CN110605946A - Active suspension adjustment system and method and vehicle - Google Patents

Abstract

The invention provides an active suspension adjustment system and method and a vehicle. The active suspension adjustment system includes: an active suspension system; and a control device that adjusts the active suspension system to provide tilt compensation in at least one degree of freedom based on vehicle travel state changes; wherein the control means determines the degree of tilt compensation based at least in part on the degree of driver engagement in the current driving mode, the degree of tilt compensation being smaller as the degree of driver engagement is greater. The active suspension adjustment system and method and the vehicle according to the invention reduce the influence of the vehicle driving state change on the passenger or the driver.

Description

Active suspension adjustment system and method and vehicle

technical field

The present invention relates to the field of vehicle suspension systems, and more particularly, the present invention relates to a suspension system and method for adjusting tilt compensation based on vehicle driving dynamics and a corresponding vehicle.

Background technique

Active suspension system, also known as active guidance suspension system, dynamic variable suspension system, etc., plays the function of controlling body vibration and body height by changing the height, shape and damping of the suspension system, mainly to improve the stability of vehicle operation, Ride comfort and other performance. Automotive active suspension system can be divided into three categories according to the control type: hydraulic control suspension system, air suspension system and electromagnetic induction suspension system.

When the motorcycle is cornering, the motorcycle body can be inclined, so that the direction of the resultant force of gravity and centrifugal force on the driver is close to the angle of the car body, so that the driver will not be thrown out due to lateral force. Similarly, the aircraft will deflect when turning.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve or at least alleviate the problems existing in the prior art.

It is also an object of the present invention to provide a more comfortable and smoother driving and riding experience.

An active suspension adjustment system is provided that includes:

An active suspension system, the height of the support point of the active suspension system is adjustable; and

a control device that adjusts the active suspension system to provide tilt compensation in at least one degree of freedom based on changes in vehicle driving conditions;

Wherein, the control device determines the degree of inclination compensation based at least in part on the degree of participation of the driver in the current driving mode, and the degree of inclination compensation is smaller as the degree of participation of the driver is greater.

Optionally, in the active suspension adjustment system, the control device has a built-in first inclination compensation degree corresponding to the first driving mode and a second inclination compensation degree corresponding to the second driving mode, wherein in the The degree of involvement of the driver in the first driving mode is greater than the degree of involvement of the driver in the second driving mode, and under the same conditions, the first degree of inclination compensation is smaller than the second degree of inclination compensation.

Optionally, in the active suspension adjustment system, the first driving mode is a manual driving mode or a semi-automatic driving mode.

Optionally, in the active suspension adjustment system, the second driving mode is an automatic driving mode.

Optionally, in the active suspension adjustment system, it is characterized in that the control device adjusts the active suspension system when the vehicle is turning, so that the vehicle is inclined in a direction that reduces the effect of centrifugal force.

Optionally, in the active suspension adjustment system, it is characterized in that the control device adjusts the active suspension system when the vehicle accelerates, so that the vehicle leans forward when the vehicle accelerates, and the control device adjusts the active suspension system when the vehicle decelerates. The active suspension system is adjusted so that the vehicle leans back when decelerating.

In another aspect, a vehicle is provided that includes the active suspension adjustment system according to various embodiments.

In another aspect, there is provided an active suspension adjustment method for adjusting the active suspension system based on changes in the driving state of the vehicle to allow the vehicle to tilt compensation in at least one degree of freedom, the method comprising:

determine the driving mode of the vehicle; and

The degree of lean compensation is determined based, at least in part, on the degree of driver involvement in the current driving mode, the degree of lean compensation being reduced as the degree of driver involvement is greater.

Optionally, in the method, the method comprises: employing a first degree of inclination compensation in a first driving mode and a second degree of inclination compensation in a second driving mode, wherein in the first driving mode The degree of involvement of the driver in the mode is greater than the degree of involvement of the driver in the second driving mode, and under the same conditions, the first degree of inclination compensation is smaller than the second degree of inclination compensation.

Optionally, in the method, the first driving mode is a manual driving mode or a semi-autonomous driving mode.

Optionally, in the method, the second driving mode is an automatic driving mode.

Optionally, in the method, the method includes adjusting the active suspension system when the vehicle is steered so that the vehicle leans in a direction that reduces the effect of centrifugal force.

Optionally, in the method, the method includes adjusting the active suspension system when the vehicle accelerates so that the vehicle leans forward when the vehicle accelerates, and the control device adjusts the active suspension system when the vehicle decelerates, Causes the vehicle to lean backwards when decelerating.

The active suspension adjustment system and method and the vehicle according to the present invention reduce the impact of changes in the driving state of the vehicle on passengers or drivers.

Description of drawings

The disclosure of the present invention will become more easily understood with reference to the accompanying drawings. It is easily understood by those skilled in the art that these drawings are only for the purpose of illustration and are not intended to limit the protection scope of the present invention. In addition, like numerals in the figures are used to designate like parts, where:

Figure 1 shows the cornering attitude of the vehicle without active suspension adjustment;

Figure 2 shows the attitude of the vehicle through a corner after active suspension adjustment; and

FIG. 3 shows a flow chart of an active suspension adjustment method according to the present invention.

Detailed ways

It is easy to understand that, according to the technical solutions of the present invention, without changing the essential spirit of the present invention, those of ordinary skill in the art can propose various alternative structures and implementations. Therefore, the following specific embodiments and accompanying drawings are only exemplary descriptions of the technical solutions of the present invention, and should not be regarded as all of the present invention or as limitations or restrictions on the technical solutions of the present invention.

Orientation terms such as up, down, left, right, front, rear, front, back, top, bottom, etc. mentioned or possibly mentioned in this specification are defined relative to the configurations shown in the respective drawings, which are It is a relative concept, so it may change accordingly according to its different locations and different usage states. Therefore, these and other terms of orientation should not be construed as limiting.

Figure 1 shows the vehicle cornering attitude without active suspension adjustment. FIG. 1 shows the vehicle 1 , the driver 2 and the wheels, including the left wheel 31 and the right wheel 32 . The vehicle in Figure 1 is turning in the direction of arrow T. When the vehicle 1 is turning, the road surface provides a static friction force F to the tires 31 and 32 to balance the centrifugal force C and prevent the vehicle from moving sideways. Since the static friction force F acts on the tires 31 and 32, and the centrifugal force C acts on the center of gravity of the vehicle, which is located higher than the tires, when the vehicle turns, the vehicle tends to tilt in the direction of the centrifugal force C, that is, to the right in FIG. 1 . It should be understood that the angle of inclination is exaggerated in FIG. 1 for clarity, and the angle of inclination in actual conditions will be smaller. During the turning process shown in Figure 1, the passenger is subjected to centrifugal force to the right, and the passenger needs to hold the handrail tightly to prevent the body from leaning or moving to the right. For the driver, since the driver has already formed a driving habit, he will react conditioned reflexively when turning, such as moving the center of gravity, holding the steering wheel, adjusting the angle of the head to tilt relative to the body, keeping or close to the horizontal, or rotating the direction Tilt resists centrifugal force, etc.

Figure 2 shows the attitude of the vehicle when the active suspension is adjusted. In the case of Figure 2, the active suspension system of the vehicle e.g. raises the right side support point of the frame and/or lowers the left side support point of the frame, so that the vehicle leans to the left, ie in the opposite direction of centrifugal force, or leans into the corner . At this time, the leftward component of the support force received by the passenger will at least partially offset the rightward centrifugal force received by the passenger, so that the resultant rightward force received by the passenger is reduced or even zero, providing a more comfortable and stable riding experience. As mentioned above, drivers have already formed driving habits to cope with the upcoming lateral centrifugal force. If the active suspension system provides strong active suspension adjustment, it may bring discomfort to the driver, or even dizziness, etc., causing potential safety hazards.

In view of this, the present invention provides an active suspension adjustment method to adjust the active suspension system to provide tilt compensation to the vehicle in at least one degree of freedom based on changes in the driving state of the vehicle. As shown in FIG. 3 , the method includes: determining a driving mode of the vehicle; and determining a degree of tilt compensation based at least in part on a driver's degree of involvement in the current driving mode, and the degree of tilt compensation is smaller as the degree of driver involvement is greater . In another aspect, an active suspension adjustment system is also provided, comprising: an active suspension system; and a control device that adjusts the active suspension system to provide tilt compensation in at least one degree of freedom based on changes in vehicle driving conditions ; wherein, the control device determines the degree of inclination compensation based at least in part on the degree of participation of the driver in the current driving mode, and the degree of inclination compensation is smaller when the degree of participation of the driver is greater. The so-called vehicle driving state changes at least include acceleration, deceleration and turning conditions or their combinations. It should be understood that the degree of inclination compensation also depends on other factors, such as vehicle speed, ground condition, cornering angle, etc. The comparison of the degree of inclination compensation in this application is made based on the same other factors.

In some embodiments, the at least one degree of freedom includes a first degree of freedom, ie, the left-right direction, and a second degree of freedom, ie, the front-to-back direction. The corresponding adjustment is to adjust the active suspension system when the vehicle is turning, so that the vehicle is inclined in the direction of reducing the effect of centrifugal force, or in other words, towards the center of the bend. For example, as shown in Figure 2, when the vehicle turns right, the centrifugal force is directed to the right in Figure 2, and the active suspension system is adjusted to make the vehicle deflect to the left in Figure 2. This can be achieved by providing a right support for the suspension system. Point height and/or lower the suspension system (as shown in Figure 2 to distinguish left and right). The opposite is true when the vehicle is turning left. With tilt compensation in the left and right directions, passengers will be more stable and comfortable when cornering.

In some embodiments, the method includes adjusting the active suspension system as the vehicle accelerates to lean forward as the vehicle accelerates, and the control adjusts the active suspension system as the vehicle decelerates to lean rearward as the vehicle decelerates. Leaning the vehicle forward may be accomplished, for example, by raising the rear support point height and/or lowering the front support point height. With tilt compensation in the fore and aft directions, passengers will experience smoother and more comfortable acceleration or braking.

In some embodiments, the control device has a built-in first degree of inclination compensation corresponding to the first driving mode and a second degree of inclination compensation corresponding to the second driving mode. After the driving mode is determined, the first driving mode is adopted in the first driving mode. a degree of lean compensation and the use of a second degree of lean compensation in a second driving mode, wherein the degree of driver involvement in the first driving mode is greater than the degree of driver involvement in the second driving mode, and Under the same conditions, the first inclination compensation degree is smaller than the second inclination compensation degree. For example, under the same conditions (such as the same vehicle speed, road conditions, etc.), if the vehicle is cornering in the first driving mode and the second driving mode respectively, the first inclination compensation degree in the first driving mode will be smaller than that in the second driving mode In other words, the first inclination compensation degree is smaller and weaker, and the second inclination compensation degree is larger and stronger, which can be reflected in the size of the inclination angle. More specifically, the first driving mode may be a manual driving mode or a semi-automatic driving mode, and the second driving mode may be an automatic driving mode. As described above, the greater the driver's participation in driving, the more active the response to the upcoming lateral centrifugal force, therefore, the degree of tilt compensation can be reduced to reduce the adverse effect on the driver. However, in the second driving mode with lower driver participation, especially in the automatic driving mode, since the driver is more relaxed and will not actively respond to the upcoming lateral centrifugal force, the degree of tilt compensation can be appropriately enhanced so that the passenger can and more comfortable for the driver.

In another aspect, the present invention also provides a vehicle having an active suspension adjustment system according to the present invention.

The specific embodiments described above are merely intended to more clearly describe the principles of the present invention, wherein various components have been clearly shown or described to facilitate the understanding of the principles of the present invention. Various modifications or changes can be easily made to the present invention by those skilled in the art without departing from the scope of the present invention. Therefore, it should be understood that these modifications or changes should be included within the scope of the patent protection of the present invention.

Claims (13)

1. An active suspension adjustment system comprising: An active suspension system, the height of the support point of the active suspension system is adjustable; and a control device that adjusts the active suspension system to provide tilt compensation in at least one degree of freedom based on changes in vehicle driving conditions; Wherein, the control device determines the degree of inclination compensation based at least in part on the degree of participation of the driver in the current driving mode, and the degree of inclination compensation is smaller as the degree of participation of the driver is greater. 2 . The active suspension adjustment system according to claim 1 , wherein the control device has a built-in first inclination compensation degree corresponding to the first driving mode and a second inclination compensation degree corresponding to the second driving mode, 2 . Wherein, the degree of participation of the driver in the first driving mode is greater than the degree of participation of the driver in the second driving mode, and under the same conditions, the first degree of inclination compensation is smaller than the second degree of inclination compensation. 3. The active suspension adjustment system according to claim 2, wherein the first driving mode is a manual driving mode or a semi-automatic driving mode. 4. The active suspension adjustment system according to claim 2, wherein the second driving mode is an automatic driving mode. 5. The active suspension adjustment system according to any one of claims 1 to 4, wherein the control device adjusts the active suspension system when the vehicle is turning, so as to reduce the inclination of the vehicle in a direction acting with centrifugal force. 6. The active suspension adjustment system according to any one of claims 1-4, wherein the control device adjusts the active suspension system when the vehicle accelerates, so that the vehicle leans forward when the vehicle accelerates, and the The control device adjusts the active suspension system when the vehicle decelerates so that the vehicle leans back when the vehicle decelerates. 7. A vehicle comprising the active suspension adjustment system of any one of claims 1-6. 8. A method of active suspension adjustment to adjust the active suspension system to provide tilt compensation to a vehicle in at least one degree of freedom based on changes in vehicle driving conditions, the method comprising: determine the driving mode of the vehicle; and The degree of lean compensation is determined based, at least in part, on the degree of driver involvement in the current driving mode, the degree of lean compensation being reduced as the degree of driver involvement is greater. 9 . The method of claim 8 , wherein the method includes employing a first degree of tilt compensation in a first driving mode and a second degree of inclination compensation in a second driving mode, wherein in all The degree of participation of the driver in the first driving mode is greater than the degree of participation of the driver in the second driving mode, and under the same conditions, the first degree of inclination compensation is smaller than the second degree of inclination compensation. 10. The method of claim 9, wherein the first driving mode is a manual driving mode or a semi-automatic driving mode. 11. The method of claim 9, wherein the second driving mode is an automatic driving mode. 12. The method of any one of claims 8-11, wherein the method comprises adjusting the active suspension system when the vehicle is steered so as to reduce the tilting of the vehicle in a direction that interacts with centrifugal force. 13. The method of any one of claims 8-11, wherein the method comprises adjusting the active suspension system when the vehicle accelerates so that the vehicle leans forward when accelerating, and the control device is The active suspension system is adjusted when the vehicle decelerates so that the vehicle leans backwards when the vehicle decelerates.