Suspension control method and apparatus, and vehicle

Abstract

Provided in the present application are a suspension control method and apparatus, and a vehicle, which can be applied to the field of intelligent driving. The method comprises: acquiring a target height of an air suspension; and when the duration in which the difference between the height of an air spring corresponding to each wheel of a vehicle and the target height is greater than or equal to a first preset difference is greater than or equal to a first preset duration, controlling the air suspension to be in the state in which adjustment is prohibited. The present application can be applied to an intelligent vehicle or an electric vehicle, and is conducive to improving the accuracy of a vehicle in identifying a wading working condition, and keeping the height of an air suspension unchanged under the wading working condition, so as to avoid driving risks such as chassis scraping after the vehicle leaves a wading area.

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. When encountering deep water conditions, the buoyancy of the water causes the vehicle's height to rise abnormally. The air suspension then dynamically adjusts itself, and the air springs deflate to lower the vehicle's height. However, once the vehicle leaves the water, the vehicle's height drops rapidly, and the air springs cannot quickly replenish their air to reach the target height, leading to driving risks such as scraping the bottom of the vehicle.

[0003] Summary of the Invention

[0004] This application provides a suspension control method, device, and vehicle that helps improve the accuracy of vehicle identification of wading conditions and maintains the air suspension height unchanged under wading conditions to avoid driving risks such as bottoming out after the vehicle leaves the wading area.

[0005] In a first aspect, this application provides a suspension control method, which includes: obtaining a target height of an air suspension; and controlling the air suspension to be in a state where adjustment is prohibited when the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to the duration of a first preset difference greater than or equal to the first preset duration.

[0006] Based on the above technical solution, determining whether a vehicle has entered a wading condition by comparing the height of the air spring corresponding to each wheel with the target height helps improve the accuracy of the vehicle's wading condition assessment. Simultaneously, once the vehicle is detected to be in a wading condition, adjusting the air suspension can be prohibited, which helps reduce or avoid the risk of the vehicle scraping its bottom after leaving the wading area. It also avoids the risk of water being sucked into the air pump after the vehicle leaves the wading area due to the need for air pump replenishment.

[0007] In some possible implementations, when the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to the duration of a first preset difference greater than or equal to the first preset duration, the air suspension is controlled to be in a state where adjustment is prohibited. This includes: when the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to the duration of a first preset difference greater than or equal to the first preset duration, the air suspension is controlled to be in a state where adjustment is prohibited.

[0008] In conjunction with the first aspect, in some implementations of the first aspect, controlling the control suspension to be in a state of prohibition of adjustment when the duration of the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset duration includes: controlling the air suspension to be in a state of prohibition of adjustment when the vehicle speed is within a preset speed range and the duration of the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset duration; wherein, the upper limit of the preset speed range is less than the speed threshold for triggering the first function, and the first function is the function of automatically adjusting the height of the air suspension according to the vehicle speed.

[0009] Based on the above technical solution, since the upper limit of the preset vehicle speed range (e.g., 40kph) is less than the vehicle speed threshold (e.g., 45kph) that triggers the speed-sensitive adjustment function, conflicts between the adjustment logics of different air suspensions can be avoided.

[0010] In conjunction with the first aspect, in some implementations of the first aspect, controlling the control suspension to be in a state of prohibition of adjustment when the duration of the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset duration includes: controlling the air suspension to be in a state of prohibition of adjustment when no input of opening the door is detected within a second preset duration and the duration of the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset duration.

[0011] Based on the above technical solution, by adding the detection of door opening signals, it can be ruled out that the air suspension may mistakenly enter a state where adjustment is prohibited when all passengers have disembarked.

[0012] In conjunction with the first aspect, in some implementations of the first aspect, controlling the control suspension to be in a state of prohibition of adjustment when the duration of the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset duration includes: controlling the air suspension to be in a state of prohibition of adjustment when no user input for adjusting the air suspension is received and the duration of the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset duration.

[0013] Based on the above technical solution, the target height can be determined to remain unchanged after no user input is received to adjust the air suspension. This allows for the assessment of the difference between the air suspension height for each wheel and the target height, thereby determining whether the vehicle has entered a wading condition. This helps improve the accuracy of the vehicle's judgment regarding whether it has entered a wading condition.

[0014] In conjunction with the first aspect, in some implementations of the first aspect, controlling the air suspension to be in a state of prohibition of adjustment includes: controlling the driving mode to be in a state of prohibition of adjustment; and / or controlling a second function to be in a state of deactivation, the second function being a function of automatically adjusting the height of the air suspension according to vehicle speed.

[0015] Based on the above technical solution, when a vehicle enters a wading condition, adjusting the driving mode or disabling the function of adjusting the suspension height according to vehicle speed can be prohibited. This can reduce or avoid the risk of scraping the bottom of the vehicle when leaving the wading condition due to the air suspension being too low.

[0016] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: a control prompting device prompting the user that the air suspension is in a state where adjustment is prohibited.

[0017] In some possible implementations, the method also includes: a control prompting device indicating that the vehicle is currently in a wading condition.

[0018] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: when the speed of the vehicle is detected to be greater than or equal to a preset speed, and / or the difference between the height of the air spring corresponding to each wheel and the target height is less than or equal to a second preset difference, controlling the air suspension to switch from a state of being prohibited from adjustment to a state of being adjustable.

[0019] Based on the above technical solution, when the vehicle speed is detected to be greater than or equal to a preset speed, and / or the difference between the height of the air spring corresponding to each wheel and the target height is less than or equal to a second preset difference, it can be determined that the vehicle has exited the wading condition. At this time, the height of the air suspension can be controlled to be in an adjustable state. In this way, the vehicle can be identified from different dimensions as having exited a deep wading condition, avoiding the risk of the vehicle scraping its bottom after mistakenly exiting the wading condition and activating the self-leveling function.

[0020] In conjunction with the first aspect, in some implementations of the first aspect, the first preset difference is greater than the second preset difference.

[0021] Secondly, this application provides a suspension control device, which includes: an acquisition unit for acquiring a target height of the air suspension; and a control unit for controlling the air suspension to be in a state of prohibition of adjustment when the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to a first preset difference for a duration greater than or equal to a first preset duration.

[0022] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is specifically configured to: control the air suspension to be in a state of prohibition of adjustment when the vehicle speed is within a preset speed range and the duration of the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the duration of the first preset difference; wherein the upper limit of the preset speed range is less than the speed threshold for triggering the first function, and the first function is the function of automatically adjusting the height of the air suspension according to the vehicle speed.

[0023] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is specifically configured to: control the air suspension to be in a state of prohibition of adjustment when no input of opening the door is detected within a second preset time period and the duration of the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset time period.

[0024] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is specifically configured to: control the air suspension to be in a state of prohibition of adjustment when no user input is received to adjust the air suspension and the duration of the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset duration.

[0025] In conjunction with the second aspect, in some implementations of the second aspect, the control unit is specifically used to: control the driving mode to be in a state where adjustment is prohibited; and / or control the second function to be in a state of being turned off, the second function being the function of automatically adjusting the height of the air suspension according to the vehicle speed.

[0026] In conjunction with the second aspect, in some implementations of the second aspect, the control unit, the device for controlling the prompting device, prompts the user that the air suspension is in a state where adjustment is prohibited.

[0027] In conjunction with the second aspect, in some implementations of the second aspect, the device further includes a detection unit, and the control unit is further configured to control the air suspension to switch from a state of being prohibited from adjustment to a state of being adjustable when the detection unit detects that the speed of the vehicle is greater than or equal to a preset speed, and / or the difference between the height of the air spring corresponding to each wheel and the target height is less than or equal to a second preset difference.

[0028] In conjunction with the second aspect, in some implementations of the second aspect, the first preset difference is greater than the second preset difference.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] In a sixth aspect, this application provides a computer program product comprising: computer program code, which, when executed on a computer, causes the computer to perform any of the possible methods described in the first aspect above.

[0033] 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.

[0034] 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.

[0035] 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

[0036] Figure 1 is a functional block diagram of the vehicle provided in an embodiment of this application.

[0037] Figure 2 is a schematic flowchart of the suspension control method provided in an embodiment of this application.

[0038] Figure 3 is a schematic diagram of the gap h between the wheel arch and the tire provided in an embodiment of this application.

[0039] Figure 4 is a schematic diagram of the system architecture provided in an embodiment of this application.

[0040] Figure 5 is a schematic block diagram of the suspension control device provided in this application. Detailed Implementation

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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. HUDs include, for example, 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.

[0046] 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.

[0047] The air suspension 140 uses air springs and shock absorbers working together to adjust the vehicle height, thereby improving driving stability and comfort.

[0048] As mentioned earlier, with the development of the automotive industry, air springs are being used more and more widely. When encountering deep wading conditions, the buoyancy of the water causes the vehicle's height to rise abnormally. The air suspension dynamically adjusts itself by deflating the air springs to lower the vehicle's height. However, once the vehicle leaves the wading area, the vehicle's height decreases rapidly, and the air springs cannot quickly replenish the air to reach the target height, leading to driving risks such as scraping the bottom of the vehicle.

[0049] Furthermore, the air spring system in air suspension is mainly divided into closed and open systems. Open systems require air exchange with the outside environment. When a vehicle encounters deep wading conditions, the buoyancy of the water causes the vehicle height to rise abnormally. The air suspension dynamically adjusts itself by deflating the air springs to lower the vehicle height. However, once the vehicle leaves the wading area, the vehicle height decreases rapidly, and water may accumulate in the intake and exhaust pipes. When the air pump operates to replenish air, there is a risk of water being sucked into the air pump, potentially causing it to malfunction.

[0050] This application provides a suspension control method, device, and vehicle that helps improve the accuracy of a vehicle's judgment of wading conditions. Furthermore, once the vehicle is detected entering a wading condition, adjustment of the air suspension can be prohibited, thus reducing or avoiding the risk of bottoming out after the vehicle leaves the wading area. It also prevents water from being sucked into the air pump after the vehicle leaves the wading area due to the need for air pump replenishment.

[0051] 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:

[0052] S210, obtain the target height of the air suspension.

[0053] Optionally, the target height is the height of the air suspension set by the user.

[0054] 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.

[0055] The different air suspension heights mentioned above can correspond to different vehicle heights.

[0056] Optionally, the target height is the height of the air suspension corresponding to a certain mode.

[0057] For example, the mode includes, but is not limited to, driving mode, road mode, power saving mode, welcome mode, display mode, towing mode, or maintenance mode.

[0058] For example, a user can select their desired driving mode from multiple driving modes, including Comfort, Standard, and Sport modes, where the Comfort mode corresponds to the highest air suspension height among the modes. Upon detecting the user's selection of Comfort mode, the air suspension height can be adjusted to +20mm.

[0059] S220, when the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to the duration of the first preset difference, the air suspension is controlled to be in a state where adjustment is prohibited.

[0060] Optionally, when the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to the duration of a first preset difference greater than or equal to the first preset duration, the air suspension is controlled to be in a state where adjustment is prohibited, including: when the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the duration of a first preset difference greater than or equal to the first preset duration, determining that the vehicle has entered a wading condition; and in response to the vehicle entering a wading condition, controlling the air suspension to be in a state where adjustment is prohibited.

[0061] Optionally, the height of the air spring corresponding to each wheel can be determined by the gap h between the wheel arch and the tire. Figure 3 shows a schematic diagram of the gap h between the wheel arch and the tire provided in an embodiment of this application. The height of the air spring corresponding to each wheel can be determined by the gap h detected at each tire.

[0062] Optionally, when the duration of the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset duration, the air suspension is controlled to be in a state where adjustment is prohibited, including: when the duration of the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset duration, the air suspension is controlled to be in a state where adjustment is prohibited.

[0063] When a vehicle enters a water-crossing condition, the buoyancy of the water causes the vehicle's height to rise abnormally. At this time, the height of the air springs corresponding to each wheel will also increase. Taking the height of the air spring at each wheel as the clearance h detected at each tire as an example, if the target height is +20mm, when the vehicle is on an asphalt road, the clearance h detected at each tire will be around +20mm; however, when the vehicle enters a water-crossing condition, the clearance h detected at each tire may reach +50mm.

[0064] For example, the first preset difference is 20mm.

[0065] For example, the first preset duration is 10 seconds.

[0066] Optionally, when the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to the duration of the first preset difference being greater than or equal to the first preset duration, the air suspension is controlled to be in a state where adjustment is prohibited, including: when the ratio between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the duration of the first preset ratio being greater than or equal to the first preset duration, the air suspension is controlled to be in a state where adjustment is prohibited.

[0067] Optionally, when the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to the duration of the first preset difference being greater than or equal to the first preset duration, the control suspension is controlled to be in a state where adjustment is prohibited, including: when the vehicle speed is within a preset speed range and the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the duration of the first preset difference being greater than or equal to the first preset duration, the air suspension is controlled to be in a state where adjustment is prohibited.

[0068] For example, the preset speed range is (3km / h, 40km / h).

[0069] For example, if the difference between the air suspension height and the target height at each wheel is greater than or equal to 20 mm for a duration greater than or equal to 10 seconds, and the vehicle speed is within (3 km / h, 40 km / h) during these 10 seconds, it can be determined that the vehicle has entered a wading condition. At this time, the vehicle can control the air suspension to be in a state where adjustment is prohibited.

[0070] Optionally, the upper limit of the preset vehicle speed range is less than the vehicle speed threshold triggered by the first function, which is the function of automatically adjusting the height of the air suspension according to the vehicle speed.

[0071] For example, the first function could be the speed-sensitive adjustment function of the electronically controlled air suspension (ECAS). For instance, the speed threshold for triggering the ECAS speed-sensitive adjustment function is 45 km / h. That is, the vehicle can trigger the ECAS speed-sensitive adjustment function when its speed is greater than or equal to 45 km / h. In this way, since the upper limit of the preset speed range (e.g., 40 kph) is less than the speed threshold for triggering the speed-sensitive adjustment function (e.g., 45 kph), conflicts between the adjustment logics of different air suspension systems can be avoided.

[0072] Optionally, when the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to the duration of the first preset difference being greater than or equal to the first preset duration, the control suspension is controlled to be in a state of prohibition of adjustment, including: when no input of opening the door is detected within a second preset duration and the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the duration of the first preset difference being greater than or equal to the first preset duration, the air suspension is controlled to be in a state of prohibition of adjustment.

[0073] For example, the second preset duration is 70 seconds.

[0074] For example, if within 10 seconds from time T1, the difference between the air suspension height corresponding to each wheel and the target height is detected to be greater than or equal to 20 mm, and no door opening signal is detected within 60 seconds before time T1 and 10 seconds after time T1, it can be determined that the vehicle has entered a wading condition. At this time, the vehicle can control the air suspension to be in a state where adjustment is prohibited. In this way, by adding the detection of door opening signals, it is possible to rule out the possibility of mistakenly entering the state where the air suspension is prohibited from adjustment due to all passengers having disembarked.

[0075] Optionally, when the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to the duration of the first preset difference being greater than or equal to the first preset duration, the control suspension is controlled to be in a state where adjustment is prohibited, including: when no user input is received to adjust the air suspension and the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the duration of the first preset difference being greater than or equal to the first preset duration, the air suspension is controlled to be in a state where adjustment is prohibited.

[0076] The user's input for adjusting the air suspension can be understood as the valve opening information of the air pump in the air suspension. Not receiving the user's input for adjusting the air suspension can also be understood as not receiving the air pump's valve opening command.

[0077] For example, the input for adjusting the air suspension by the user includes the input of the user selecting a mode. For example, the mode includes, but is not limited to, driving mode, road mode, power saving mode, welcome mode, display mode, trailer mode, or maintenance mode.

[0078] For example, if the difference between the height of the air suspension corresponding to each wheel and the target height is greater than or equal to 20 mm for a duration of 10 seconds or more, and no user input to adjust the height of the air suspension is detected within these 10 seconds, the air suspension can be controlled to be in a state where adjustment is prohibited.

[0079] Optionally, controlling the air suspension to be in a state where adjustment is prohibited includes: controlling the driving mode to be in a state where adjustment is prohibited; and / or controlling a second function to be in a state of being turned off, the second function being a function that automatically adjusts the height of the air suspension according to vehicle speed.

[0080] Optionally, the air suspension can be controlled to be in an unadjustable state, including: controlling the road mode, power saving mode, welcome mode, display mode, trailer mode, and maintenance mode to be in an unadjustable state.

[0081] Optionally, the second function can be the aforementioned ECAS speed-sensitive adjustment function.

[0082] Once a vehicle is confirmed to be in a wading condition, the vehicle's response to modes used to adjust the air suspension height and / or the ECAS speed-sensitive adjustment function can be disabled. This can prevent the air suspension height from dropping when the vehicle is in a wading condition, thereby helping to reduce or avoid the risk of the vehicle scraping its bottom after leaving the wading condition.

[0083] Optionally, the method 200 further includes: a control prompting device prompting the user that the air suspension is in a state where adjustment is prohibited.

[0084] For example, the prompting device can be the aforementioned display device 130. For instance, the vehicle can control the instrument panel to display the prompt message "The vehicle is currently in a deep wading area. To avoid scraping the bottom when leaving the wading area, adjusting the air suspension height is prohibited."

[0085] For example, the warning device can be an audible device. For instance, the vehicle can control the speakers in the cabin to play a warning sound: "The vehicle is currently in a deep wading area. To avoid scraping the bottom when leaving the wading area, adjusting the air suspension height is prohibited."

[0086] Optionally, the method 200 further includes: when the vehicle speed is detected to be greater than or equal to a preset speed, and / or the difference between the height of the air spring corresponding to each wheel and the target height is less than or equal to a second preset difference, controlling the air suspension to switch from a state of being prohibited from adjustment to a state of being adjustable.

[0087] Optionally, the difference between the height of the air spring corresponding to each wheel and the target height is less than or equal to a second preset difference, including: the difference between the height of the air spring corresponding to each wheel and the target height is less than or equal to a second preset difference.

[0088] Optionally, the first preset difference is greater than the second preset difference.

[0089] For example, taking a first preset difference as the first preset difference value and a second preset difference as the second preset difference value, the second preset difference value can be 10mm.

[0090] For example, the preset speed can be 40 km / h.

[0091] For example, if the difference between the air suspension height at each wheel and the target height is greater than or equal to 20 mm for a duration greater than or equal to 10 seconds, it can be determined that the vehicle has entered a wading condition. At this time, the air suspension can be controlled to be in a non-adjustable state. After the vehicle enters the wading condition, the air suspension height at each wheel can be continuously monitored. When the difference between the air suspension height at each wheel and the target height is less than or equal to 10 mm, it can be determined that the vehicle has left the wading condition. At this time, the vehicle can control the air suspension to switch from a non-adjustable state to an adjustable state.

[0092] For example, when the vehicle speed is detected to be between 3 km / h and 40 km / h, and the difference between the air suspension height and the target height for each wheel is greater than or equal to 20 mm for a duration greater than or equal to 10 seconds, it can be determined that the vehicle has entered a wading condition. At this time, the air suspension can be controlled to be in a non-adjustable state. After the vehicle enters the wading condition, the vehicle speed can be continuously monitored. When the vehicle speed is detected to be greater than 40 km / h, it can be determined that the vehicle has left the wading condition. At this time, the air suspension can be controlled to switch from the non-adjustable state to the adjustable state.

[0093] Figure 4 shows a schematic diagram of the system architecture provided in an embodiment of this application. As shown in Figure 4, the system architecture includes a vehicle integration unit (VIU), a vehicle domain controller (VDC), a cockpit domain controller (CDC), an ECAS controller, and an air spring actuator.

[0094] As a communication interface unit, the VIU can be deployed in densely populated areas of vehicle sensors and actuators, enabling the vehicle's sensors and actuators to access the network nearby. At the same time, the VIU can have certain computing and driving capabilities (for example, the VIU can absorb some of the driving calculation functions of the actuators). Sensors include, but are not limited to, cameras, microphones, ultrasonic radar, millimeter-wave radar, lidar, vehicle speed sensors, motor power sensors, and engine speed sensors.

[0095] It should be understood that the VIU can incorporate some of the driving computation functions of sensors and actuators. This allows the VIU to directly process the data collected by the sensors when some actuators (e.g., CDC, VDC) fail. The VIUs communicate with each other in a network. The intelligent driving computing platform / mobile data center (MDC), VDC, and CDC are redundantly connected to the ring network communication network composed of VIUs. When a sensor collects data, it can send the collected data to the VIU. The VIU can then publish the data to the ring network, where the MDC, VDC, and CDC collect the relevant data.

[0096] For example, the VIU can be used to collect vehicle speed, the height of the air springs corresponding to the wheels, door signals (door unlock signal and / or door lock signal), and user commands to adjust the air suspension height, and send this information to the VDC. The VDC can be used to determine whether the vehicle has entered a wading condition based on the information sent by the VIU. When it is determined that the vehicle has entered a wading condition, the VDC can send command 1 to the ECAS controller, which instructs the ECAS controller to set the air suspension to a state where adjustment is prohibited. In response to receiving command 1, the ECAS controller can control the air spring actuator to keep the air suspension height in a state where adjustment is prohibited. For example, the ECAS controller can control the air spring actuator to stop inflating or deflating the air springs.

[0097] Optionally, after determining that the vehicle has entered a wading condition, the VDC can ignore the user's instruction to adjust the driving mode when it detects the instruction.

[0098] Optionally, once the vehicle is determined to be in a wading condition, the ECAS controller can disable the adjustment of the driving mode or other adjustments that affect the air suspension height.

[0099] Optionally, after determining that the vehicle has entered a wading condition, the ECAS controller can send command 2 to the VDC, which indicates that the vehicle has entered a wading condition. In response to receiving command 2, the VDC can send command 3 to the CDC, which can also indicate that the vehicle has entered a wading condition. In response to receiving command 3, the CDC can control the instrument panel to display the message "The vehicle is currently in a deep wading area. To avoid bottoming out when leaving the wading area, adjusting the air suspension height is prohibited"; or, the CDC can control the speakers in the cabin to play a warning sound "The vehicle is currently in a deep wading area. To avoid bottoming out when leaving the wading area, adjusting the air suspension height is prohibited".

[0100] For example, if the difference between the height of the air suspension corresponding to each wheel and the target height is continuously detected to be greater than or equal to 20mm within (T1, T1+10s), and the vehicle speed is between (3km / h, 40km / h) within (T1, T1+10s) and no user input to adjust the air suspension height is detected, and no door opening signal is detected within the time period (T1-60s, T1+10s), it can be determined that the vehicle has entered the wading condition. At this time, VDC can send instruction 1 to ECAS.

[0101] Optionally, when the vehicle enters a wading condition, the VDC can receive information about the vehicle's speed and the height of the air springs corresponding to each wheel from the VIU. When the vehicle speed is detected to be greater than or equal to 40 km / h, and / or the difference between the height of the air springs corresponding to each wheel and the target height is less than or equal to 10 mm, the VDC can send command 4 to the ECAS, which instructs the vehicle to leave the wading condition. In response to receiving command 4, the ECAS controller can switch the air suspension status from a non-adjustable state to an adjustable state. For example, after receiving information about the driving mode from the VDC, the ECAS controller can adjust the air suspension height to the height corresponding to that driving mode.

[0102] Figure 5 shows a schematic block diagram of the suspension control device 500 provided in this application. The device 500 includes: an acquisition unit 510 for acquiring a target height of the air suspension; and a control unit 520 for controlling the air suspension to be in a state of prohibited adjustment when the duration of the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to a first preset difference is greater than or equal to a first preset duration.

[0103] Optionally, the control unit 520 is specifically configured to: control the air suspension to be in a state of prohibition of adjustment when the vehicle speed is within a preset speed range and the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the duration of the first preset difference, which is greater than or equal to the first preset duration; wherein the upper limit of the preset speed range is less than the speed threshold for triggering the first function, and the first function is the function of automatically adjusting the height of the air suspension according to the vehicle speed.

[0104] Optionally, the control unit 520 is specifically configured to: control the air suspension to be in a state of prohibition of adjustment when no input of opening the door is detected within a second preset time period and the duration of the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset time period.

[0105] Optionally, the control unit 520 is specifically configured to: control the air suspension to be in a state where adjustment is prohibited when no user input is received to adjust the air suspension and the duration of the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset duration.

[0106] Optionally, the control unit 520 is specifically used to: control the driving mode to be in a state where adjustment is prohibited; and / or control a second function to be in a state of being turned off, the second function being the function of automatically adjusting the height of the air suspension according to the vehicle speed.

[0107] Optionally, the control unit 520, which is used to control the prompting device to prompt the user that the air suspension is in a state where adjustment is prohibited.

[0108] Optionally, the device further includes a detection unit, and the control unit 520 is further configured to control the air suspension to switch from a state of being prohibited from adjustment to a state of being adjustable when the detection unit detects that the speed of the vehicle is greater than or equal to a preset speed, and / or the difference between the height of the air spring corresponding to each wheel and the target height is less than or equal to a second preset difference.

[0109] Optionally, the first preset difference is greater than the second preset difference.

[0110] The acquisition unit 510 can be located in the VDC, and the control unit 520 can be located in the ECAS controller.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] 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.

[0116] Alternatively, if the suspension control device is located in the vehicle, the aforementioned processing unit may be the processor 121-12n shown in FIG1.

[0117] 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 aforementioned suspension control device 500.

[0118] This application also provides a vehicle that may include the suspension control device 500 or the suspension control system described above.

[0119] 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.

[0120] 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.

[0121] This application also provides a chip, which includes a circuit for performing the methods described in the above embodiments.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] 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.

[0126] 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.

[0127] 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.

[0128] 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.

[0129] 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.

[0130] 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.

[0131] 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: Obtain the target height of the air suspension; When the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to the first preset difference for a duration greater than or equal to the first preset duration, the air suspension is controlled to be in a state where adjustment is prohibited.

2. The method according to claim 1, characterized in that, When the duration of the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to a first preset difference is greater than or equal to a first preset duration, controlling the control suspension to be in a state of prohibited adjustment includes: When the vehicle speed is within a preset speed range and the duration of the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the first preset difference, the air suspension is controlled to be in a state where adjustment is prohibited. Wherein, the upper limit of the preset vehicle speed range is less than the vehicle speed threshold triggered by the first function, and the first function is the function of automatically adjusting the height of the air suspension according to the vehicle speed.

3. The method according to claim 1 or 2, characterized in that, When the duration of the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to a first preset difference is greater than or equal to a first preset duration, controlling the control suspension to be in a state of prohibited adjustment includes: If no door opening input is detected within a second preset time period and the duration of the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset time period, the air suspension is controlled to be in a state where adjustment is prohibited.

4. The method according to any one of claims 1 to 3, characterized in that, When the duration of the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to a first preset difference is greater than or equal to a first preset duration, controlling the control suspension to be in a state of prohibited adjustment includes: When no user input is received to adjust the air suspension and the duration of the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset duration, the air suspension is controlled to be in a state where adjustment is prohibited.

5. The method according to any one of claims 1 to 4, characterized in that, The control of the air suspension to be in an unadjustable state includes: The driving mode is set to an unadjustable state; and / or, The second function is in the off state. The second function is the function of automatically adjusting the height of the air suspension according to the vehicle speed.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: The control prompt device indicates to the user that the air suspension is in a state where adjustment is prohibited.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: When the vehicle speed is detected to be greater than or equal to a preset speed, and / or the difference between the height of the air spring corresponding to each wheel and the target height is less than or equal to a second preset difference, the air suspension is controlled to switch from a state where adjustment is prohibited to a state where adjustment is possible.

8. The method according to claim 7, characterized in that, The first preset difference is greater than the second preset difference.

9. A suspension control device, characterized in that, include: The acquisition unit is used to acquire the target height of the air suspension; The control unit is configured to control the air suspension to be in a state where adjustment is prohibited when the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to the duration of a first preset difference.

10. The apparatus according to claim 9, characterized in that, The control unit is specifically used for: When the vehicle speed is within a preset speed range and the duration of the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the first preset difference, the air suspension is controlled to be in a state where adjustment is prohibited. Wherein, the upper limit of the preset vehicle speed range is less than the vehicle speed threshold triggered by the first function, and the first function is the function of automatically adjusting the height of the air suspension according to the vehicle speed.

11. The apparatus according to claim 9 or 10, characterized in that, The control unit is specifically used for: If no door opening input is detected within a second preset time period and the duration of the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset time period, the air suspension is controlled to be in a state where adjustment is prohibited.

12. The apparatus according to any one of claims 9 to 11, characterized in that, The control unit is specifically used for: When no user input is received to adjust the air suspension and the duration of the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset duration, the air suspension is controlled to be in a state where adjustment is prohibited.

13. The apparatus according to any one of claims 9 to 12, characterized in that, The control unit is specifically used for: The driving mode is set to an unadjustable state; and / or, The second function is in the off state. The second function is the function of automatically adjusting the height of the air suspension according to the vehicle speed.

14. The apparatus according to any one of claims 9 to 13, characterized in that, The control unit is used to control the prompting device to remind the user that the air suspension is in a state where adjustment is prohibited.

15. The apparatus according to any one of claims 9 to 14, characterized in that, The device also includes a detection unit. The control unit is further configured to control the air suspension to switch from a state of being prohibited from adjustment to a state of being adjustable when the detection unit detects that the vehicle speed is greater than or equal to a preset speed, and / or the difference between the height of the air spring corresponding to each wheel and the target height is less than or equal to a second preset difference.

16. The apparatus according to claim 15, characterized in that, The first preset difference is greater than the second preset difference.

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.

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