CN114654954A - Air suspension height adjusting method and system - Google Patents
Air suspension height adjusting method and system Download PDFInfo
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- CN114654954A CN114654954A CN202210314652.7A CN202210314652A CN114654954A CN 114654954 A CN114654954 A CN 114654954A CN 202210314652 A CN202210314652 A CN 202210314652A CN 114654954 A CN114654954 A CN 114654954A
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 239000000725 suspension Substances 0.000 title claims abstract description 36
- 238000007689 inspection Methods 0.000 claims abstract description 8
- 238000004590 computer program Methods 0.000 claims description 9
- 230000001186 cumulative effect Effects 0.000 claims description 6
- 238000012360 testing method Methods 0.000 claims description 6
- 230000003044 adaptive effect Effects 0.000 claims description 5
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 description 14
- 230000006870 function Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
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- 230000000630 rising effect Effects 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
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- 238000013500 data storage Methods 0.000 description 1
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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
- B60G17/0152—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 action on a particular type of suspension unit
- B60G17/0155—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 action on a particular type of suspension unit pneumatic unit
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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
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/052—Pneumatic spring characteristics
- B60G17/0523—Regulating distributors or valves for pneumatic springs
- B60G17/0525—Height adjusting or levelling valves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/20—Spring action or springs
- B60G2500/202—Height or leveling valve for air-springs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/30—Height or ground clearance
Abstract
The invention provides a method and a system for adjusting the height of an air suspension, wherein the method comprises the following steps: according to the driving mode selected by a driver, adjusting the air springs of the front axle and the rear axle to a target height; when the adjusting height of the air springs exceeds a preset value, the air springs of the front axle and the rear axle are sequentially adjusted in a grading manner; when the vehicle is not in a driving mode switching state, and the vehicle self-inspection judges that the height of at least one air spring does not meet the set tolerance band requirement, self-adaptive independent height adjustment is carried out on the corresponding air spring. By the scheme, the self-adaptive adjustment and the graded adjustment of the air springs can be realized, accumulated errors caused by simultaneous adjustment are eliminated, the influence of overlarge height difference of individual air springs on the service life of the springs and the driving comfort is avoided, and the accuracy of height adjustment of the air suspension can be guaranteed.
Description
Technical Field
The invention belongs to the technical field of automobiles, and particularly relates to a method and a device for adjusting the height of an air suspension.
Background
The air suspension is used as a vehicle suspension configuration, the height and the hardness degree of a vehicle are changed by compressing air and adjusting air pressure, and the trafficability and the comfort of the vehicle under different road conditions can be guaranteed. In actual vehicle driving, due to differences of driving scenes, the height of an air suspension is required to be adjusted adaptively under different driving modes.
The existing air suspension adjusting mode is mainly characterized in that an air suspension ECU controls an actuator to carry out lifting adjustment according to vehicle speed or air spring height feedback information, but errors introduced when air springs are adjusted simultaneously and height errors existing in front and rear axles can be ignored in the existing air suspension adjusting mode, and the air suspension height adjustment is inaccurate.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and a system for adjusting the height of an air suspension, which are used to solve the problem of inaccurate adjustment of the height of an existing air suspension.
In a first aspect of embodiments of the present invention, there is provided an air suspension height adjustment method, including:
according to a driving mode selected by a driver, adjusting air springs of a front axle and a rear axle to a target height;
when the adjusting height of the air springs exceeds a preset value, the air springs of the front axle and the rear axle are sequentially adjusted in a grading manner;
when the vehicle is not in a driving mode switching state, and the vehicle self-inspection judges that the height of at least one air spring does not meet the set tolerance band requirement, the corresponding air spring is subjected to self-adaptive independent height adjustment.
In a second aspect of an embodiment of the present invention, there is provided an air suspension height adjustment system comprising:
the mode selection adjusting module is used for adjusting the air springs of the front axle and the rear axle to a target height according to the driving mode selected by the driver;
the grading adjustment module is used for regulating the air springs of the front axle and the rear axle in a grading manner according to the sequence when the adjustment height of the air springs exceeds a preset value;
and the self-adaptive adjusting module is used for performing self-adaptive independent height adjustment on the corresponding air spring when the vehicle is not in a driving mode switching state and the vehicle self-inspection judges that the height of at least one air spring does not meet the set tolerance band requirement.
In a third aspect of the embodiments of the present invention, there is provided an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, where the processor executes the computer program to implement the steps of the method according to the first aspect of the embodiments of the present invention.
In a fourth aspect of the embodiments of the present invention, a computer-readable storage medium is provided, which stores a computer program, which when executed by a processor implements the steps of the method provided by the first aspect of the embodiments of the present invention.
In the embodiment of the invention, accumulated errors caused by simultaneous adjustment can be eliminated by adjusting the front axle and the rear axle of the air suspension in a grading manner, the height error of the air spring is reduced by independently and adaptively adjusting the air spring, and the influence of height difference on driving comfort and the service life of the air spring is avoided. Therefore, the height of the air suspension can be quickly and accurately adjusted, the accumulated error in adjustment can be eliminated, and the height error of individual air springs is avoided.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for adjusting the height of an air suspension according to an embodiment of the present invention;
FIG. 2 is a schematic view of a process for adjusting the air spring in stages according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a two-layer height tolerance band provided in accordance with an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an air suspension height adjustment system according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be understood that the term "comprises" and its derivatives, as used in the description or claims of the present invention and in the appended drawings, are intended to cover non-exclusive inclusions, such that a process, method or system, or apparatus that comprises a list of steps or elements is not limited to the listed steps or elements. In addition, "first" and "second" are used to distinguish different objects, and are not used to describe a specific order.
Referring to fig. 1, a flow chart of an air suspension height adjusting method according to an embodiment of the present invention includes:
s101, adjusting air springs of a front axle and a rear axle to a target height according to a driving mode selected by a driver;
the driving modes are defined according to different driving scenes or different driving requirements, and the corresponding air suspension heights in different driving are different. If the driving mode is defined as a sport mode, a comfort mode and an off-road mode, the corresponding heights of the air suspensions are h1, h2 and h3, and after the driving mode is selected, the heights of the air springs are all adjusted to the target height of the air suspension.
The target height is the corresponding air suspension height in the selected driving mode.
The height of the front axle air spring and the height of the rear axle air spring are respectively adjusted, and the adjusted heights are respectively the difference value between the target height and the average height of the current front axle air spring and the difference value between the target height and the average height of the current rear axle air spring.
For example, the difference between two frames before and after the current driving mode request is taken as a judgment condition, the direction of height adjustment is judged, and the direction ChaDre is defined: (1) the height is 1; (2) the middle is 0; (3) the low is-1 three gears.
The heights of the two front axle air springs are h respectivelylf、hrfCurrent front axle air spring average height:
the heights of the two front rear axle air springs are h respectivelylr、hrrCurrent front axle air spring average height:
after the vehicle is started after being powered on, when the driving mode is not selected, the target height of the vehicle is estimated by the current height h. The current height h is within h1 +/-15 mm, the target height is h1, and the target adjusting height of the front axle is h
The rear axle has a target adjusting height of
The current height h is within h2 +/-15 mm, the adjusted target height is h2, and the front axle target adjustment height is h
The rear axle has a target adjusting height of
The current height h is within h3 +/-15 mm, the adjusted target height is h3, and the front axle target adjustment height is h
Rear axle targetThe height is adjusted to
After the driving mode is selected, the vehicle target height hi(i 1, 2, 3 are determined by the driving mode, the front axle target height adjustment
Rear axle target height adjustment
In one embodiment, the air suspension height adjustment process can be divided into:
default state case0 after system entry;
when the height adjusting direction is ascending and the current height and the target adjusting height meet the requirements of each scene, respectively entering Case1, Case2 and Case 3;
when the height adjusting direction is descending and the current height and the target adjusting height meet the requirements of each scene, respectively entering Case4, Case5 and Case 6;
if the current altitude and the target adjustment altitude meet the requirement in the target mode and the adjustment flag tempMark is 0, the system jumps out of the current Case and returns to Case 0.
S102, when the adjusting height of the air springs exceeds a preset value, the air springs of the front axle and the rear axle are adjusted in a grading mode in sequence;
when the driving mode is switched, the height change of the air suspension is overlarge, and if four air springs are adjusted simultaneously, because the load distribution is uneven, the inevitable error accumulation of one or more air springs is large, so that the final adjusting precision cannot meet the requirement.
The predetermined value may be a threshold value determined by actual measurement, or may be a threshold value determined empirically.
For the air suspension height adjustment exceeding a preset value, the front axle air spring and the rear axle air spring can be adjusted in a grading mode, namely, all the air springs are adjusted to the same height in a grading mode, the accumulated height of each grade is the target adjustment height, if the height needing to be adjusted is 60mm, the adjustment can be carried out in three grades (20mm, 40mm and 60mm), the air springs of the front axle and the rear axle are adjusted to 20mm in sequence, then are adjusted to 40mm in sequence, and finally are adjusted to 60 mm.
Specifically, the rear axle is kept still, the front axle air spring is adjusted to a first target height and then stopped, the rear axle air spring is adjusted to the first target height and stops rising, the front axle air spring is continuously adjusted to a second target height and then stopped, the rear axle air spring is adjusted to the second target height and then stops rising, and the front axle and the rear axle are sequentially raised until the front axle air spring and the rear axle air spring both reach the target adjustment height;
or keeping the front axle still, adjusting the rear axle air spring to a first target height, stopping the adjustment, adjusting the front axle air spring to the first target height, stopping the lifting, continuously adjusting the rear axle air spring to a second target height, stopping the lifting after adjusting the front axle air spring to the second target height, and sequentially lifting the rear axle and the front axle until the front axle and the rear axle air spring reach the target adjustment height.
The first target height and the second target height are each associated with a grade of the air spring adjustment height (one target height for each grade), and the target adjustment height is achieved by adding the first target height, the second target height and the subsequent grade height.
When the front axle air spring is adjusted, the left front air spring can be kept still, the right front air spring can be lifted, or the right front air spring can be kept still, and the left front air spring can be lifted.
Similarly, when the rear axle air spring is adjusted, the left rear air spring can be kept still, and the right rear air spring can be lifted, or the right rear air spring can be kept still, and the left rear air spring can be lifted. Specifically, as shown in fig. 2, the air springs are adjusted in stages in sequence.
Illustratively, taking the vehicle as an example of switching from a sport mode to an off-road mode, the off-road mode switching includes switching from the sport mode to a comfort mode and switching from the comfort mode to the off-road mode, therefore, target height adjustment for switching from the sport mode to the comfort mode and switching from the comfort mode to the off-road mode are performed respectively, and the internal adjustment process is subjected to hierarchical processing, and the height value of each level of adjustment is known to be 20-30 mm by combining experience. Target adjustment height for a first switching process
n is a positive integer, it may be determined that the first switching process requires n intercedes to complete.
If the height of a single adjustment of the first switching process is 50mm, the adjustment can be completed in 2 stages and 4 times, namely: the front axle is unchanged, the rear axle is increased by 25 mm-25 mm higher than the front axle, the rear axle is unchanged-25 mm higher than the front axle, the rear axle is increased by 25 mm-25 mm higher than the front axle, and the rear axle is unchanged. The height of a single adjustment is used as a judgment condition for the next adjustment input.
The mode is used for adjusting, the single-stage adjustment is divided into independent adjustment of the front axle and the rear axle, the accumulated error of the front axle and the rear axle can be avoided, the front axle and the rear axle are adjusted and divided into left and right adjustment, and the single adjustment error can be eliminated by the mode that one air spring is adjusted and finished to wait.
Similarly, the descending adjustment is also performed in a stepwise manner, such as a manner of lowering the front axle and then lowering the rear axle.
S103, when the vehicle is not in a driving mode switching state and the vehicle self-inspection judges that the height of at least one air spring does not meet the set tolerance band requirement, self-adaptive independent height adjustment is carried out on the corresponding air spring.
When the system is not in the switching of the driving mode, the vehicle can carry out self-detection on the height of each air spring, and when the height of the air spring does not meet the set tolerance band requirement, target height adjustment is carried out on the air spring.
The tolerance zone is a double-layer height tolerance zone, as shown in FIG. 3, and the target precision range is [ h ]i+2,hi-2]When the height of the air spring is not in [ h ]i+8,hi-8]Then adaptive height adjustment is required.
Wherein, the accumulative mean value of four air springs in different time periods is respectively calculated:
in the formula, havgRepresents the cumulative mean value of the air spring, T represents the update period, T represents the time length, hiRepresenting the height of the air spring, and i is a counting variable;
if the accumulated mean value in any time period is larger than the set value of the time period, the air spring is judged not to meet the set tolerance band requirement, and self-adaptive height adjustment is carried out on the corresponding air spring; the set value is determined according to an actual calibration test.
The set value is usually larger than the boundary value of the tolerance band (i.e. 8mm), and when the cumulative mean value of the air springs is larger than the set value, the cumulative mean value of the air springs is inevitably larger than the required value of the tolerance band.
If the average values of the air springs of t, 10t and 30t are respectively calculated, the average value h of the height in t secondsavg>N1Or the mean height h within 10t secondsavg>N2Or the mean height h within 30t secondsavg>N1And when at least one of the three conditions is met, activating adaptive height adjustment. In the formula N3>N2>N1Not less than 8mm, and N and t are taken through actual calibration test.
Preferably, the air spring to be lowered is adjusted first and then the air spring to be raised is adjusted in the adaptive adjustment. The air springs needing to be lowered can be screened out according to the adjusting direction, the air escape valves and the corresponding air spring valves are opened, the air spring valves are closed when the closing conditions are met, and the air escape valves are closed after all the air springs needing to be lowered are adjusted. The rising air spring is then adjusted, in a similar principle to the falling adjustment. Therefore, the conflict of ascending and descending adjustment can be avoided, and the influence among the air springs can be effectively reduced.
In the embodiment, the air suspension is subjected to graded adjustment and self-adaptive adjustment, so that not only can the air spring be accurately adjusted, but also the accumulated error caused by synchronous adjustment can be avoided, and the influence of a single air spring error on the driving comfort and the service life of the spring is avoided.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Fig. 4 is a schematic structural diagram of an air suspension height adjusting system according to an embodiment of the present invention, the system including:
a mode selection adjusting module 410, configured to adjust air springs of both the front axle and the rear axle to a target height according to a driving mode selected by a driver;
the height of the front axle air spring and the height of the rear axle air spring are respectively adjusted, and the adjusted heights are respectively the difference value between the target height and the current average height of the front axle air spring and the difference value between the target height and the current average height of the rear axle air spring.
The grading adjustment module 420 is used for regulating the air springs of the front axle and the rear axle in a grading manner according to the sequence when the adjustment height of the air springs exceeds a preset value;
specifically, the step-by-step adjustment of the air springs of the front axle and the rear axle in sequence comprises:
keeping the rear axle still, adjusting the front axle air spring to a first target height, stopping the adjustment, adjusting the rear axle air spring to the first target height, stopping the lifting, continuously adjusting the front axle air spring to a second target height, stopping the lifting after adjusting the rear axle air spring to the second target height, and sequentially lifting the front axle and the rear axle until the front axle and the rear axle air spring reach the target adjustment height;
or keeping the front axle still, adjusting the rear axle air spring to a first target height, stopping the adjustment, adjusting the front axle air spring to the first target height, stopping the lifting, continuously adjusting the rear axle air spring to a second target height, stopping the lifting after adjusting the front axle air spring to the second target height, and sequentially lifting the rear axle and the front axle until the front axle and the rear axle air spring reach the target adjustment height.
And the self-adaptive adjusting module 430 is configured to perform self-adaptive independent height adjustment on the corresponding air spring when the vehicle is not in the driving mode switching state and the vehicle self-inspection determines that the height of at least one air spring does not meet the set tolerance band requirement.
Specifically, the cumulative mean values of the four air springs in different time periods are calculated respectively:
in the formula, havgRepresents the cumulative mean value of the air spring, T represents the update period, T represents the time length, hiRepresenting the height of the air spring, and i is a counting variable;
if the accumulated mean value in any time period is larger than the set value of the time period, the air spring is judged not to meet the set tolerance band requirement, and self-adaptive height adjustment is carried out on the corresponding air spring;
the set value is determined according to an actual calibration test.
Preferably, the air spring requiring lowering is adjusted first, and the air spring requiring raising is adjusted again.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the apparatus and the modules described above may refer to corresponding processes in the foregoing method embodiments, and are not described herein again.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. The electronic device is used for air suspension height adjustment. As shown in fig. 5, the electronic apparatus 5 of this embodiment includes: a memory 510, a processor 520, and a system bus 530, the memory 510 including an executable program 5101 stored thereon, it being understood by those skilled in the art that the electronic device architecture shown in fig. 5 does not constitute a limitation of electronic devices, and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.
The following describes each component of the electronic device in detail with reference to fig. 5:
the memory 510 may be used to store software programs and modules, and the processor 520 may execute various functional applications and data processing of the electronic device by operating the software programs and modules stored in the memory 510. The memory 510 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as cache data) created according to the use of the electronic device, and the like. Further, the memory 510 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
Contained on the memory 510 is a executable program 5101 of the network requested method, which executable program 5101 may be divided into one or more modules/units, which are stored in the memory 510 and executed by the processor 520 to implement air suspension height adjustment and the like, which may be a series of computer program instruction segments describing the execution of the computer program 5101 in the electronic device 5 capable of performing specific functions. For example, the computer program 5101 may be divided into a mode selection adjustment module, a hierarchical adjustment module, an adaptive adjustment module, and the like.
The processor 520 is a control center of the electronic device, connects various parts of the whole electronic device using various interfaces and lines, performs various functions of the electronic device and processes data by operating or executing software programs and/or modules stored in the memory 510 and calling data stored in the memory 510, thereby performing overall status monitoring of the electronic device. Alternatively, processor 520 may include one or more processing units; preferably, the processor 520 may integrate an application processor, which mainly handles operating systems, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into processor 520.
The system bus 530 is used to connect functional units inside the computer, and CAN transmit data information, address information, and control information, and may be, for example, a PCI bus, an isa bus, a CAN bus, or the like. The instructions of the processor 520 are transferred to the memory 510 through the bus, the memory 510 feeds data back to the processor 520, and the system bus 530 is responsible for data and instruction interaction between the processor 520 and the memory 510. Of course, other devices, such as network interfaces, display devices, etc., may also be accessed by the system bus 530.
In this embodiment of the present invention, the executable program executed by the process 520 included in the electronic device includes:
according to the driving mode selected by a driver, adjusting the air springs of the front axle and the rear axle to a target height;
when the adjusting height of the air springs exceeds a preset value, the air springs of the front axle and the rear axle are sequentially adjusted in a grading manner;
when the vehicle is not in a driving mode switching state, and the vehicle self-inspection judges that the height of at least one air spring does not meet the set tolerance band requirement, the corresponding air spring is subjected to self-adaptive independent height adjustment.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An air suspension height adjustment method, comprising:
according to a driving mode selected by a driver, adjusting air springs of a front axle and a rear axle to a target height;
when the adjusting height of the air springs exceeds a preset value, the air springs of the front axle and the rear axle are sequentially adjusted in a grading manner;
when the vehicle is not in a driving mode switching state, and the vehicle self-inspection judges that the height of at least one air spring does not meet the set tolerance band requirement, the corresponding air spring is subjected to self-adaptive independent height adjustment.
2. The method of claim 1, wherein adjusting the air springs of both the front and rear axles to a target height comprises:
and respectively adjusting the height of the front axle air spring and the height of the rear axle air spring, wherein the adjusted heights are respectively the difference between the target height and the average height of the current front axle air spring and the difference between the target height and the average height of the current rear axle air spring.
3. The method of claim 1, wherein the sequential staged adjustment of the air springs of the front and rear axles comprises:
keeping the rear axle still, adjusting the front axle air spring to a first target height, stopping the adjustment, adjusting the rear axle air spring to the first target height, stopping the lifting, continuously adjusting the front axle air spring to a second target height, stopping the lifting after adjusting the rear axle air spring to the second target height, and sequentially lifting the front axle and the rear axle until the front axle and the rear axle air spring reach the target adjustment height;
or keeping the front axle still, adjusting the rear axle air spring to a first target height, stopping the adjustment, adjusting the front axle air spring to the first target height, stopping the lifting, continuously adjusting the rear axle air spring to a second target height, stopping the lifting after adjusting the front axle air spring to the second target height, and sequentially lifting the rear axle and the front axle until the front axle and the rear axle air spring reach the target adjustment height.
4. The method of claim 1, wherein when the vehicle self-test determines that at least one air spring height does not meet the set tolerance band requirement, then performing adaptive independent height adjustment on the corresponding air spring comprises:
respectively calculating the accumulated average values of the four air springs in different time periods:
in the formula, havgThe cumulative average of the air springs is represented,
denotes the update period, t denotes the time length, hiRepresenting the height of the air spring, and i is a counting variable;
if the accumulated mean value in any time period is larger than the set value of the time period, judging that the air spring does not meet the set tolerance band requirement, and carrying out self-adaptive height adjustment on the corresponding air spring;
the set value is determined according to actual calibration tests.
5. The method of claim 1, wherein when the vehicle self-test determines that at least one air spring height does not meet the set tolerance band requirement, then adaptively and independently adjusting the height of the corresponding air spring further comprises:
the air spring that needs to be lowered is adjusted preferentially, and the air spring that needs to be raised is adjusted again.
6. An air suspension height adjustment system, comprising:
the mode selection adjusting module is used for adjusting the air springs of the front axle and the rear axle to a target height according to a driving mode selected by a driver;
the grading adjustment module is used for regulating the air springs of the front axle and the rear axle in a grading manner according to the sequence when the adjustment height of the air springs exceeds a preset value;
and the self-adaptive adjusting module is used for performing self-adaptive independent height adjustment on the corresponding air spring when the vehicle is not in a driving mode switching state and the vehicle self-inspection judges that the height of at least one air spring does not meet the set tolerance band requirement.
7. The system of claim 6, wherein adjusting the air springs of both the front and rear axles to a target height comprises:
and respectively adjusting the height of the front axle air spring and the height of the rear axle air spring, wherein the adjusted heights are respectively the difference between the target height and the average height of the current front axle air spring and the difference between the target height and the average height of the current rear axle air spring.
8. The system of claim 6, wherein the sequential staged adjustment of the air springs of the front and rear axles comprises:
keeping the rear axle still, adjusting the front axle air spring to a first target height, stopping the adjustment, adjusting the rear axle air spring to the first target height, stopping the lifting, continuously adjusting the front axle air spring to a second target height, stopping the lifting after adjusting the rear axle air spring to the second target height, and sequentially lifting the front axle and the rear axle until the front axle and the rear axle air spring reach the target adjustment height;
or keeping the front axle still, adjusting the rear axle air spring to a first target height, stopping the adjustment, adjusting the front axle air spring to the first target height, stopping the lifting, continuously adjusting the rear axle air spring to a second target height, stopping the lifting after adjusting the front axle air spring to the second target height, and sequentially lifting the rear axle and the front axle until the front axle and the rear axle air spring reach the target adjustment height.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, carries out the steps of a method for air suspension height adjustment according to any one of claims 1 to 5.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed, carries out the steps of a method for air suspension height adjustment according to any one of claims 1 to 5.
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