943 results about "Active suspension" patented technology

The invention relates to the technical field of vehicle dynamics control, and discloses a vehicle control method and system for a double-closed-loop adjustable magneto-rheological semi-active suspension, and the method comprises the steps: S1, obtaining the state information of a vehicle based on a sensor, building a vibration control model, and calculating and outputting the expected damping force of vibration control; s2, establishing a vehicle body attitude control model, and calculating and outputting vehicle body attitude control expected damping force; s3, calculating the expected damping force obtained in the step S1 and the expected damping force obtained in the step S2 to obtain the total expected damping force; and S4, according to the total expected damping force, the relative speed of the wheels and the vehicle body and the dynamic deflection information of the suspension, a suspension inverse model is established, and expected current is output. According to the method, the control system is optimized by combining the design parameters of the shock absorber and the test parameters of the real vehicle, the current loop adjustment is designed on the basis of the damping loop control, and the tracking compensation control of the current is mainly realized, so that the response speed and the accuracy of the control are improved, and the performance of the magneto-rheological semi-active suspension is further improved.

The invention relates to the technical field of forklift driving stability control, in particular to a forklift driving stability control system based on ultrasonic and laser composite ranging, which comprises a composite ranging module, a multi-modal data fusion module, a stability prediction and control module, an execution mechanism control module and an online learning system. The composite distance measuring module collects surrounding environment information and corrects motion errors through a dynamic compensation algorithm; the multi-modal data fusion module dynamically adjusts the weight of the sensor based on an environmental interference factor, and realizes space-time calibration in combination with extended Kalman filtering; the stability prediction and control module is fused with the vehicle dynamic characteristics to predict the rollover risk and generate a hierarchical control instruction; the actuating mechanism control module drives actuating components such as an active suspension and an electronic differential mechanism through a layered framework. The method can adapt to complex working conditions, the prediction precision and fault-tolerant capability are improved, safety and efficiency are balanced, the maintenance cost is reduced, and the method is suitable for various forklifts.

The invention discloses a sliding-mode adaptive vehicle roll stability control method based on deep reinforcement learning, which is applied to an active suspension vehicle and comprises the following steps: establishing a six-degree-of-freedom steering-roll vehicle dynamics model by combining a Doguff tire model, and calculating a target vehicle body roll angle based on a reverse roll mechanism. A sliding mode controller comprising a linear sliding mode surface and an exponential approaching rate is designed, an intelligent agent based on a soft behavior strategy gradient algorithm (SAC) is constructed, and the intelligent agent adaptively outputs optimal sliding mode parameters by sensing the vehicle state and the roll angle tracking condition. And finally, the sliding mode controller combines the optimal sliding mode parameters and the vehicle state to calculate the active roll-over moment and distributes the active roll-over moment to the main power of the left and right side suspensions, so that the precise regulation and control of the vehicle body posture are realized. According to the method, the roll stability domain during high-speed steering can be remarkably expanded, the lateral sensing acceleration of passengers is reduced, the high-robustness tracking effect is kept under complex disturbance, and meanwhile sliding mode buffeting is restrained.

The invention discloses a drive-by-wire chassis electric vehicle hardware-in-the-loop simulation test bench and a power chassis domain integrated control architecture thereof. The test bench comprises a driving simulation system, an electric drive system, a drive-by-wire brake system, a drive-by-wire steering system, an active suspension system, a power chassis domain integrated control system, a vehicle real-time simulation system and a bench measurement and control system. And the power chassis domain integrated control system receives a driver instruction, road environment and vehicle model information and response information of each execution system of the power chassis and the load simulation device of the execution system to complete decision-making instruction sending. The power chassis domain integrated control system adopts a hierarchical control architecture and comprises a vehicle motion stability judgment layer, a vehicle motion integrated control layer and an actuator and load control layer thereof. The system is used for testing and verifying control algorithms of various movement modes such as transverse and longitudinal movement modes, transverse and vertical movement modes and transverse, longitudinal and vertical movement modes of the drive-by-wire chassis intelligent electric vehicle, and has the characteristics of complete drive-by-wire chassis functions, high power chassis domain fusion degree, wide test coverage and the like.

Active suspension actuator systems including an actuator with a compression volume and an extension volume are described. In some embodiments, the system includes one or more flow control devices in fluid communication with the compression volume and / or the extension volume of the actuator. In some instances, a flow control device may include a pressure balanced blow-off valve (PBOV). In some embodiments, the system includes a high capacity bidirectional base valve. In some embodiments, two or more flow control devices cooperate to, for example, damp low amplitude oscillations in the extension and / or compression volumes, and to allow the build-up of pump generated differential pressures while discharging rapid road induced differential pressure spikes between the extension and compression volumes.

The invention belongs to the technical field of active suspension control, and particularly relates to an active suspension control method and system based on Skhook-ADRC-FFORC. According to the method, key parameters are obtained by establishing a 1 / 4 vehicle suspension dynamical model, a state space model is constructed, active disturbance suppression control is introduced on the basis, and the stability of the vehicle suspension is improved. Real-time estimation and compensation of vehicle body displacement and total disturbance of a system are realized, fractional order sliding mode control is combined, a fractional order sliding mode surface is constructed by using a Caputo operator, high robustness and smoothness are considered, the buffeting problem of a traditional sliding mode is suppressed, and finally, the high-frequency vibration isolation advantage of Skyhook control and the anti-interference capability of ADRC-FFORC are subjected to weighted fusion. The problems that in the prior art, model simplification and control distortion are caused, and a single strategy cannot give consideration to multi-target performance are solved, and by fusing ADRC, FOSMC and Skyhook control and realizing adaptive weighted switching, the robustness, smoothness and real-time performance of the active suspension under complex working conditions are effectively improved, so that collaborative optimization of vehicle comfort and safety is realized.

A wheel action-based active suspension damping adjustment apparatus recognizes wheel actions through a steering apparatus, distance measuring apparatuses and force sensors and calculates an action damping magnitude according to damping parameters determined by different wheel actions, thereby achieving optimal adjustment under different actions. The changes in an inclination angle of a vehicle cabin floor and a vertical acceleration are monitored by using an inclination angle sensor and acceleration sensors, and meanwhile, an inclination angle damping and an acceleration damping are determined according to exceeding amplitudes, and a total damping of active suspensions is fed back and corrected, thereby further enhancing an adjustment and control effect of the active suspensions. According to the method, basic damping, action damping, inclination angle damping and acceleration damping data is output and recorded, and classified according to a vehicle state and the wheel actions, data changes under a same classification are compared.

The invention discloses an energy recovery full-active suspension control method based on deep reinforcement learning. The method comprises the following steps: 1, constructing an energy recovery full-active suspension simulation model and a simulation pavement model; 2, constructing a state quantity and an action quantity, and processing the action quantity to control suspension output control force; 3, designing a reward function; and 4, constructing a strategy-evaluation network, and training a neural network based on a PPO algorithm so as to dynamically generate a suspension control strategy. By optimizing the dynamic response of the suspension system, the performance of the vehicle on various road surfaces and under various driving conditions can be improved, so that collaborative optimization of energy recovery and suspension performance can be realized, and multiple requirements of the intelligent vehicle on comfort, safety and energy efficiency can be met.

The invention provides a semi-active suspension vibration control method and system based on preview fusion and game decision, and the method comprises the following steps: obtaining pavement preview information through a forward sensor, carrying out the signal processing, and generating a future pavement preview sequence in real time; establishing a two-degree-of-freedom 1 / 4 whole vehicle vertical dynamical model; under a model prediction control framework, participants of a non-cooperative Nash game model are defined, a corresponding cost function is designed, a damping coefficient is discretized by adopting mixed integer programming, Nash equilibrium is solved by adopting a branch and bound method, and an optimal damping coefficient is obtained; mapping the optimal damping coefficient into optimal damping force meeting constraint conditions; hysteresis force compensation is conducted through a hysteresis model, and target control current is obtained through damping force obtained after hysteresis compensation according to the mapping relation between the damping force of the magnetorheological damper and the control current; and outputting the target damping force according to the instruction of the target control current. According to the invention, autonomous balance adjustment of multiple control targets is realized.

The utility model provides an integrated electric pump set applied to a vehicle chassis active suspension, which comprises a shell component, a controller, a first hydraulic pump, a first motor, a second motor and a second hydraulic pump, the first hydraulic pump, the first motor, the second motor and the second hydraulic pump are axially arranged, the shell component comprises two motor shells, a controller shell and a connecting mechanism, and the two motors are respectively arranged in the two motor shells. The controller is installed in the controller shell, and the two hydraulic pumps are connected with motor shafts of the two motors respectively. The two motor shells are in axial butt joint, at least one group of bolt holes perpendicular to the axial direction are formed in the butt joint position, the connecting mechanism comprises at least one group of connecting assemblies, each connecting assembly comprises a connecting plate and a group of connecting bolts, through holes are formed in the two ends of each connecting plate, and the connecting bolts are matched with the bolt holes; the controller shell is connected to the upper sides of the two motor shells through bolts. According to the integrated electric pump set, the installation occupied space of the electric pump set assembly can be reduced, the structural design is optimized, and the disassembly difficulty can be reduced.

The invention relates to the technical field of automobile suspension control, in particular to a control compensation method, medium and equipment based on the high-frequency hysteresis characteristic of an active suspension, and the method comprises the steps: collecting the dynamic state data of a vehicle in real time, carrying out the working condition recognition of the dynamic state data, and determining the control demand of the active suspension of the vehicle under the current working condition; establishing an active suspension model, and determining an execution boundary of an active suspension; based on the control requirement, a control strategy of the active suspension is obtained in combination with the active suspension model and hysteresis characteristics thereof, and it is ensured that the active suspension meets the execution boundary; based on the control strategy, performing multiple experiments on the active suspension model to obtain corresponding performance indexes; and based on the performance indexes, optimizing the control strategy until the active suspension reaches the optimal control performance, and obtaining the optimal control strategy. According to the method, the response hysteresis and the amplitude-frequency attenuation of the active suspension are considered in the control requirement, the active suspension is compensated, and the execution potential of an actuator of the active suspension is fully exerted.

The invention provides a suspension control method and device, a vehicle and a storage medium. According to the embodiment of the invention, a first wheel rotating speed of the vehicle is obtained through a wheel speed sensor, and a first vehicle body vertical speed of the vehicle is obtained through a sprung sensor; according to the first wheel rotating speed and the first vehicle body vertical speed, a control current corresponding to a shock absorber is determined; and generating a current signal corresponding to the control current, and sending the current signal to a shock absorber, so that the shock absorber performs shock absorption control on the active suspension according to the current signal. The suspension control method provided by the embodiment of the invention does not depend on an unsprung sensor, so that the cost of the sensor in the embodiment of the invention is reduced, the problem of control strategy failure caused by the delay of the shock absorber under the condition that the unsprung speed frequency is too high is avoided, and the reliability of the embodiment of the invention is improved.

The invention relates to a cooperative control method for smooth pit-passing braking of a vehicle. The cooperative control method comprises the following steps that geometric data of a road surface pit and initial time data of predicted contact between a target wheel and the front edge of the pit are obtained through a preview sensing system; when the geometric data and the initial time data meet a preset triggering condition, triggering a suspension position control mode of the target wheel: acquiring target height data of a suspension, and generating a movement track of an active suspension of the target wheel from the current height data to the target height data; controlling an active suspension actuator to track the motion trail; and responding to the condition that the active suspension actuator reaches the preset supporting state. According to the method, traditional passive impact bearing is converted into active impact avoiding and buffering, so that collision energy between the wheels and the pothole edge is greatly absorbed, vertical bumping and pitching shaking of a vehicle body under the condition that a single wheel passes through a pit are effectively restrained, and unprecedented stable and comfortable braking experience is provided for passengers.

The invention relates to the technical field of hybrid electric vehicle active suspension control, in particular to a hybrid electric vehicle active suspension control method under the road surface and switching excitation coupling effect. The road dynamic information rapid preview comprises the steps of excitation and vehicle response characteristic mapping quantity definition, binocular 3D visual identification discrete impact excitation, random road surface grade identification, continuous spectrum construction and rapid reconstruction of road time domain excitation in combination with a transformation method. According to the method, the optimal vehicle dynamic response characteristic quantity is selected through an improved distance evaluation technology, an intelligent algorithm is provided on this basis to realize accurate identification of road surface discrete impact and random road surface grades, road surface time domain excitation can be rapidly constructed in combination with a transformation method, and accurate information is provided for subsequent control input in real time.

The electromagnetic active suspension is used for being connected between a vehicle body and wheels of a motor vehicle and is characterized in that the electromagnetic active suspension comprises an electromagnetic actuator and a magnetorheological damper, the electromagnetic actuator is a linear motor, and the linear motor comprises a permanent magnet cylinder, a primary winding and a bearing connected with the permanent magnet cylinder and the primary winding; the magneto-rheological damper and the linear motor are integrated in the same suspension assembly, the electromagnetic actuator and the magneto-rheological damper are integrated in the same suspension assembly, the integration level of the electromagnetic active suspension is greatly improved, the linear motor is adopted as a main power source, and structure compactness and function collaboration are achieved. The direct driving mode of the linear motor abandons a complex pipeline of a traditional hydraulic system, mechanical inertia is reduced, and the response frequency is greatly improved and far exceeds the upper limit of a hydraulic suspension. The invention further discloses a vehicle which adopts the electromagnetic active suspension, the adaptability of the vehicle under extreme working conditions such as cross-country and racing tracks can be improved, and the optimal balance between control and comfort is achieved.

The invention provides a transmission device and an actuating system. The transmission device comprises two transmission components and a coupling component arranged between the two transmission components. One of the two transmission components is in transmission connection with the force generating mechanism and is used for receiving the torque output by the force generating mechanism; and the other one is in transmission connection with the force output torsion bar and is used for outputting torque to the force output torsion bar. The coupling component is arranged between the two transmission components and used for achieving force transmission between the two transmission components. The active suspension can be applied to intelligent vehicles or electric vehicles, and the frequency response performance of the active suspension can be improved.

The invention discloses an automobile semi-active suspension PID parameter adaptive adjustment and vibration control method and system based on reinforcement learning, and the method mainly comprises the following working steps: 1, constructing a reinforcement learning environment comprising a suspension dynamics high-fidelity simulation model and a PID controller; 2, defining a state space including a vehicle body vertical acceleration error e (t), an error integral term summa e (t) dt, an error differential term de (t) / dt, a suspension dynamic stroke zdef (t), a driving vehicle speed v (t) and road surface unevenness estimation xi (t); and 3, defining an action space including a proportion coefficient increment delta Kp, an integral coefficient increment delta Ki, a differential coefficient increment delta Kd and an output compensation amount delta e (t) of the PID controller. According to the method, the problem that the suspension performance is reduced due to the fact that control parameters of a traditional PID control method are fixed under the non-linear and time-varying working conditions is solved, and the riding comfort and the handling stability of the vehicle are remarkably improved.

The invention discloses a truck control system and method, and belongs to the technical field of vehicle control, and the system comprises a slope recognition module, an attitude prediction module, a control decision module and an execution module. The gradient recognition module is used for acquiring gradient information and gradient change point positions of a road in front of the truck in real time; the attitude prediction module is connected with the slope recognition module, and predicts the pitch angle change trend when the truck passes through the uphill and downhill turning position based on the slope information; the control decision module is connected with the attitude prediction module and is used for generating a dynamic load distribution instruction and a driving / braking compensation instruction according to the change trend of the pitch angle; and the execution module is connected with the control decision module, comprises an engine controller, a brake controller and an active suspension controller, and is used for executing dynamic load distribution and driving / braking compensation. According to the invention, the attitude change of the wave road turning point can be predicted in advance, and the dynamic stability maintenance of the truck is realized by cooperatively controlling the suspension, the power and the braking system.

The invention is suitable for the technical field of vehicle intelligent control, and provides a data-driven semi-active suspension damping self-adaptive calibration method, which comprises the following steps of: firstly, acquiring and preprocessing real vehicle state data, and then designing a semi-active suspension damping self-adaptive calibration network based on deep Q network reinforcement learning, the method comprises the following steps: constructing a composite reward function architecture fused with Bayesian optimization to optimize vehicle performance indexes, then carrying out network training, finally determining a damping coefficient by using a reinforcement learning algorithm based on a deep Q network, controlling a magneto-rheological damper, and evaluating an action effect through real vehicle reward. According to the method, data driving and deep Q network reinforcement learning are combined, real vehicle data are collected and utilized to determine the suspension damping coefficient, and rapid calibration and online iteration are achieved; the generalization performance of reinforcement learning enables the intelligent vehicle to adapt to most typical working conditions after being fully trained, solves the problem of traditional calibration, improves the self-adaptive calibration capability of the suspension, and gives consideration to the smoothness and operation stability of the vehicle.

The invention relates to an active suspension control method and device of a corner module vehicle, computer equipment and a readable storage medium. The method comprises the following steps: acquiring vehicle state parameters and attribute information; according to the vehicle state parameters, the attribute information and preset anti-rollover constraints, the anti-rollover moment and the suspension total active force in the current vehicle state are determined; distributing the control force corresponding to each suspension based on a preset optimization target, the anti-rollover moment and the total active force of the suspension to obtain a target control force corresponding to each suspension; the target control force is used for performing active suspension control on each suspension. By adopting the method, the accuracy of anti-rollover control can be improved, and the safety of the angle module vehicle is improved.

The invention provides a method for controlling a full-active suspension system and a vehicle, the method is applied to the field of vehicle suspension control, and the method comprises the steps that a target suspension adjusting device of the vehicle is determined according to state parameters of the vehicle and / or environment parameters of the position where the vehicle is located, and the target suspension adjusting device comprises an electric hydraulic device or a damping device; the environment parameters are used for representing the environment state of the position of the vehicle, and the state parameters are used for representing the running state of the vehicle; according to the state parameters, target working parameters of the target suspension adjusting device are determined; and controlling the target suspension adjusting device to operate according to the target working parameters. According to the method, in the running process of the vehicle, work of the electro-hydraulic pump and work of the shock absorber can be decoupled, the electro-hydraulic pump is not controlled to be continuously started when the suspension is adjusted, the starting time of the electro-hydraulic pump is determined according to the state of the vehicle and the environment of the current position, and the vehicle can adapt to and meet the suspension adjusting requirements under different working conditions.

The invention discloses a hydraulic active suspension system with a multi-mode switching function and a control method of the hydraulic active suspension system. The hydraulic active suspension system comprises a sensing module, a control module and a hydraulic suspension module. The sensing module is used for sensing road condition information and a vehicle state; the control module is used for working condition identification, working mode selection and hydraulic suspension module control; the hydraulic suspension module comprises a left front single-wheel suspension system, a left rear single-wheel suspension system, a right front single-wheel suspension system and a right rear single-wheel suspension system, the hydraulic suspension module achieves rapid switching of all the single-wheel suspension systems among a semi-active mode, a slow mode, a rapid mode, a pressurizing mode and a power generation mode through a mode switching valve, and mode switching of all the single-wheel suspension systems can be independently controlled. And the hydraulic suspension module has more flexible and diversified mode combinations. According to the technical scheme, the mode switching of the active suspension is controlled, the problem that an existing active suspension is single in mode and difficult to adapt to complex and changeable road conditions is solved, and the comprehensive performance of an active suspension system is improved.

The invention provides a semi-active suspension control method and device, a storage medium and an electronic device.The method comprises the steps that the road surface feature elevation of a road surface abnormal object of a vehicle in the driving direction is recognized, and the driving speed of the vehicle in the driving direction is detected; calculating a front wheel shock-absorbing opportunity of the vehicle for the road surface abnormal object according to the driving speed, and calculating a shock-absorbing damping coefficient of the vehicle for the road surface abnormal object according to the driving speed and the road surface feature elevation; determining that the front wheels of the vehicle enter a shock absorption control state when the front wheel shock absorption time arrives, and controlling a shock absorber of a front axle suspension of the vehicle based on the shock absorption damping coefficient; judging whether the front wheel is switched from the damping control state to the aftershock control state or not; if the front wheels are switched to the aftershock control state, the aftershock elimination damping coefficient of the vehicle for the road surface abnormal object is calculated according to the running speed, and a shock absorber of a front axle suspension of the vehicle is controlled based on the aftershock elimination damping coefficient; and the driving safety and stability of the vehicle are improved.

The invention discloses a semi-active suspension control strategy based on IIR (Infinite Impulse Response) filter frequency division, which is characterized in that an acceleration sensor is used as input, a low-pass IIR filter and a high-pass IIR filter are respectively used for processing the acceleration of a cab, and appropriate damping is output according to a result so as to suppress the resonance phenomenon of a vehicle body during low-frequency vibration; and the vibration isolation coefficient during high-frequency vibration is improved. According to the method, the number of required sensors is small, the complexity is low, the computing power requirement for hardware is small, the cost of the semi-active suspension can be effectively reduced, and the method has a certain engineering practical application value and is high in generalizability. Test results show that compared with passive suspension, the control strategy can effectively reduce vibration of a vehicle cab in the x direction and the z direction, so that the comfort index of the long-distance logistics vehicle is improved, x-direction optimization is 21.3% at most, and z-direction optimization is 11.7% at most.

A method of controlling a robotic cleaning apparatus. The method includes detecting, via one or more sensors, a soiled area on a target surface for cleaning. The method includes activating an active suspension system to reduce a distance between a chassis of the robotic cleaning device and a target surface to increase pressure exerted by a cleaning pad mounted to the chassis of the robotic cleaning device. The method includes monitoring, via one or more processors, one or more parameters of the robotic cleaning device to determine whether the one or more parameters are outside a threshold parameter range. The method includes adjusting the active suspension system if the one or more parameters are outside the threshold parameter range, and deactivating the active suspension system when it is detected that the soiled area on the target surface is cleaned.

The vehicular state estimation apparatus includes: a physical quantity detector configured to detect a physical quantity indicating behavior by the vehicle; a vehicle behavior estimator configured to estimate current behavior by the vehicle; a distance sensor that is configured to detect a value pertaining to a distance between the vehicle body member and a measurement point on a road surface in front of the vehicle and corresponding to at least a central section of a road surface contact section on a wheel; a distance calculator configured to calculate a road surface distance; a spring constant calculator configured to calculate at least one of spring constants, in a vehicle stopped state; and a suspension controller configured to control operation of the active suspension apparatus based on the spring constants, the road surface distance, and vehicle behavior information.

The invention discloses a driving and braking suspension cooperative control method, device and equipment, a medium and a product, and relates to the field of vehicle active safety control. The method comprises the steps that a driving demand analysis and decision module determines driver demand torque, a control mode and a neutral steering target according to the vehicle state, the steering angle of a steering wheel of a driver and input information of a driving / braking pedal; the hybrid coordination control module determines front and rear motor torques according to the torque required by a driver and the vehicle state under the conventional working condition, and determines four-wheel cylinder brake pressure by using sliding mode control according to the vehicle state; the torque vector optimization distribution control and Smith predictor control method is adopted to determine the torque of a front motor, the torque of a rear motor and the brake pressure of a four-wheel cylinder according to the torque required by a driver, the vehicle state and a neutral steering target under the limiting working condition, and the weighted pseudo-inverse distribution vehicle body posture coordination control is adopted to determine the damping force of the semi-active suspension. The method can achieve the precise tracking of the expected neutral steering target, and gives full play to the lateral movement limit of the vehicle.

Example illustrations are directed to a damping system for a vehicle suspension that includes a controller configured to determine a roughness of a ground surface associated with the vehicle. The controller is also configured to determine a damper setting for the damping system based on the determined roughness. A method is also provided that includes determining, using a controller, a roughness of a ground surface associated with the vehicle. The method may further include determining, using the controller, a damper setting of the vehicle based on the determined roughness.

The invention discloses a semi-active suspension attitude coordination method based on a suspension controller, and belongs to the technical field of attitude coordination, and the method comprises the following steps: S1, carrying out kinetic analysis on a whole vehicle suspension; s2, determining the control force of the vehicle body suspension based on the kinetic analysis result; and S3, according to the control force of the vehicle body suspension, a vehicle body posture coordination controller is used for completing posture control. The dynamic response of the pitch angle and the roll angle of the vehicle body is considered, the vehicle body attitude compensation strategy is constructed to restrain the vehicle body attitude change, and the vehicle stability and comfort are improved; the vehicle body attitude compensation controller is designed, accurate adjustment of pitching and roll is achieved, and the vehicle body attitude compensation method has good application value and development prospects.

A wheel action-based active suspension damping adjustment apparatus recognizes wheel actions through a steering apparatus, distance measuring apparatuses and force sensors and calculates an action damping magnitude according to damping parameters determined by different wheel actions, thereby achieving optimal adjustment under different actions. The changes in an inclination angle of a vehicle cabin floor and a vertical acceleration are monitored by using an inclination angle sensor and acceleration sensors, and meanwhile, an inclination angle damping and an acceleration damping are determined according to exceeding amplitudes, and a total damping of active suspensions is fed back and corrected, thereby further enhancing an adjustment and control effect of the active suspensions. According to the method, basic damping, action damping, inclination angle damping and acceleration damping data is output and recorded, and classified according to a vehicle state and the wheel actions, data changes under a same classification are compared.