Damping suspension system, control method, apparatus, device, medium, and vehicle

Abstract

The present application provides a damping suspension system, comprising: a state module, a controller, and a damping adjustable shock absorber, wherein the state module is connected to the controller; the controller is connected to the damping adjustable shock absorber; the state module is used for acquiring a state signal of a vehicle; the controller is used for adjusting the damping of the damping adjustable shock absorber on the basis of the state signal.

Description

A damping suspension system, control method, device, equipment, medium, and vehicle

[0001] Cross-reference to related applications

[0002] This disclosure is based on and claims priority to Chinese patent applications No. 2024118548457, filed on December 16, 2024, No. 2024118557136, filed on December 16, 2024, and No. 2024118556684, filed on December 16, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of complete vehicles, and in particular to a damping suspension system, control method, device, equipment, medium and vehicle. Background Technology

[0004] In the existing front and rear suspension systems of vehicles, the shock absorbers have fixed damping characteristics (or multiple fixed damping characteristics are defined, but only one characteristic can be maintained during driving). Fixed damping characteristics cannot meet the various road conditions when all-terrain vehicles are driving, and cannot take into account both handling and comfort, as well as the special requirements of the suspension system for certain special working conditions, such as bottoming out after a jump and rapid convergence in pothole conditions. Summary of the Invention

[0005] This disclosure provides a damping suspension system, control method, device, equipment, medium, and vehicle to solve problems in related technologies, adapt to various road conditions, and improve vehicle driving safety.

[0006] A first aspect of this disclosure provides a damping suspension system, comprising: a state module, a controller, and an adjustable damper, wherein the state module and the controller are connected; the controller and the adjustable damper are connected; the state module is used to acquire a vehicle state signal; and the controller is used to adjust the damping of the adjustable damper according to the state signal.

[0007] In some embodiments, the status module includes at least one of a steering module, a braking module, a power module, and a displacement sensing module.

[0008] In some embodiments, the system further includes a central control display for displaying at least one of the following: the vehicle's driving mode, including at least one of standard mode, racing mode, Baja mode, and rock climbing mode; the preload damping characteristics of the adjustable damper; and vehicle status information indicated by status signals.

[0009] In some embodiments, the controller includes an acceleration sensing module for acquiring at least one of the following: the yaw rate of the vehicle; the roll acceleration of the vehicle; and the pitch acceleration of the vehicle.

[0010] In some embodiments, the damping adjustable damper is a dual-circuit solenoid valve damper.

[0011] In some embodiments, the damping adjustable shock absorber is located in the vehicle's suspension system.

[0012] A second aspect of this disclosure provides a damping suspension control method applied to the system described in the first aspect of this disclosure. The method includes: a state module acquiring a vehicle state signal; and a controller adjusting the damping of an adjustable damper based on the state signal.

[0013] In some embodiments, the status module acquires status signals including: the steering module acquires a steering angle signal and a steering speed signal; the power module acquires a vehicle speed signal; wherein, based on the status signals, the controller adjusts the damping of the adjustable damper by: based on the steering angle signal, the steering speed signal, and the vehicle speed signal, the controller increases the recovery damping of the first adjustable damper, and / or increases the compression damping of the second adjustable damper, wherein the first adjustable damper is an adjustable damper on the inner side of the steering wheel, and the second adjustable damper is an adjustable damper on the outer side of the steering wheel.

[0014] In some embodiments, the state module acquires state signals including: the acceleration sensing module acquires yaw rate signals and roll acceleration signals; the power module acquires vehicle speed signals; wherein, based on the state signals, the controller adjusts the damping of the adjustable damper including: based on the yaw rate signals, roll acceleration signals, and vehicle speed signals, the controller increases the recovery damping of the third adjustable damper, and / or increases the compression damping of the fourth adjustable damper, wherein the third adjustable damper is the adjustable damper on the roll-up side, and the fourth adjustable damper is the adjustable damper on the roll-down side.

[0015] In some embodiments, the state module acquires state signals including: the acceleration sensing module acquires a pitch acceleration signal; the power module acquires a vehicle speed signal; wherein, based on the state signals, the controller adjusts the damping of the adjustable damper including: based on the pitch acceleration signal and the vehicle speed signal, the controller increases the recovery damping of the fifth adjustable damper, and / or increases the compression damping of the sixth adjustable damper, wherein the fifth adjustable damper is the adjustable damper at the pitch lifting end, and the sixth adjustable damper is the adjustable damper at the pitch lowering end.

[0016] In some embodiments, the status module acquires status signals including: the braking module acquires a braking signal; the power module acquires a vehicle speed signal; wherein, based on the status signals, the controller adjusts the damping of the adjustable damper including: based on the braking signal and the vehicle speed signal, the controller increases the recovery damping of the seventh adjustable damper, and / or increases the compression damping of the eighth adjustable damper, wherein the seventh adjustable damper is the adjustable damper for the front suspension system, and the eighth adjustable damper is the adjustable damper for the rear suspension system.

[0017] In some embodiments, the state module acquiring the state signal includes: the displacement sensing module acquiring the suspension displacement signal; wherein, based on the state signal, the controller adjusting the damping of the adjustable damper includes: based on the suspension displacement signal, the controller determining that the vehicle is in a jump-off state, the jump-off state being the state of the vehicle when the suspension displacement is continuously greater than a first preset displacement threshold value for a first preset time; based on the jump-off state, the controller increasing the compression damping of the ninth adjustable damper to the first preset damping value until the vehicle leaves the jump-off state, the ninth adjustable damper being the damping adjustable damper of the suspension system.

[0018] In some embodiments, the state module acquiring the state signal includes: the displacement sensing module acquiring the suspension displacement signal; wherein, based on the state signal, the controller adjusting the damping of the adjustable damper includes: based on the suspension displacement signal, the controller determining that the vehicle is in a ground-holding state, the ground-holding state being the state of the vehicle when the suspension displacement is continuously greater than a second preset displacement threshold value for a second preset time period and decreases to less than or equal to a third preset displacement threshold value for a third preset time period; based on the ground-holding state, the controller increasing the recovery damping of the tenth adjustable damper to a second preset damping value until the vehicle leaves the ground-holding state, the tenth adjustable damper being the damping adjustable damper of the suspension system.

[0019] A third aspect of this disclosure provides a damping suspension control device, comprising: an acquisition module for acquiring a state signal; and an adjustment module for adjusting the damping of an adjustable damper based on the state signal.

[0020] A fourth aspect of this disclosure provides an electronic device comprising: a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program stored in the memory to cause the electronic device to perform the methods described in the second aspect of this disclosure.

[0021] A fifth method embodiment of this disclosure provides a computer-readable storage medium in which a computer program, when executed by a processor, performs the method described in the second aspect embodiment of this disclosure.

[0022] A sixth aspect of this disclosure provides a vehicle including the system described in the first aspect.

[0023] In summary, the damping suspension system proposed in this disclosure includes: a state module, a controller, and an adjustable damper. The state module and the controller are connected; the controller and the adjustable damper are connected. The state module is used to acquire vehicle state signals; the controller is used to adjust the damping of the adjustable damper according to the state signals. The system of this disclosure can adjust the damping characteristics of the adjustable damper in real time according to vehicle speed, road conditions, and other information to adapt to various road conditions and improve vehicle driving safety.

[0024] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0025] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure, and are not intended to unduly limit this disclosure.

[0026] Figure 1 is a schematic diagram of a damping suspension system provided in an embodiment of this disclosure;

[0027] Figure 2 is a schematic diagram of another damping suspension system provided in an embodiment of this disclosure;

[0028] Figure 3 is a schematic diagram of a driving mode provided in an embodiment of this disclosure;

[0029] Figure 4 is a flowchart illustrating a damping suspension control method provided in an embodiment of this disclosure;

[0030] Figure 5 is a flowchart illustrating another damping suspension control method provided in an embodiment of this disclosure;

[0031] Figure 6 is a flowchart illustrating another damping suspension control method provided in an embodiment of this disclosure;

[0032] Figure 7 is a flowchart illustrating another damping suspension control method provided in an embodiment of this disclosure;

[0033] Figure 8 is a flowchart illustrating another damping suspension control method provided in an embodiment of this disclosure;

[0034] Figure 9 is a schematic flowchart of another damping suspension control method provided in an embodiment of this disclosure;

[0035] Figure 10 is a flowchart illustrating another damping suspension control method provided in an embodiment of this disclosure;

[0036] Figure 11 is a structural schematic diagram of a damping suspension control device provided in an embodiment of this disclosure;

[0037] Figure 12 is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0038] Embodiments of this disclosure are described in detail below. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this disclosure, and should not be construed as limiting this disclosure.

[0039] In the existing front and rear suspension systems of vehicles, the shock absorbers have fixed damping characteristics (or multiple fixed damping characteristics are defined, but only one characteristic can be maintained during driving). Fixed damping characteristics cannot meet the various road conditions when all-terrain vehicles are driving, and cannot take into account both handling and comfort, as well as the special requirements of the suspension system for certain special working conditions, such as bottoming out after a jump and rapid convergence in pothole conditions.

[0040] Therefore, in order to solve the problems existing in the related technologies, this disclosure provides a damping suspension system, control method, device, equipment, medium and vehicle to solve the problems in the related technologies, adapt to various road conditions and improve the safety of vehicle driving.

[0041] Figure 1 is a schematic diagram of a damping suspension system provided in an embodiment of this disclosure. As shown in Figure 1, the damping suspension system 100 includes: a status module 110, a controller 120, and a damping adjustable shock absorber 130.

[0042] In some embodiments, the status module 110 is connected to the controller 120; the controller 120 is connected to the damping adjustable damper 130.

[0043] In some embodiments, the status module 110 is used to acquire the status signal of the vehicle; the controller 120 is used to adjust the damping of the adjustable damper 130 according to the status signal.

[0044] In some embodiments, the damping suspension system 100 may include four damping adjustable dampers 130, wherein the damping adjustable damper 130 may be a dual-circuit solenoid valve damper, but is not limited thereto, and may also be a magnetorheological damper, etc.

[0045] In some embodiments, as shown in FIG2, the damping suspension system 100 may be located between the vehicle's wheel system 160 and frame system 150.

[0046] Furthermore, the controller 120 may include an acceleration sensor 121, wherein the acceleration sensor 121 is used to acquire at least one of the following: the yaw rate of the vehicle; the roll acceleration of the vehicle; and the pitch acceleration of the vehicle.

[0047] Furthermore, the accelerometer is, for example, a six-axis accelerometer IMU.

[0048] Furthermore, the status module 110 may include at least one of the following: a steering module 111, a braking module 112, a power module 113, and a displacement sensing module 114.

[0049] In some embodiments, the damping suspension system 100 may further include a central control display 140, wherein the central control display 140 is used to display at least one of the following: the vehicle's driving mode, including at least one of standard mode, racing mode, Baja mode and rock climbing mode; the preload damping characteristics of the adjustable damper 130; and vehicle status information indicated by status signals.

[0050] Furthermore, the preload damping characteristics of the adjustable damper 130 under different driving conditions are different, as shown in Figure 3, but not limited thereto. In this figure, R represents the recovery damping of the adjustable damper, and C represents the compression damping of the adjustable damper.

[0051] Furthermore, the central control display screen 140 may include virtual buttons 141, which are used to switch the vehicle's driving modes to adjust the preload damping characteristics in different damping adjustable shock absorbers 130.

[0052] In some embodiments, the damping suspension system 100 may further include a constant power supply 170 for powering the controller.

[0053] In some embodiments, the damping suspension system 100 may further include a mode switch 180, which switches the vehicle's driving mode via a physical button.

[0054] In some embodiments, the damping suspension system 100 may further include a combination instrument 190, wherein the combination instrument 190 is used to display the current driving mode of the vehicle.

[0055] In summary, the damping suspension system proposed in this disclosure includes: a state module, a controller, and an adjustable damper. The state module and the controller are connected; the controller and the adjustable damper are connected. The state module is used to acquire vehicle state signals; the controller is used to adjust the damping of the adjustable damper according to the state signals. The system of this disclosure can adjust the damping characteristics of the adjustable damper in real time according to vehicle speed, road conditions, and other information to adapt to various road conditions and improve vehicle driving safety.

[0056] Figure 4 is a flowchart of a damping suspension control method proposed in this disclosure, which can be applied to all or part of the systems shown in Figures 1 and 2. The method includes steps 401 and 402.

[0057] Step 401: The status module acquires the vehicle's status signal.

[0058] In some embodiments, the status module may include at least one of a steering module, a braking module, a power module, and a displacement sensing module. Therefore, different status modules acquire status signals in different ways.

[0059] In some embodiments, the status signal is, for example, a steering angle signal, a steering speed signal, a vehicle speed signal, a yaw rate signal, a roll acceleration signal, a pitch acceleration signal, a braking signal, etc.

[0060] Step 402: Based on the status signal, the controller adjusts the damping of the adjustable damper.

[0061] In some embodiments, the controller can determine the current state of the vehicle based on different state signals in order to adjust the damping of the corresponding adjustable damping shock absorber.

[0062] In summary, the method proposed in this disclosure includes: a state module acquiring the vehicle's state signal; and a controller adjusting the damping of the adjustable damper based on the state signal. This disclosure, by acquiring the vehicle's state signal, determines the vehicle's driving state in real time, thereby enabling adjustment of the vehicle's damping both during driving and non-driving processes. This allows the vehicle to adapt to various road conditions and improves driving safety.

[0063] Figure 5 is a schematic flowchart of a damping suspension control method proposed in this disclosure. Further explained based on the embodiment shown in Figure 4, Figure 5 may include the following steps.

[0064] Step 501: The steering module acquires the steering angle signal and steering speed signal.

[0065] In some embodiments, the steering module can acquire steering angle and steering speed signals based on sensors on the vehicle steering wheel and / or on the vehicle wheels.

[0066] In some embodiments, the positive and negative values ​​of the turning angle signal can be used to indicate the direction of the vehicle. For example, a positive value of the turning angle signal indicates that the vehicle is turning left, and a negative value of the turning angle signal indicates that the vehicle is turning right.

[0067] Step 502: The power module acquires the vehicle speed signal.

[0068] In some embodiments, the power module can acquire the current vehicle speed signal from sensors in the vehicle power system.

[0069] Step 503: Based on the steering angle signal, steering speed signal and vehicle speed signal, the controller increases the recovery damping of the first adjustable damper and / or increases the compression damping of the second adjustable damper.

[0070] In some embodiments, the controller can determine the vehicle's steering direction and steering amplitude based on the steering angle and steering speed signals transmitted from the steering module and the vehicle speed signal transmitted from the power module, and then adjust the damping adjustable shock absorber.

[0071] In some embodiments, the control regulator may increase only the recovery damping of the first adjustable damper; or it may increase only the compression damping of the second adjustable damper; or it may increase the compression damping of the second adjustable damper while increasing the recovery damping of the first adjustable damper, which is not limited in this disclosure.

[0072] In some embodiments, the first damping adjustable damper is a damping adjustable damper on the inside of the steering wheel, and the second damping adjustable damper is a damping adjustable damper on the outside of the steering wheel.

[0073] For example, in response to the vehicle turning left, the damping adjustable damper located on the left side of the vehicle is the first damping adjustable damper, and the damping adjustable damper located on the right side of the vehicle is the second damping adjustable damper.

[0074] In response to the vehicle turning right, the damping adjustable shock absorber located on the right side of the vehicle is the first damping adjustable shock absorber, and the damping adjustable shock absorber located on the left side of the vehicle is the second damping adjustable shock absorber.

[0075] In summary, the method proposed in this disclosure includes: a steering module acquiring a steering angle signal and a steering speed signal; a power module acquiring a vehicle speed signal; and based on the steering angle signal, steering speed signal, and vehicle speed signal, a controller increasing the recovery damping of a first adjustable damper and / or increasing the compression damping of a second adjustable damper. This method, by acquiring the vehicle's steering angle signal, steering speed signal, and vehicle speed signal, adjusts the damping of the first and / or second adjustable dampers, thereby suppressing large-scale vehicle body movement caused by the instantaneous steering motion during vehicle steering, and improving vehicle operating safety.

[0076] Figure 6 is a flowchart illustrating a damping suspension control method proposed in this disclosure. Further explaining based on the embodiment shown in Figure 4, Figure 6 may include the following steps.

[0077] Step 601: The acceleration sensing module acquires the yaw rate signal and the roll acceleration signal.

[0078] In some embodiments, the acceleration sensing module can acquire yaw rate and roll acceleration signals based on sensors integrated in the controller.

[0079] Step 602: The power module acquires the vehicle speed signal.

[0080] In some embodiments, the power module can acquire the current vehicle speed signal from sensors in the vehicle power system.

[0081] Step 603: Based on the yaw rate signal, roll acceleration signal and vehicle speed signal, the controller adds the recovery damping of the third adjustable damper and / or adds the compression damping of the fourth adjustable damper.

[0082] In some embodiments, the controller can determine the vehicle's roll speed and roll degree based on the yaw rate signal and roll acceleration signal transmitted from the acceleration sensing module and the vehicle speed signal transmitted from the power module, and then adjust the damping adjustable shock absorber accordingly.

[0083] In some embodiments, the control regulator may increase only the recovery damping of the third adjustable damper; or it may increase only the compression damping of the fourth adjustable damper; or it may increase the compression damping of the fourth adjustable damper while increasing the recovery damping of the third adjustable damper, which is not limited in this disclosure.

[0084] In some embodiments, the third damping adjustable damper is a damping adjustable damper on the tilt-up side, and the fourth damping adjustable damper is a damping adjustable damper on the tilt-down side.

[0085] For example, in response to the vehicle tilting to the left, the damping adjustable damper located on the right side of the vehicle is the third damping adjustable damper, and the damping adjustable damper located on the left side of the vehicle is the fourth damping adjustable damper.

[0086] In response to the vehicle tilting to the right, the damping adjustable shock absorber located on the left side of the vehicle is the third damping adjustable shock absorber, and the damping adjustable shock absorber located on the right side of the vehicle is the fourth damping adjustable shock absorber.

[0087] In summary, the method proposed in this disclosure includes: an acceleration sensing module acquiring yaw rate and roll acceleration signals; a power module acquiring vehicle speed signals; and, based on the yaw rate, roll acceleration, and vehicle speed signals, a controller adding recovery damping to a third adjustable damper and / or adding compression damping to a fourth adjustable damper. This method, by acquiring the vehicle's yaw rate, roll acceleration, and vehicle speed signals, adjusts the damping of the third and / or fourth adjustable dampers, thereby suppressing large-scale vehicle body movement caused by roll when the vehicle rolls, thus improving vehicle operating safety.

[0088] Figure 7 is a flowchart illustrating a damping suspension control method proposed in this disclosure. Further explaining based on the embodiment shown in Figure 4, Figure 7 may include the following steps.

[0089] Step 701: The acceleration sensing module acquires the pitch acceleration signal.

[0090] In some embodiments, the acceleration sensing module can acquire the pitch acceleration signal based on a sensor integrated in the controller.

[0091] Step 702: The power module acquires the vehicle speed signal.

[0092] In some embodiments, the power module can acquire the current vehicle speed signal from sensors in the vehicle power system.

[0093] Step 703: Based on the pitch acceleration signal and the vehicle speed signal, the controller adds the recovery damping of the fifth adjustable damper and / or adds the compression damping of the sixth adjustable damper.

[0094] In some embodiments, the controller can determine the vehicle's pitch speed and pitch degree based on the pitch acceleration signal from the acceleration sensing module and the vehicle speed signal from the power module, and then adjust the damping adjustable shock absorber accordingly.

[0095] In some embodiments, the control regulator may increase only the recovery damping of the fifth adjustable damper; or it may increase only the compression damping of the sixth adjustable damper; or it may increase the compression damping of the sixth adjustable damper while increasing the recovery damping of the fifth adjustable damper, which is not limited in this disclosure.

[0096] In some embodiments, the fifth damping adjustable damper is a damping adjustable damper at the tilt lifting end, and the sixth damping adjustable damper is a damping adjustable damper at the lateral tilt lowering end.

[0097] For example, in response to the vehicle tilting forward, the damping adjustable damper located at the rear of the vehicle is the fifth damping adjustable damper, and the damping adjustable damper located at the front of the vehicle is the sixth damping adjustable damper.

[0098] In response to the vehicle tilting backward, the damping adjustable damper located at the front of the vehicle is the fifth damping adjustable damper, and the damping adjustable damper located at the rear of the vehicle is the sixth damping adjustable damper.

[0099] In summary, the method proposed in this disclosure includes: an acceleration sensing module acquiring a roll acceleration signal; a power module acquiring a vehicle speed signal; and based on the roll acceleration signal and the vehicle speed signal, a controller adding a recovery damping of a fifth adjustable damper and / or adding a compression damping of a sixth adjustable damper. This method, by acquiring the vehicle's roll acceleration signal and vehicle speed signal, adjusts the damping of the fifth and / or sixth adjustable dampers, thereby suppressing large-scale vehicle body movement caused by roll when the vehicle rolls, thus improving vehicle operating safety.

[0100] Figure 8 is a flowchart illustrating a damping suspension control method proposed in this disclosure. Further explained based on the embodiment shown in Figure 4, Figure 8 may include the following steps.

[0101] Step 801: The braking module acquires the braking signal.

[0102] In some embodiments, the braking module can acquire braking signals from sensors located at the brake pedal.

[0103] In some embodiments, the braking signal may indicate the opening of the brake pedal.

[0104] Step 802: The power module acquires the vehicle speed signal.

[0105] In some embodiments, the power module can acquire the current vehicle speed signal from sensors in the vehicle power system.

[0106] Step 803: Based on the braking signal and vehicle speed signal, the controller adds the recovery damping of the seventh adjustable damper and / or adds the compression damping of the eighth adjustable damper.

[0107] In some embodiments, the controller can determine the braking intensity of the vehicle based on the braking signal from the braking module and the vehicle speed signal from the power module, and then adjust the damping adjustable shock absorber accordingly.

[0108] In some embodiments, the control regulator may only increase the recovery damping of the seventh adjustable damper; or only increase the compression damping of the eighth adjustable damper; or increase the compression damping of the eighth adjustable damper while increasing the recovery damping of the seventh adjustable damper, which is not limited in this disclosure.

[0109] In some embodiments, the seventh damping adjustable damper is a damping adjustable damper for the front suspension system, and the eighth damping adjustable damper is a damping adjustable damper for the rear suspension system.

[0110] In summary, the method proposed in this disclosure includes: a braking module acquiring a braking signal; a power module acquiring a vehicle speed signal; and, based on the braking signal and the vehicle speed signal, a controller adding a recovery damping to a seventh adjustable damper and / or adding a compression damping to an eighth adjustable damper. This method, by acquiring the vehicle's braking signal and vehicle speed signal, adjusts the damping of the seventh and / or eighth adjustable dampers, thereby suppressing large-scale vehicle body movement during braking and improving vehicle operating safety.

[0111] Figure 9 is a flowchart illustrating a damping suspension control method proposed in this disclosure. Further explained based on the embodiment shown in Figure 4, Figure 9 may include the following steps.

[0112] Step 901: The displacement sensing module acquires the suspension displacement signal.

[0113] In some embodiments, the displacement sensing module can acquire suspension displacement signals based on sensors located in each suspension of the vehicle.

[0114] In some embodiments, the suspension displacement signal is used to indicate the degree of suspension displacement.

[0115] Step 902: Based on the suspension displacement signal, the controller determines that the vehicle is in a state of airborne flight.

[0116] In some embodiments, the airborne state is the state of the vehicle when the suspension displacement is continuously greater than a first preset displacement threshold value for a first preset time period.

[0117] In some embodiments, in response to the controller determining, based on the suspension displacement signal, that the suspension displacement is continuously greater than a first preset displacement threshold value for a first preset time period, the controller can determine that the vehicle is in a state of airborne flight.

[0118] It should be understood that this disclosure does not limit the specific length of the first preset time, nor does it limit the specific value of the first preset displacement threshold.

[0119] Step 903: Based on the airborne state of the fly-up slope, the controller increases the compression damping of the ninth adjustable damper to the first preset damping value until the vehicle leaves the airborne state of the fly-up slope.

[0120] In some embodiments, in response to the controller determining that the vehicle is currently in a state of airborne flight, in order to avoid the shock absorber bottoming out and making rigid contact due to excessive impact force when the vehicle lands, the controller may increase the compression damping of the ninth adjustable damper to a first preset damping value.

[0121] It should be understood that this disclosure does not limit the specific value of the first preset damping value.

[0122] In some embodiments, the ninth damping adjustable shock absorber is a damping adjustable shock absorber of a suspension system, wherein the suspension system may be at least one of a front suspension system, a rear suspension system, a left suspension system, and a right suspension system.

[0123] In summary, the method proposed in this disclosure includes: a displacement sensing module acquiring suspension displacement signals; based on the suspension displacement signals, a controller determining that the vehicle is in a jump-off state, where the jump-off state is the vehicle's state when the suspension displacement continuously exceeds a first preset displacement threshold value for a first preset time period; based on the jump-off state, the controller increasing the compression damping of the ninth adjustable damper to a first preset damping value until the vehicle leaves the jump-off state, where the ninth adjustable damper is the adjustable damper of the suspension system. This method, by acquiring suspension displacement signals to determine that the vehicle is in a jump-off state, adjusts the compression damping of the adjustable damper, thereby significantly increasing the compression damping of the front and rear suspension dampers immediately upon the vehicle's jump, preventing the dampers from bottoming out and making rigid contact due to excessive impact force upon landing, thus avoiding discomfort for occupants and damage to the vehicle caused by the impact.

[0124] Figure 10 is a flowchart illustrating a damping suspension control method proposed in this disclosure. Further explaining based on the embodiment shown in Figure 4, Figure 9 may include the following steps.

[0125] Step 1001: The displacement sensing module acquires the suspension displacement signal.

[0126] In some embodiments, the displacement sensing module can acquire suspension displacement signals based on sensors located in each suspension of the vehicle.

[0127] In some embodiments, the suspension displacement signal is used to indicate the degree of suspension displacement.

[0128] Step 1002: Based on the suspension displacement signal, the controller determines that the vehicle is in a ground-holding state.

[0129] In some embodiments, the ground-holding state is the state of the vehicle when the suspension displacement is continuously greater than a second preset displacement threshold value for a second preset time period and decreases to less than or equal to a third preset displacement threshold value for a third preset time period.

[0130] In some embodiments, in response to the controller determining, based on the suspension displacement signal, that the suspension displacement is continuously greater than a second preset displacement threshold value for a second preset time period and decreases to less than or equal to a third preset displacement threshold value for a third preset time period, the controller can determine that the vehicle is in a ground-holding state.

[0131] It should be understood that this disclosure does not limit the specific length of the second preset time and the third preset time, nor does it limit the specific values ​​of the second preset displacement threshold and the third preset displacement threshold.

[0132] In some optional embodiments, the second preset time may be the same as the first preset time in step 902; the second preset displacement threshold value may be the same as the first preset displacement threshold value in step 902.

[0133] Step 1003: Based on the ground-holding state, the controller increases the recovery damping of the tenth adjustable damper to the second preset damping value.

[0134] In some embodiments, in response to the controller determining that the vehicle is currently in a ground-holding state, in order to prevent the vehicle body from rebounding due to excessive ground rebound force after landing, thereby losing grip and causing vehicle instability, the controller may increase the recovery damping of the tenth damping adjustable shock absorber to a second preset damping value.

[0135] It should be understood that this disclosure does not limit the specific value of the second preset damping value.

[0136] In some embodiments, the tenth damping adjustable shock absorber is a damping adjustable shock absorber of a suspension system, wherein the suspension system may be at least one of a front suspension system, a rear suspension system, a left suspension system, and a right suspension system.

[0137] In other words, the tenth damping adjustable damper can be the same damping adjustable damper as the ninth damping adjustable damper, or it can be a different damping adjustable damper; this disclosure does not limit this.

[0138] In summary, the method proposed in this disclosure includes: a displacement sensing module acquiring suspension displacement signals; based on the suspension displacement signals, a controller determining that the vehicle is in a ground-holding state, wherein the ground-holding state is the vehicle state when the suspension displacement is continuously greater than a second preset displacement threshold value for a second preset time period and decreases to less than or equal to a third preset displacement threshold value for a third preset time period; based on the ground-holding state, the controller increases the recovery damping of the tenth adjustable damper to a second preset damping value until the vehicle leaves the ground-holding state, wherein the tenth adjustable damper is the damping adjustable damper of the suspension system. This method, by acquiring suspension displacement signals, determines that the vehicle is in a ground-holding state, and then adjusts the recovery damping of the adjustable damper, so that after the vehicle lands in mid-air, the recovery damping of the front and rear suspension dampers is immediately and significantly increased, rapidly attenuating the vibration after landing from a high-speed jump, and preventing the vehicle from rebounding due to excessive ground rebound force after landing, thus avoiding loss of traction and vehicle instability.

[0139] In summary, this disclosure addresses the inherent damping characteristics of existing all-terrain vehicle suspension systems, which cannot simultaneously balance handling and comfort under various road conditions. It replaces these systems with an electronically controlled suspension system with continuously adjustable damping. This not only resolves the conflict between handling and comfort but also enables functions required for specific operating conditions, such as bottoming out during landing from a steep incline and mitigating vehicle lift to ensure tire contact with the ground. This ensures the safety and stability of the vehicle.

[0140] Figure 11 is a schematic diagram of a damping suspension control device 11200 provided in an embodiment of this disclosure. The damping suspension control device 11200 includes:

[0141] Acquisition module 1110 is used to acquire status signals;

[0142] The adjustment module 1120 is used to adjust the damping of the adjustable damper based on the state signal.

[0143] In some embodiments, the acquisition module 1110 is further configured to acquire the angle signal and the steering speed signal.

[0144] In some embodiments, the acquisition module 1110 is further configured to acquire a vehicle speed signal.

[0145] In some embodiments, the acquisition module 1110 is further configured to acquire yaw rate signals and roll acceleration signals.

[0146] In some embodiments, the acquisition module 1110 is further configured to acquire a pitch acceleration signal.

[0147] In some embodiments, the acquisition module 1110 is further configured to acquire a braking signal.

[0148] In some embodiments, the acquisition module 1110 is further configured to acquire suspension displacement signals.

[0149] In some instances, the adjustment module 1120 is also used to increase the recovery damping of the first adjustable damper and / or increase the compression damping of the second adjustable damper based on the steering angle signal, steering speed signal, and vehicle speed signal, wherein the first adjustable damper is an adjustable damper on the inside of the steering wheel and the second adjustable damper is an adjustable damper on the outside of the steering wheel.

[0150] In some instances, the adjustment module 1120 is also used to increase the recovery damping of the third adjustable damper and / or increase the compression damping of the fourth adjustable damper based on the yaw rate signal, the roll acceleration signal, and the vehicle speed signal. The third adjustable damper is a damping adjustable damper on the roll-up side, and the fourth adjustable damper is a damping adjustable damper on the roll-down side.

[0151] In some instances, the adjustment module 1120 is also used to increase the recovery damping of the fifth adjustable damper and / or increase the compression damping of the sixth adjustable damper based on the pitch acceleration signal and the vehicle speed signal. The fifth adjustable damper is the adjustable damper at the pitch lifting end, and the sixth adjustable damper is the adjustable damper at the pitch lowering end.

[0152] In some instances, the adjustment module 1120 is also used to increase the recovery damping of the seventh adjustable damper and / or increase the compression damping of the eighth adjustable damper based on the braking signal and the vehicle speed signal, wherein the seventh adjustable damper is an adjustable damper for the front suspension system and the eighth adjustable damper is an adjustable damper for the rear suspension system.

[0153] In some instances, the adjustment module 1120 is also used to determine the vehicle's fly-off state based on the suspension displacement signal; based on the fly-off state, the controller increases the recovery damping or compression damping of the ninth adjustable damper to a preset damping value until the fly-off state changes, and the ninth adjustable damper is the damping adjustable damper of the suspension system.

[0154] In some instances, in response to the fly-up state being the fly-up airborne state, the adjustment module 1120 is also used to increase the compression damping of the ninth adjustable damper to a first preset damping value; in response to the fly-up state being the fly-up landing state, the adjustment module 1120 is also used to increase the recovery damping of the ninth adjustable damper to a second preset damping value.

[0155] In summary, the damping suspension control device 11200 disclosed herein includes: an acquisition module 1110 for acquiring a status signal; and an adjustment module 1120 for adjusting the damping of the adjustable damper based on the status signal. The device disclosed herein can adjust the damping characteristics of the adjustable damper in real time according to information such as vehicle speed and road conditions to adapt to various road conditions and improve vehicle driving safety.

[0156] Since the apparatus provided in this disclosure corresponds to the methods provided in the above-described embodiments, the implementation methods are also applicable to the apparatus provided in the embodiments of this disclosure, and will not be described in detail in the embodiments of this disclosure.

[0157] The methods and apparatus provided in the embodiments of this disclosure have been described above. To implement the functions of the methods provided in the embodiments of this disclosure, the electronic device may include a hardware structure and software modules, and may implement the above functions in the form of a hardware structure, software modules, or a hardware structure plus software modules. One of the above functions may be executed in the form of a hardware structure, software modules, or a hardware structure plus software modules.

[0158] Figure 12 is a schematic diagram of the structure of an electronic device 1200 provided in an embodiment of this disclosure. The electronic device 1200 can be a network device, a terminal device, a chip, chip system, or processor that supports the implementation of the above methods in a network device, or a chip, chip system, or processor that supports the implementation of the above methods in a terminal device. This device can be used to implement the methods described in the above method embodiments; for details, please refer to the descriptions in the above method embodiments.

[0159] Electronic device 1200 may include one or more processors 1201. Processor 1201 may be a general-purpose processor or a special-purpose processor, such as a baseband processor or a central processing unit (CPU). The baseband processor can be used to process communication protocols and communication data, while the CPU can be used to control electronic devices (e.g., base stations, baseband chips, terminal devices, terminal device chips, DUs or CUs, etc.), execute computer programs, and process data from the computer programs.

[0160] In some embodiments, the electronic device 1200 may further include one or more memories 1202, on which a computer program 1204 may be stored. The processor 1201 executes the computer program 1204 to cause the electronic device 1200 to perform the methods described in the above method embodiments. In some embodiments, the memory 1202 may also store data. The electronic device 1200 and the memory 1202 may be provided separately or integrated together.

[0161] In some embodiments, the electronic device 1200 may further include a transceiver 1205 and an antenna 1206. The transceiver 1205 may be referred to as a transceiver unit, transceiver, or transceiver circuit, etc., and is used to implement transceiver functions. The transceiver 1205 may include a receiver and a transmitter. The receiver may be referred to as a receiver or receiving circuit, etc., and is used to implement a receiving function; the transmitter may be referred to as a transmitter or transmitting circuit, etc., and is used to implement a transmitting function.

[0162] In some embodiments, the electronic device 1200 may further include one or more interface circuits 1207. The interface circuits 1207 are used to receive code instructions and transmit them to the processor 1201. The processor 1201 executes the code instructions to cause the electronic device 1200 to perform the methods described in the above method embodiments.

[0163] In one implementation, the processor 1201 may include a transceiver for implementing receiving and transmitting functions. For example, the transceiver may be a transceiver circuit, an interface, or an interface circuit. The transceiver circuit, interface, or interface circuit for implementing receiving and transmitting functions may be separate or integrated. The aforementioned transceiver circuit, interface, or interface circuit can be used for reading and writing code / data, or it can be used for transmitting or relaying signals.

[0164] In one implementation, processor 1201 may store computer program 1203, which runs on processor 1201 and causes electronic device 1200 to perform the methods described in the above method embodiments. Computer program 1203 may be embedded in processor 1201; in this case, processor 1201 may be implemented in hardware.

[0165] In one implementation, the electronic device 1200 may include circuitry that performs the functions of transmitting, receiving, or communicating as described in the foregoing method embodiments. The processor and transceiver described in this disclosure can be implemented on integrated circuits (ICs), analog ICs, radio frequency integrated circuits (RFICs), mixed-signal ICs, application-specific integrated circuits (ASICs), printed circuit boards (PCBs), electronic devices, etc. The processor and transceiver can also be manufactured using various IC process technologies, such as complementary metal-oxide-semiconductor (CMOS), n-metal-oxide-semiconductor (NMOS), p-type metal-oxide-semiconductor (PMOS), bipolar junction transistors (BJTs), bipolar CMOS (BiCMOS), silicon-germanium (SiGe), gallium arsenide (GaAs), etc.

[0166] The electronic devices described in the above embodiments can be network devices or terminal devices, but the scope of the electronic devices described in this disclosure is not limited thereto, and the structure of the electronic devices is not limited to FIG12. The electronic device can be a standalone device or part of a larger device. For example, the electronic device can be:

[0167] (1) Independent integrated circuit IC, or chip, or chip system or subsystem;

[0168] (2) A collection of one or more ICs, in some embodiments of which the collection of ICs may also include storage components for storing data and computer programs;

[0169] (3) ASIC, such as modem;

[0170] (4) Modules that can be embedded in other devices;

[0171] (5) Receivers, terminal equipment, smart terminal equipment, cellular phones, wireless equipment, handheld devices, mobile units, vehicle-mounted equipment, network equipment, cloud equipment, artificial intelligence equipment, etc.

[0172] (6) Others, etc.

[0173] Embodiments of this disclosure also provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to perform the methods described in the above embodiments of this disclosure.

[0174] Embodiments of this disclosure also propose a vehicle that includes the system described in the above embodiments.

[0175] Those skilled in the art will also understand that the various illustrative logical blocks and steps listed in the embodiments of this disclosure can be implemented by electronic hardware, computer software, or a combination of both. Whether such functionality is implemented in hardware or software depends on the specific application and the overall system design requirements. Those skilled in the art can implement the functionality using various methods for each specific application, but such implementation should not be construed as exceeding the scope of protection of the embodiments of this disclosure.

[0176] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0177] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0178] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this disclosure pertain.

[0179] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processing module, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (control method), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic device, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0180] It should be understood that various parts of the embodiments of this disclosure can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0181] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware, and the program can be stored in a computer-readable storage medium. When executed, the program includes one or a combination of the steps of the method embodiments.

[0182] Furthermore, the functional units in the various embodiments of this disclosure can be integrated into a single processing module, or each unit can exist physically separately, or two or more units can be integrated into a single module. The integrated module can be implemented in hardware or as a software functional module. When the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. The aforementioned storage medium can be a read-only memory, a disk, or an optical disk, etc.

[0183] Although embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A damping suspension system, the system comprising: The system includes a status module, a controller, and an adjustable damper. The status module is connected to the controller; The controller and the adjustable damper are connected; The status module is used to acquire the vehicle's status signals; The controller is used to adjust the damping of the adjustable damper according to the status signal.

2. The system according to claim 1, wherein the status module comprises: At least one of the following: steering module, braking module, power module, and displacement sensing module.

3. The system according to claim 1, further comprising a central control display, the central control display being used to display at least one of the following: The vehicle's driving modes include at least one of standard mode, racing mode, Baja mode, and rock climbing mode; The preload damping characteristics of the adjustable damper; The status signal indicates the vehicle status information.

4. The system according to claim 1, wherein the controller includes an acceleration sensing module, the acceleration sensing module being configured to acquire at least one of the following: The yaw rate of the vehicle; The vehicle's roll acceleration; The vehicle's roll acceleration.

5. The system according to claim 1, wherein the damping adjustable damper is a dual-circuit solenoid valve damper.

6. The system according to claim 1, wherein the damping adjustable shock absorber is located in the vehicle's suspension system.

7. A damping suspension control method, said method being applied to the system as described in any one of claims 1-4, said method comprising: The status module acquires the vehicle's status signals; Based on the status signal, the controller adjusts the damping of the adjustable damper.

8. The method according to claim 7, wherein the state module acquires the state signal by: The steering module acquires steering angle and steering speed signals; The power module acquires the vehicle speed signal; Wherein, based on the state signal, the controller adjusts the damping of the adjustable damper, including: Based on the steering angle signal, the steering speed signal, and the vehicle speed signal, the controller adds the recovery damping of the first adjustable damper and / or adds the compression damping of the second adjustable damper. The first adjustable damper is an adjustable damper on the inside of the steering wheel, and the second adjustable damper is an adjustable damper on the outside of the steering wheel.

9. The method according to claim 7, wherein the state module acquires the state signal by: The accelerometer module acquires yaw rate and roll acceleration signals; The power module acquires the vehicle speed signal; Wherein, based on the state signal, the controller adjusts the damping of the adjustable damper, including: Based on the yaw rate signal, the roll acceleration signal, and the vehicle speed signal, the controller adds the recovery damping of a third adjustable damper and / or adds the compression damping of a fourth adjustable damper. The third adjustable damper is an adjustable damper on the roll-up side, and the fourth adjustable damper is an adjustable damper on the roll-down side.

10. The method according to claim 7, wherein the state module acquires the state signal by: The acceleration sensing module acquires the pitch acceleration signal; The power module acquires the vehicle speed signal; Wherein, based on the state signal, the controller adjusts the damping of the adjustable damper, including: Based on the pitch acceleration signal and the vehicle speed signal, the controller adds the recovery damping of the fifth adjustable damper and / or adds the compression damping of the sixth adjustable damper. The fifth adjustable damper is the adjustable damper at the pitch lifting end, and the sixth adjustable damper is the adjustable damper at the pitch lowering end.

11. The method according to claim 7, wherein the state module acquires the state signal by: The braking module acquires braking signals; The power module acquires the vehicle speed signal; Wherein, based on the state signal, the controller adjusts the damping of the adjustable damper, including: Based on the braking signal and the vehicle speed signal, the controller adds the recovery damping of the seventh adjustable damper and / or adds the compression damping of the eighth adjustable damper. The seventh adjustable damper is the adjustable damper for the front suspension system, and the eighth adjustable damper is the adjustable damper for the rear suspension system.

12. The method according to claim 7, wherein the state module acquires the state signal by: The displacement sensing module acquires suspension displacement signals; The step of adjusting the damping of the adjustable damper based on the state signal includes: based on the suspension displacement signal, the controller determines that the vehicle is in a jump-off state, and the jump-off state is the state of the vehicle when the suspension displacement is continuously greater than a first preset displacement threshold value for a first preset time. Based on the aforementioned airborne state, the controller increases the compression damping of the ninth adjustable damper to a first preset damping value until the vehicle leaves the airborne state. The ninth adjustable damper is the damping adjustable damper of the suspension system.

13. The method according to claim 7, wherein the state module acquires the state signal by: The displacement sensing module acquires suspension displacement signals; Wherein, based on the state signal, the controller adjusts the damping of the adjustable damper, including: Based on the suspension displacement signal, the controller determines that the vehicle is in a ground-holding state. The ground-holding state is the state of the vehicle when the suspension displacement is continuously greater than a second preset displacement threshold value for a second preset time period and decreases to less than or equal to a third preset displacement threshold value for a third preset time period. Based on the ground-holding state, the controller increases the recovery damping of the tenth adjustable damper to the second preset damping value until the vehicle leaves the ground-holding state. The tenth adjustable damper is the damping adjustable damper of the suspension system.

14. A damping suspension control device, the device comprising: The acquisition module is used to acquire status signals; An adjustment module is used to adjust the damping of the adjustable damper based on the state signal.

15. An electronic device, characterized in that, The electronic device includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program stored in the memory to cause the electronic device to perform the method as described in any one of claims 7-13.

16. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to perform the method as described in any one of claims 7-13.

17. A vehicle comprising the system as claimed in any one of claims 1-6.

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