CN114083949A - Suspension control method, suspension control device, storage medium and equipment - Google Patents
Suspension control method, suspension control device, storage medium and equipment Download PDFInfo
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- 239000000725 suspension Substances 0.000 title claims abstract description 139
- 238000000034 method Methods 0.000 title claims abstract description 60
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
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Abstract
The invention discloses a device, a method and equipment based on suspension control, relates to the field of automobiles, and mainly aims to solve the problems of single suspension height control method and single adjustment method. The method comprises the following steps: acquiring external environment data; determining driving demand information based on the acquired at least one external environment data; and generating a corresponding suspension control instruction according to the driving demand information. The invention is used for intelligent control and adjustment of the vehicle suspension.
Description
Technical Field
The invention relates to the field of vehicle suspension control, in particular to a suspension control method, a suspension control device, a storage medium and equipment.
Background
With the rapid development of the internet and artificial intelligence industries, people have higher and higher requirements on the individuation and the intellectualization of automobiles. For air suspensions, there is a growing need to embody personalization or intelligence requirements, more than basic support and comfort requirements. The existing vehicle air suspension has partial suspension height and damping adjusting functions including speed adjustment, driving mode adjustment, speed-dependent damping gain and the like besides the basic chassis supporting function, and on the basis, partial functions of meeting user individuation and ceremonies are developed, and the functions mainly comprise two types: the first type is that the function is opened through a basic large screen switch or button in the vehicle, and the function is realized according to fixed logic, such as the function of automatically facilitating getting on and off the vehicle; the second type is that some existing intelligent welcome controls, such as opening the function in the vehicle, and when a user approaches the vehicle through a bluetooth key next time, a specific suspension height adjusting effect can be achieved, such as 'bluetooth welcome'.
It can be seen that the traditional suspension control method cannot realize intelligent control of air suspension, and is embodied in two aspects: firstly, the existing suspension height control method only ascends and descends according to the corresponding vehicle body height according to the established logic, if an unlocking key is pressed, the height is automatically reduced to a certain fixed value, so that the effect is the same for all users, and the individual requirements of different users on the vehicle suspension cannot be realized; secondly, the traditional suspension height adjusting method is too single, and the intelligent effect based on a certain scene cannot be realized by unlocking and locking by a key.
Disclosure of Invention
In view of the above problems, the present invention provides a suspension control method, device, storage medium and device, and mainly aims to solve the problems that individual requirements of different users on a vehicle suspension cannot be met and an intelligent effect based on a certain scenario cannot be achieved.
In order to solve the above technical problem, the present invention provides a method for controlling a suspension, including:
acquiring external environment data;
determining driving demand information based on the acquired at least one type of the external environment data;
and generating a corresponding suspension control command according to the driving demand information.
Optionally, the external environment data includes: at least one of rainfall data, illumination intensity data, image data, IMU inertial data, humidity data, and temperature data.
Optionally, the driving demand information includes: antiskid demand information, buffering demand information, based on at least one above-mentioned external environment data who acquires, confirm the demand information that traveles, include: judging the wet skid degree of the road surface based on at least one of rainfall data, image data, humidity data and temperature data, and determining the anti-skid requirement information according to the wet skid degree of the road surface; and/or determining the flatness of the road surface based on at least one of the image data and the IMU inertial data, and determining the buffering requirement information according to the flatness of the road surface.
Optionally, the method further includes: acquiring user ID information, wherein each piece of user ID information is associated with at least one piece of driving demand information; and determining target demand information among the at least one traveling demand information associated with the user ID information based on the external environment data.
Optionally, the method further includes: acquiring vehicle speed data; the driving demand information is determined based on the vehicle speed data and the external environment data.
Optionally, the method further includes: judging the change frequency of the driving demand information; under the condition that the change frequency of the running demand information is in a preset frequency range, adjusting the frequency of generating a suspension control command or generating a control command in suspension centering, wherein the suspension centering control command is used for enabling the suspension to be in a centering value of the suspension adjusting range; and stopping generating the suspension control command when the change frequency of the running demand information is higher than the preset frequency range.
Optionally, the suspension control command includes a suspension height control command and/or a damping adjustment control command.
In a second aspect, an embodiment of the present invention further provides a suspension control method, including:
an acquisition unit configured to acquire external environment data;
a determination unit, configured to determine driving demand information based on the acquired at least one type of the external environment data;
and the generating unit is used for generating a corresponding suspension control command according to the running demand information.
In order to achieve the above object, according to a third aspect of the present invention, there is provided a storage medium including a stored program, wherein the above-described suspension control method is implemented when the above program is executed by a processor.
In order to achieve the above object, according to a fourth aspect of the present invention, there is provided an electronic device comprising at least one processor, and at least one memory connected to the processor; the processor is used for calling the program instructions in the memory and executing the control method of the intelligent suspension.
By means of the technical scheme, the invention provides a suspension control method, a device, a storage medium and equipment, and the invention obtains external environment data by aiming at the problem that the existing suspension control method can not realize personalized and intelligent control; determining driving demand information based on the acquired at least one type of the external environment data; and generating a corresponding suspension control command according to the driving demand information. The corresponding suspension control instruction is generated by combining the driving demand information, so that different users are considered to combine different external environments, scene change and different control effect requirements of vehicle states on the suspension are ensured, for example, different users, different weather, different road conditions and different vehicle states can automatically generate different effects, the vehicle suspension system can be automatically controlled according to external environment factors, the vehicle can be controlled by the aid of the automatic mode, convenience is brought to driving of the users, safety is provided for the users who are not familiar with driving skills, high efficiency is achieved, matching degree with user requirements is higher, and driving experience is stronger in individuation.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a schematic flow chart diagram illustrating a method of suspension control provided by an embodiment of the present invention;
fig. 2 is a schematic block diagram showing a suspension control apparatus according to an embodiment of the present invention;
fig. 3 is a block diagram illustrating components of an apparatus for a suspension control method according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
In order to solve the problem that the existing suspension control process lacks individuation and intellectualization, the embodiment of the invention provides a suspension control method, as shown in fig. 1, the method comprises the following steps:
101. external environment data is acquired.
According to some embodiments, the external environment data may refer to data corresponding to external environmental factors that affect the driving of the vehicle,
the external environmental factors may be meteorological factors, traffic environmental factors, and the like. Different weather factors are formed by different seasons and different weather conditions; different road conditions and different traffic participating crowds form different traffic environments, which are not limited herein.
102. And determining the driving demand information based on the acquired at least one type of external environment data.
According to some embodiments, the driving demand information may be driving demand information obtained by different demands of a driver on driving feeling in different driving scenes during driving or determined driving demand currently required to be achieved by the vehicle based on safety and other factors.
For example, the above-described travel demand information may be determined based on vehicle stability.
103. And generating a corresponding suspension control command according to the driving demand information.
In some examples, the suspension control command may be a control command for adjusting the chassis height, and when the suspension control command is used to adjust the chassis height, the vehicle may be adapted to different road environments. For example, under the condition that the driving of the vehicle is unstable easily caused by the road surface, the gravity center position of the vehicle can be adjusted by generating a suspension control instruction, so that the driving of the vehicle is more stable and safer, and the mode of automatically controlling the vehicle suspension system according to external environmental factors can assist a user to control the vehicle in an automatic mode as far as possible, thereby bringing convenience to the driving of the user, and providing safe and efficient driving experience with higher matching degree with the user requirement for the user who is not familiar with the driving skill.
According to the method for controlling the suspension provided by the embodiment of the disclosure, for the situation that the existing suspension control method cannot realize personalized and intelligent control, the invention obtains external environment data; determining driving demand information based on the acquired at least one type of the external environment data; and generating a corresponding suspension control command according to the driving demand information. The corresponding suspension control instruction is generated by combining the driving demand information, so that different users are considered to combine different external environments, scene change and different control effect requirements of vehicle states on the suspension are ensured, for example, different users, different weather, different road conditions and different vehicle states can automatically generate different suspension control effects, the automatic mode can control the vehicle suspension system according to external environment factors, the automatic mode can assist the users to control the vehicle through the automatic mode as far as possible, convenience is brought to driving of the users, safety is provided for the users unfamiliar with driving skills, high efficiency is realized, the matching degree with the user requirements is higher, and stronger personalized driving experience is realized.
In one embodiment, the external environment data includes: at least one of rainfall data, illumination intensity data, humidity data, temperature data, image data, IMU inertial data.
Illustratively, the rainfall data may be obtained by a rainfall sensor, the illumination intensity data by a solar sensor, the humidity data by a temperature sensor, the temperature data by a humidity sensor, the image data by an image sensor, and the IMU inertial data by an IMU inertial sensor.
For example, the current weather cloudy and sunny state can be judged through a sunlight sensor; the current air humidity content can be obtained through judgment of a humidity sensor; the current road surface picture can be obtained through the image sensor; whether the current external environment is in a rainy state or not can be judged through a rainfall sensor and a sunlight sensor; the temperature of the current external environment can be judged by a temperature sensor, a humidity sensor and a sunlight sensor; the current road surface state can be judged through the image sensor, the sunlight sensor and the rainfall sensor. Finally, the road surface wet skid degree can be judged more accurately through the air humidity content, whether the road surface is in a rainy state or not, the external environment temperature and the road surface state image; meanwhile, the road condition of the current automobile running can be judged more accurately through IMU inertia data, namely longitudinal and yaw angle data and a road surface state image, so that the road surface evenness is judged.
For example, whether the road surface is frozen or not can be obtained by analyzing image data obtained by an image sensor, can be obtained by analyzing data obtained by a temperature sensor, a rainfall sensor and a humidity sensor, and can also be more accurately obtained by combining the image sensor with the temperature sensor, the rainfall sensor and the humidity sensor. Whether the potholes exist on the road surface or not can be obtained through images obtained by the image sensor, can be obtained through transverse, longitudinal and yaw angle data obtained by the IMU inertial sensor, and can also be obtained through comprehensive judgment of the image sensor and the IMU inertial sensor.
In one embodiment, the driving demand information includes: antiskid demand information and buffering demand information. The driving demand information can be determined through the antiskid demand information; the driving demand information can be determined through the buffering demand information; also can be through antiskid demand information and buffering demand information, more accurate definite travel demand information includes: judging the wet skid degree of the road surface based on at least one of rainfall data, image data, humidity data and temperature data, and determining the anti-skid requirement information according to the wet skid degree of the road surface;
and/or determining the flatness of the road surface based on at least one of the image data and the IMU inertial data, and determining the buffering requirement information according to the flatness of the road surface.
Illustratively, when the vehicle is detected to be driven on a flat road at a high speed, the antiskid demand information is fed back; when the vehicle is detected to be driven on a flat road and in rainy and snowy weather, the antiskid demand information is fed back; when the vehicle is detected to be driven at a high speed and is in rainy and snowy weather, the antiskid demand information is fed back; when the vehicle is detected to be driven on a bumpy road, the flatness of the road surface is low, and the buffering requirement information is fed back to obtain; when the vehicle is detected to be driven on a bumpy road at a high speed, the antiskid demand information and the buffering demand information are fed back; when the vehicle is detected to be driven on a bumpy road and in rainy and snowy weather, the antiskid demand information and the buffering demand information are fed back.
In one embodiment, user ID information is acquired, wherein each piece of user ID information is associated with at least one piece of driving demand information; and determining target demand information among the at least one traveling demand information associated with the user ID information based on the external environment data.
The method comprises the steps that user ID information is collected through an ID management device, wherein the ID management device is used for receiving, storing and verifying the user ID information, the user ID information is transmitted in a wireless mode through Bluetooth, radio frequency, WiFi and the like, the user ID information is stored in the ID management device of a vehicle in advance, different user ID information identifies different suspension heights and damping, and when the ID management device receives and detects the user ID information matched with the user ID information in an ID management device information base, the user ID information and current driving requirement information are combined to determine final target requirement information in a current mode.
For example, in the same vehicle, ID information of two couples are stored in the ID management device, wherein the driving requirement associated with the husband ID is good visual field range and high authenticity, that is, the height of the suspension needs to be adjusted to improve the visual field range, and meanwhile, the damping of the suspension is reduced, and the impedance is reduced to improve the authenticity during driving; the travel demand that the ID of wife is correlated with is then that stability is high and the travelling comfort is high, corresponds to need to adjust the high reduction of suspension promptly and promotes the stability of traveling, improves the suspension damping simultaneously, thereby increases the comfort when impedance promotes the driving. Meanwhile, by combining the current external environment data, for example, when a husband drives at a high-speed and rainy and snowy road section, the stability of the vehicle body under high-speed driving needs to be ensured besides the two requirements of ensuring good vision range and high authenticity of the husband, so that the height of the suspension needs to be properly reduced; when a wife runs on a bumpy road section in a city, the influence of a bumpy road surface on a vehicle chassis needs to be considered besides ensuring high stability and high comfort, so that the height of a suspension needs to be properly increased to prevent the vehicle chassis from being scraped. Therefore, the effect of determining the optimal height and damping of the suspension by combining the user requirements and the external environment is achieved, and the personalized requirements of different users and the intelligent effect of scenes are further achieved.
In one embodiment, vehicle speed data is acquired, and the travel demand information is determined based on the vehicle speed data and the external environment data.
The electronic instrument board, tachymeter one end is connected the instrument board, and one end is connected the gear box, reachs the auto wheel revolution according to the revolution of gear box transmission part, and the instrument board inside can reachs wheel girth (the distance that rolls a circle) according to the size and the diameter of wheel according to the formula and calculates the speed of time that the vehicle was rolling at that time promptly speed data, confirms the information of the demand of traveling based on speed data and above-mentioned environmental data.
When the vehicle is detected to be high in speed, the road surface is flat, and rain and snow weather exists, determining antiskid demand information; when the vehicle speed is detected to be low and the road surface is uneven, determining buffering requirement information; when the vehicle speed is detected to be high, the road surface is uneven, and the weather of rain and snow is detected, the antiskid demand information and the buffering demand information are determined.
In one embodiment, the change frequency of the driving demand information is judged, and when the change frequency of the driving demand information is in a preset frequency range, the frequency of generating a suspension control command is adjusted or a suspension centering control command is generated, wherein the suspension centering control command is used for enabling the suspension to be centered in the adjustment range; and stopping generating the suspension control command when the change frequency of the running demand information is higher than the preset frequency range.
The above change frequency is calculated from big data by taking into account the capacity, i.e., sufficient vehicle sample data, and the variety of the kind, i.e., the data type. The big data calculation comprises data exchange, data integration and modeling, index management, machine learning component establishment and monitoring implementation. Therefore, the problem that the service life of the suspension regulation and control equipment is shortened due to frequent regulation is solved, and then the intelligent and personalized effects are achieved.
For example, in a certain road section, within 10 months, through big data calculation, the number of times of the average adjusted suspension height of all passing vehicles on the road section is 3.5 times; setting the preset frequency range of the height of the suspension to be 3-4 times if the damping frequency value of the suspension is 2.6 times; the suspension damping preset frequency range is set to be 2-3 times. When the vehicle passes through the road section, if the frequency of the generated suspension height control command is in 3-4 times, normally outputting the suspension height control command; if the frequency of the generated suspension damping control command is within 2-3 times, normally outputting the suspension damping control command; if the frequency of the generated suspension height control command is more than 4 times, stopping generating the suspension height control command; and if the frequency of the generated suspension damping control command is more than 3 times, stopping generating the suspension damping control command.
In one embodiment, the suspension control commands include suspension height control commands and/or damping adjustment control commands.
The height of the suspension can be controlled, and the suspension damping influences the driving stability.
When the collector detects the antiskid demand information, the antiskid demand information is uploaded to the server, and the server adjusts the suspension to reduce the height, so that the stability of the vehicle body is improved; when the collector detects the buffering demand information, the server adjusts the suspension damping lifting, thereby improving the driving smoothness of the automobile,
and/or;
when the vehicle-mounted controller detects the antiskid demand information, a suspension reduction instruction is generated, and the height of the suspension is reduced, so that the stability of a vehicle body is improved;
when the vehicle-mounted controller detects the buffering requirement information, a corresponding suspension damping adjusting and lifting instruction is generated, and therefore the running smoothness of the automobile is improved.
Further, as an implementation of the method shown in fig. 1, an embodiment of the present invention further provides a device for adjusting a suspension, which is used to implement the method shown in fig. 1. The embodiment of the apparatus corresponds to the embodiment of the method, and for convenience of reading, details in the embodiment of the apparatus are not repeated one by one, but it should be clear that the apparatus in the embodiment can correspondingly implement all the contents in the embodiment of the method. As shown in fig. 2, the apparatus includes: an acquisition unit 21, a determination unit 22, a generation unit 23, wherein
An acquisition unit that can acquire external environment data;
a determination unit, configured to determine driving demand information based on the acquired at least one external environment data;
the generating unit may be configured to generate a corresponding suspension control command according to the travel demand information. Illustratively, the external environment data may include: at least one of rainfall data, illumination intensity data, image data, IMU inertial data, humidity data, and temperature data.
For example, the driving demand information may include: anti-skid requirement information, buffering requirement information,
the determining unit may be specifically configured to: judging the wet skid degree of the road surface based on at least one of rainfall data, image data, humidity data and temperature data, and determining the anti-skid requirement information according to the wet skid degree of the road surface; and/or determining the flatness of the road surface based on at least one of the image data and the IMU inertial data, and determining the buffering requirement information according to the flatness of the road surface.
For example, the determining unit may be further configured to: acquiring user ID information, wherein each piece of user ID information is associated with at least one piece of driving demand information; and determining target demand information among the at least one traveling demand information associated with the user ID information based on the external environment data.
For example, the determining unit may be further configured to: acquiring vehicle speed data; the driving demand information is determined based on the vehicle speed data and the external environment data.
Illustratively, the generating unit may be further configured to: judging the change frequency of the driving demand information; under the condition that the change frequency of the running demand information is in a preset frequency range, adjusting the frequency of generating a suspension control command or generating a control command in suspension centering, wherein the suspension centering control command is used for enabling the suspension to be in a centering value of the suspension adjusting range; and stopping generating the suspension control command when the change frequency of the running demand information is higher than the preset frequency range.
Illustratively, the suspension control commands include a suspension height control command and/or a damping adjustment control command.
According to the suspension control device provided by the embodiment of the disclosure, for the situation that the existing suspension control method cannot realize personalized and intelligent control, the invention obtains external environment data; determining driving demand information based on the acquired at least one type of the external environment data; and generating a corresponding suspension control command according to the driving demand information. The corresponding suspension control instruction is generated by combining the driving demand information, so that different users are considered to combine different external environments, scene change and different control effect requirements of vehicle states on the suspension are ensured, for example, different users, different weather, different road conditions and different vehicle states can automatically generate different suspension control effects, the automatic mode can control the vehicle suspension system according to external environment factors, the automatic mode can assist the users to control the vehicle through the automatic mode as far as possible, convenience is brought to driving of the users, safety is provided for the users unfamiliar with driving skills, high efficiency is realized, the matching degree with the user requirements is higher, and stronger personalized driving experience is realized.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, the display method of the suspension control capable of being automatically executed is realized by adjusting the kernel parameters, and the problem that the suspension individuation and intelligent control cannot be realized can be solved.
An embodiment of the present invention provides a storage medium including a stored program that, when executed by a processor, implements the suspension control method described above.
The embodiment of the invention provides a processor, wherein the processor is used for running a program, and the suspension control method is executed when the program runs.
The embodiment of the invention provides equipment, which comprises at least one processor and at least one memory connected with the processor; the processor is used for calling the program instructions in the memory and executing the suspension control method.
The smart device herein may be a PC, PAD, mobile phone, etc.
The present application further provides a computer program product adapted to perform a program for initializing the following method steps when executed on a flow management device: acquiring external environment data; determining driving demand information based on the acquired at least one type of the external environment data; and generating a corresponding suspension control command according to the driving demand information.
Further, the external environment data includes: at least one of rainfall data, illumination intensity data, image data, IMU inertial data, humidity data, and temperature data.
Further, the travel demand information includes: anti-skid requirement information, buffering requirement information,
determining driving demand information based on the acquired at least one of the external environment data, including:
judging the wet skid degree of the road surface based on at least one of rainfall data, image data, humidity data and temperature data, and determining the anti-skid requirement information according to the wet skid degree of the road surface;
and/or the presence of a gas in the gas,
and determining the flatness of the circuit surface based on at least one of the image data and the IMU inertial data, and determining the buffering requirement information according to the flatness of the road surface.
Further, the method further comprises the steps of obtaining user ID information, wherein each piece of user ID information is associated with at least one piece of driving demand information;
and determining target demand information among the at least one traveling demand information associated with the user ID information based on the external environment data.
Further, the method further comprises:
acquiring vehicle speed data;
the driving demand information is determined based on the vehicle speed data and the external environment data.
Further, the method further comprises:
judging the change frequency of the driving demand information;
under the condition that the change frequency of the running demand information is in a preset frequency range, adjusting the frequency of generating a suspension control command or generating a control command in suspension centering, wherein the suspension centering control command is used for enabling the suspension to be in a centering value of the suspension adjusting range;
and stopping generating the suspension control command when the change frequency of the running demand information is higher than the preset frequency range.
Further, the method further comprises the step of providing the suspension control command with a suspension height control command and/or a damping adjustment control command.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable flow management apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable flow management apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a device includes one or more processors (CPUs), memory, and a bus. The device may also include input/output interfaces, network interfaces, and the like.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip. The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A suspension control method, comprising:
acquiring external environment data;
determining driving demand information based on the acquired at least one external environment data;
and generating a corresponding suspension control instruction according to the driving demand information.
2. The method of claim 1, wherein the external environmental data comprises: at least one of rainfall data, illumination intensity data, image data, IMU inertial data, humidity data, and temperature data.
3. The method according to claim 1, wherein the travel demand information includes: anti-skid requirement information, buffering requirement information,
determining travel demand information based on the acquired at least one of the external environment data, including:
judging the wet skid degree of the road surface based on at least one of rainfall data, image data, humidity data and temperature data, and determining the antiskid demand information according to the wet skid degree of the road surface;
and/or the presence of a gas in the gas,
and determining the flatness of the circuit surface based on at least one of the image data and the IMU inertial data, and determining the buffering requirement information according to the flatness of the road surface.
4. The method of claim 1, further comprising:
acquiring user ID information, wherein each user ID information is associated with at least one piece of driving demand information;
determining target demand information among the at least one travel demand information associated with the user ID information based on the external environment data.
5. The method of claim 1, further comprising:
acquiring vehicle speed data;
determining the travel demand information based on the vehicle speed data and the external environment data.
6. The method of claim 1, further comprising:
judging the change frequency of the driving demand information;
under the condition that the change frequency of the running demand information is in a preset frequency range, adjusting the frequency of generating a suspension control instruction or generating a suspension centering control instruction, wherein the suspension centering control instruction is used for enabling the suspension to be in a centering value of a suspension adjusting range;
and stopping generating the suspension control command when the change frequency of the running demand information is higher than the preset frequency range.
7. The method according to any one of claims 1 to 6,
the suspension control commands include a suspension height control command and/or a damping adjustment control command.
8. A suspension control apparatus characterized by comprising:
an acquisition unit configured to acquire external environment data;
a determination unit configured to determine driving demand information based on the acquired at least one type of the external environment data;
and the generating unit is used for generating a corresponding suspension control instruction according to the running demand information.
9. A storage medium characterized by comprising a stored program, wherein the program when executed by a processor implements the suspension adjustment method according to any one of claims 1 to 7.
10. An apparatus comprising at least one processor, and at least one memory coupled to the processor; wherein the processor is configured to invoke program instructions in the memory to perform the suspension adjustment method of any one of claims 1 to 7.
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| CN202111154460.6A CN114083949A (en) | 2021-09-29 | 2021-09-29 | Suspension control method, suspension control device, storage medium and equipment |
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| CN202111154460.6A CN114083949A (en) | 2021-09-29 | 2021-09-29 | Suspension control method, suspension control device, storage medium and equipment |
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