damping, the vertical travel of the vehicle can be further shortened, thereby further reducing or avoiding the risk of the vehicle scraping its bottom during transport.

[0072] Optionally, the method 200 further includes: in response to the vehicle entering the transport mode, ignoring the first instruction received, the first instruction being used to instruct adjustment of the height of the air suspension, or the first instruction being used to instruct adjustment of the damping of the shock absorber in the air suspension.

[0073] Optionally, the first instruction may be an air suspension height adjustment instruction caused by triggering a certain function or mode. For example, the first instruction may include an instruction for the user to select a driving mode, road mode, power saving mode, welcome mode, display mode, trailer mode, or maintenance mode.

[0074] For example, in response to the vehicle entering the transport mode, the vehicle's driving mode is adjusted to comfort mode. While the vehicle is in transport mode, in response to receiving input from the user to switch the driving mode from comfort mode to standard mode, the vehicle may ignore the input, or the vehicle may not perform the driving mode switch.

[0075] Optionally, the first instruction is an instruction that triggers a first function, which is the function of automatically adjusting the height of the air suspension as the vehicle speed changes.

[0076] For example, the first function is the speed-sensitive adjustment function of the electronically controlled air suspension (ECAS).

[0077] Optionally, the method 200 further includes: within one or more preset periods from the time the vehicle enters the transportation mode, obtaining the height of the air spring corresponding to each of the plurality of wheels of the vehicle; when the height of the air spring corresponding to at least some of the plurality of wheels is lower than the preset height, controlling the height of the air spring corresponding to the at least some of the wheels to be adjusted to the preset height; or, when the height of the air spring corresponding to at least some of the plurality of wheels is higher than the preset height, controlling the height of the air spring corresponding to the at least some of the wheels to remain unchanged; or, when the pressure value of the air spring corresponding to at least some of the plurality of wheels is greater than or equal to a preset pressure value, controlling the height of the air spring corresponding to the at least some of the wheels to remain unchanged.

[0078] For example, after the vehicle enters the transport mode, the air suspension height can be automatically leveled within each preset cycle. This automatic leveling function can be understood as automatically adjusting the air suspension height to the preset height.

[0079] For example, taking the preset height as the maximum value of the air suspension, after the vehicle enters the transport mode at time T1, the height of the air suspension can be adjusted to +20mm.

[0080] At time T1+ΔT, the automatic leveling function can be activated. For example, the current air suspension height can be detected first. If the current air suspension height is +15mm, then the air suspension height can be adjusted. For instance, the air spring cavity can be inflated, thereby raising the air suspension lug height from +15mm to +20mm.

[0081] At time T1+2△T, the automatic leveling function can be activated. For example, the current air suspension height can be detected first. If the current air suspension height is +22mm, then the air suspension height can be kept constant.

[0082] When the automatic leveling function is executed within each preset cycle, it is possible to only allow the air suspension height to be raised, but not to allow the air suspension height to be lowered.

[0083] Optionally, during the automatic leveling function, the height of the air spring corresponding to each of the multiple wheels in the vehicle can be detected. If the height of the air spring corresponding to at least some of the tires in the multiple wheels is higher than the preset height, the height of the air spring corresponding to at least some tires can be controlled to remain unchanged.

[0084] For example, at time T1+2△T, the height of the air spring corresponding to each tire can be detected first. For instance, if the height of air spring 1 corresponding to tire 1 is detected to be +22mm, the height of air spring 2 corresponding to tire 2 is detected to be +23mm, the height of air spring 3 corresponding to tire 3 is detected to be +18mm, and the height of air spring 4 corresponding to tire 4 is detected to be +18mm, the heights of air spring 1 and air spring 2 can be kept unchanged, while the heights of air spring 3 and air spring 4 can be adjusted to +20mm.

[0085] Optionally, during the automatic leveling function, the height and pressure value of the air spring corresponding to each of the multiple wheels in the vehicle can be detected. When the pressure value of the air spring corresponding to at least some of the multiple wheels is greater than or equal to a preset pressure value, the height of the air spring corresponding to at least some of the wheels is kept constant.

[0086] For example, the preset pressure value can be 1.5 times the design pressure of the air spring.

[0087] For example, at time T1+3△T, the height of the air spring corresponding to each tire can be detected first. For instance, if the height of air spring 1 corresponding to tire 1 is detected to be +18mm and the pressure value of air spring 1 is 1.6 times the design pressure, the height of air spring 2 corresponding to tire 2 is detected to be +18mm and the pressure value of air spring 2 is 1.7 times the design pressure, the height of air spring 3 corresponding to tire 3 is detected to be +18mm and the pressure value of air spring 3 is 1.6 times the design pressure, and the height of air spring 4 corresponding to tire 4 is detected to be +18mm and the pressure value of air spring 4 is 1.6 times the design pressure, the heights of air springs 1-4 can be kept constant.

[0088] For example, △T can be 5h.

[0089] Optionally, in transport mode, the auto-leveling function can be uninterrupted by other wake-up commands. For example, if a wake-up command such as door unlocking or locking, over-the-air (OTA) download, or electronic park brake (EPB) roll-back is detected during the time period from T1 to T1+△T, the auto-leveling function can remain uninterrupted. At T1+△T, the auto-leveling function can be reactivated.

[0090] Figure 3 illustrates a schematic diagram of the system architecture provided in this embodiment. As shown in Figure 3, the system architecture includes a vehicle domain controller (VDC), an ECAS controller, and an air spring actuator. The VDC can be used to determine the current vehicle mode, including but not limited to suspension maintenance mode, towing mode, display mode, transportation mode, road mode, power saving mode, unlocking welcome mode, and getting in and out welcome mode. The ECAS controller receives instructions from the VDC and determines whether to adjust the air suspension height based on the VDC instructions. If the ECAS controller determines that the air suspension height needs to be adjusted, it can control the air spring actuator to adjust the pressure value of the air spring to achieve the purpose of adjusting the air suspension height.

[0091] For example, after detecting that the vehicle has entered transport mode, the VDC can send Command 1 to the ECAS controller, which instructs the vehicle to enter transport mode. In response to receiving Command 1, the ECAS controller can control the air spring actuator to adjust the air suspension height to a preset height (e.g., +20mm).

[0092] Optionally, after detecting that the vehicle has entered transport mode, if the VDC receives a user instruction to adjust the air suspension height, it can ignore the instruction. For example, after the vehicle enters transport mode, if the VDC receives instruction 2 from the user selecting the standard driving mode, it can ignore instruction 2.

[0093] Optionally, in response to receiving instruction 1, the ECAS controller can disable the ECAS speed-sensitive adjustment function.

[0094] Optionally, in response to receiving Command 1, the automatic leveling function of the air spring can be executed within one or more preset cycles. For example, if the ECAS controller receives Command 1 at time T1, it can control the air spring actuator to adjust the height of the air suspension to +20mm. At time T1+ΔT, the ECAS controller can activate the automatic leveling function.

[0095] Optionally, when the automatic leveling function is executed within one or more preset cycles, the ECAS controller can control the height of the air spring corresponding to each wheel to only be allowed to rise and not to be lowered.

[0096] Figure 4 shows a schematic block diagram of a suspension control device 400 provided in an embodiment of this application. The device 400 includes: a detection unit 410 for detecting that a vehicle has entered a transport mode, the vehicle including an air suspension; and a control unit 420 for controlling the height adjustment of the air suspension to a preset height in response to the vehicle entering the transport mode.

[0097] Optionally, the control unit 420 is specifically used to control the height adjustment of the air suspension to the highest value.

[0098] Optionally, the air suspension includes an air spring comprising multiple cavities, and the control unit 420 is further configured to, in response to the vehicle entering the transport mode, control the first cavity with the greatest stiffness among the multiple cavities to operate and control the other cavities among the multiple cavities other than the first cavity to not operate.

[0099] Optionally, the air suspension includes a shock absorber, and the control unit 420 is also configured to control the damping adjustment of the shock absorber to a preset damping in response to the vehicle entering the transport mode.

[0100] Optionally, the control unit 420 is specifically used to control the damping adjustment of the shock absorber to the maximum damping.

[0101] Optionally, the device 400 further includes: a receiving unit, configured to ignore a first instruction received in response to the vehicle entering the transport mode, the first instruction being used to instruct adjustment of the height of the air suspension, or the first instruction being used to instruct adjustment of the damping of the shock absorber in the air suspension.

[0102] Optionally, the first instruction may include an instruction for the user to select a driving mode, road mode, power saving mode, welcome mode, display mode, towing mode, or maintenance mode; or, the first instruction may be an instruction to trigger a first function, which is the function of automatically adjusting the height of the air suspension according to the vehicle speed.

[0103] Optionally, the device 400 further includes: an acquisition unit, configured to acquire the height of the air spring corresponding to each of the plurality of wheels of the vehicle within one or more preset periods from the time the vehicle enters the transportation mode; the control unit, configured to: control the height of the air spring corresponding to at least some of the plurality of wheels to be adjusted to the preset height when the height of the air spring corresponding to at least some of the plurality of wheels is lower than the preset height; or control the height of the air spring corresponding to at least some of the plurality of wheels to remain unchanged when the height of the air spring corresponding to at least some of the plurality of wheels is higher than the preset height; or control the height of the air spring corresponding to at least some of the plurality of wheels to remain unchanged when the pressure value of the air spring corresponding to at least some of the plurality of wheels is greater than or equal to a preset pressure value.

[0104] The detection unit 410 can be located in the VDC, and the control unit 420 can be located in the ECAS controller.

[0105] It should be understood that the division of units in the above device is only a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, the units in the device can be implemented by a processor calling software; for example, the device includes a processor connected to memory, which stores instructions. The processor calls the instructions stored in memory to implement any of the above methods or to implement the functions of each unit in the device. The processor can be, for example, a general-purpose processor, such as a CPU or microprocessor, and the memory can be internal or external to the device. Alternatively, the units in the device can be implemented as hardware circuits. The functions of some or all units can be implemented through the design of the hardware circuits, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all units are implemented through the design of the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented using a PLD, such as an FPGA, which can include a large number of logic gates. The connection relationships between the logic gates are configured through configuration files, thereby implementing the functions of some or all units. All units of the above devices can be implemented entirely through processor calling software, or entirely through hardware circuits, or partially through processor calling software with the remaining parts implemented through hardware circuits.

[0106] In this application embodiment, a processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction reading and execution capabilities, such as a CPU, microprocessor, GPU, or DSP. In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented as an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the processor loading instructions to implement the functions of some or all of the above units. Furthermore, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as an NPU, TPU, or DPU.

[0107] As can be seen, each unit in the above device can be one or more processors (or processing circuits) configured to implement the above methods, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0108] Furthermore, the units in the above devices can be integrated in whole or in part, or they can be implemented independently. In one implementation, these units are integrated together as a System-on-a-Chip (SoC). The SoC may include at least one processor for implementing any of the above methods or implementing the functions of the units in the device. The at least one processor may be of different types, such as CPU and FPGA, CPU and AI processor, CPU and GPU, etc.

[0109] This application also provides a suspension control device, which includes a processing unit and a storage unit. The storage unit stores instructions, and the processing unit executes the instructions stored in the storage unit to enable the device to perform the methods or steps described in the above embodiments.

[0110] Alternatively, if the suspension control device is located in the vehicle, the aforementioned processing unit may be the processor 121-12n shown in FIG1.

[0111] This application embodiment also provides a suspension control system, which may include a computing platform and a sensing system, and the computing platform may include the above-mentioned suspension control device 400.

[0112] This application also provides a vehicle that may include the suspension control device 400 or the suspension control system described above.

[0113] This application also provides a computer program product, which includes computer program code that, when run on a computer, causes the computer to perform the methods described in the above embodiments.

[0114] This application also provides a computer-readable medium storing program code that, when run on a computer, causes the computer to perform the methods described in the above embodiments.

[0115] This application also provides a chip, which includes a circuit for performing the methods described in the above embodiments.

[0116] In implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software. The method disclosed in the embodiments of this application can be directly implemented by a hardware processor, or by a combination of hardware and software modules within the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, power-on erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are omitted here.

[0117] It should be understood that in the embodiments of this application, the memory may include read-only memory and random access memory, and provides instructions and data to the processor.

[0118] It should also be understood that, in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0119] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0120] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0121] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0122] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0123] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0124] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0125] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be covered. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A suspension control method, characterized in that, include: The vehicle, which includes an air suspension, was detected to have entered transport mode. In response to the vehicle entering the transport mode, the height of the air suspension is adjusted to a preset height.

2. The method according to claim 1, characterized in that, The control of adjusting the height of the air suspension to a preset height includes: Control the height adjustment of the air suspension to the highest value.

3. The method according to claim 1 or 2, characterized in that, The air suspension includes an air spring, the air spring including multiple cavities, and the method further includes: In response to the vehicle entering the transport mode, the system controls the first cavity with the greatest stiffness among the plurality of cavities to operate and controls the other cavities among the plurality of cavities other than the first cavity to not operate.

4. The method according to any one of claims 1 to 3, characterized in that, The air suspension includes shock absorbers, and the method further includes: In response to the vehicle entering the transport mode, the damping of the shock absorber is controlled to be adjusted to a preset damping.

5. The method according to claim 4, characterized in that, The control of adjusting the damping of the shock absorber to a preset damping includes: Control the damping adjustment of the shock absorber to the maximum damping.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: In response to the vehicle entering the transport mode, upon receiving a first instruction, the first instruction is ignored, wherein the first instruction is used to instruct the adjustment of the height of the air suspension, or the first instruction is used to instruct the adjustment of the damping of the shock absorbers in the air suspension.

7. The method according to claim 6, characterized in that, The first instruction includes a user selecting a driving mode, road mode, power-saving mode, welcome mode, display mode, towing mode, or maintenance mode; or, The first instruction is an instruction that triggers the first function, which is the function of automatically adjusting the height of the air suspension as the vehicle speed changes.

8. The method according to any one of claims 1 to 7, characterized in that, The method further includes: Within one or more preset periods from the moment the vehicle enters the transportation mode, the height of the air spring corresponding to each of the multiple wheels of the vehicle is obtained; When the height of the air springs corresponding to at least some of the multiple wheels is lower than the preset height, the height of the air springs corresponding to at least some of the wheels is adjusted to the preset height; or, when the height of the air springs corresponding to at least some of the multiple wheels is higher than the preset height, the height of the air springs corresponding to at least some of the wheels remains unchanged; or, when the pressure value of the air springs corresponding to at least some of the multiple wheels is greater than or equal to a preset pressure value, the height of the air springs corresponding to at least some of the wheels remains unchanged.

9. A suspension control device, characterized in that, include: A detection unit is used to detect when a vehicle enters transport mode, the vehicle including an air suspension; A control unit is configured to control the height adjustment of the air suspension to a preset height in response to the vehicle entering the transport mode.

10. The apparatus according to claim 9, characterized in that, The control unit is specifically used for: Control the height adjustment of the air suspension to the highest value.

11. The apparatus according to claim 9 or 10, characterized in that, The air suspension includes an air spring, and the air spring includes multiple cavities. The control unit is further configured to, in response to the vehicle entering the transport mode, control the first cavity with the greatest stiffness among the plurality of cavities to operate and control the other cavities among the plurality of cavities other than the first cavity to not operate.

12. The apparatus according to any one of claims 9 to 11, characterized in that, The air suspension includes shock absorbers. The control unit is also configured to, in response to the vehicle entering the transport mode, control the damping adjustment of the shock absorber to a preset damping.

13. The apparatus according to claim 12, characterized in that, The control unit is specifically used for: Control the damping adjustment of the shock absorber to the maximum damping.

14. The apparatus according to any one of claims 9 to 13, characterized in that, The device further includes: A receiving unit, configured to, in response to the vehicle entering the transport mode, ignore a first instruction received, wherein the first instruction is used to instruct adjustment of the height of the air suspension, or, wherein the first instruction is used to instruct adjustment of the damping in the air suspension. Damping of the device.

15. The apparatus according to claim 14, characterized in that, The first instruction includes a user selecting a driving mode, road mode, power-saving mode, welcome mode, display mode, towing mode, or maintenance mode; or, The first instruction is an instruction that triggers the first function, which is the function of automatically adjusting the height of the air suspension as the vehicle speed changes.

16. The apparatus according to any one of claims 9 to 15, characterized in that, The device further includes: The acquisition unit is used to acquire the height of the air spring corresponding to each of the multiple wheels of the vehicle within one or more preset periods from the time the vehicle enters the transportation mode. The control unit is further configured to: adjust the height of the air springs corresponding to at least some of the wheels to the preset height when the height of the air springs corresponding to at least some of the wheels is lower than the preset height; or, keep the height of the air springs corresponding to at least some of the wheels unchanged when the height of the air springs corresponding to at least some of the wheels is higher than the preset height; or, keep the height of the air springs corresponding to at least some of the wheels unchanged when the pressure value of the air springs corresponding to at least some of the wheels is greater than or equal to a preset pressure value.

17. A suspension control device, characterized in that, include: Memory, used to store computer programs; A processor for executing a computer program stored in the memory to cause the apparatus to perform the method as described in any one of claims 1 to 8.

18. A suspension control system, characterized in that, It includes a sensing system and a computing platform, wherein the computing platform includes the apparatus as described in any one of claims 9 to 17.

19. A vehicle, characterized in that, Includes the apparatus as described in any one of claims 9 to 17, or includes the system as described in claim 18.

20. A computer-readable storage medium, characterized in that, It stores instructions that, when executed by a processor, cause the processor to implement the method as described in any one of claims 1 to 8.

21. A computer program product, characterized in that, The computer program product includes computer program code that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 8.

22. A chip, characterized in that, The chip includes circuitry for performing the method as described in any one of claims 1 to 8.

Images