CN115071357A - Vehicle suspension control system, method, vehicle and storage medium - Google Patents
Vehicle suspension control system, method, vehicle and storage medium Download PDFInfo
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- CN115071357A CN115071357A CN202210771243.XA CN202210771243A CN115071357A CN 115071357 A CN115071357 A CN 115071357A CN 202210771243 A CN202210771243 A CN 202210771243A CN 115071357 A CN115071357 A CN 115071357A
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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
- B60G17/018—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 use of a specific signal treatment or control method
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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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- 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
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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
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
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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
- B60G2500/10—Damping action or damper
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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
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Abstract
The invention discloses a vehicle suspension control system, a method, a vehicle and a storage medium, wherein the vehicle suspension control system comprises a controller, a sensor and an execution module which are connected with the controller, a plurality of road surface road condition grades which represent different driving risks can be preset, the controller can determine the road condition grades and the road condition types according to the collected working condition data, then the control data of different vehicle suspensions are correspondingly set according to the different road condition grades, the road condition types and the vehicle states, when the vehicle encounters the road surfaces with different road condition types and road condition grades, the execution module can adopt the control data which are adaptive to the road condition types, the road condition grades and the vehicle states to adjust the vehicle height and the damper damping of the vehicle, divide the different road surfaces into different road condition grades, and carry out classification processing on the road condition grades so that the vehicle suspension control system adopts more accurate control data to control the vehicle, the driving safety and the comfort of the driver are both considered.
Description
Technical Field
The invention relates to the technical field of vehicle vibration damping control, in particular to a vehicle suspension control system, a vehicle suspension control method, a vehicle and a storage medium.
Background
The vehicle suspension can adjust the vehicle height and the damping of the shock absorber of the vehicle, a comfortable riding environment is provided for passengers of the vehicle, when the vehicle is in special road conditions such as a lateral deviation road, a ramp, a distorted road and the like, if the vehicle height adjustment and the damping adjustment of the shock absorber are adjusted according to the conventional vehicle height adjustment and damping adjustment strategies, the situations of unstable vehicle body posture, vehicle rollover and the like are easily caused, in order to ensure the safety of the vehicle as much as possible, the prior art generally adopts the strategy of forbidding the vehicle suspension to carry out the vehicle height adjustment and the damping adjustment of the shock absorber, the special road conditions are relatively common, and when the adjustment function of the vehicle suspension is forbidden, the riding comfort of the vehicle is greatly reduced.
Disclosure of Invention
The invention provides a vehicle suspension control system, which aims to solve the problem that the riding comfort of a vehicle cannot be considered when a vehicle suspension is forbidden in a special road condition.
In a first aspect, the invention provides a vehicle suspension control system, comprising a controller, a sensor connected to the controller, and an execution module,
the sensor is used for collecting the working condition data of the vehicle;
the controller is used for determining the vehicle state of the vehicle, the road condition type and the road condition grade of the road surface where the vehicle is located according to the working condition data, and generating control data according to the vehicle state, the road condition type and the road condition grade;
and the execution module is used for controlling the vehicle suspension according to the control data so as to adjust the vehicle height and the shock absorber damping of the vehicle through the vehicle suspension.
In a second aspect, the present invention provides a vehicle suspension control method comprising:
collecting working condition data of a vehicle;
determining the vehicle state of the vehicle, the road condition type and the road condition grade of the road surface where the vehicle is located according to the working condition data, and generating control data according to the vehicle state, the road condition type and the road condition grade;
controlling a vehicle suspension according to the control data to adjust a body height and a shock absorber damping of the vehicle through the vehicle suspension.
In a third aspect, the present invention provides a vehicle comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle suspension control method of the second aspect of the invention.
In a fourth aspect, the present invention provides a computer readable storage medium storing computer instructions for causing a processor to perform the vehicle suspension control method of the second aspect of the present invention when executed.
The embodiment of the invention provides a vehicle suspension control system which comprises a controller, a sensor and an execution module, wherein the sensor is connected with the controller and used for collecting working condition data of a vehicle, the controller is used for determining a vehicle state of the vehicle and determining a road condition type and a road condition grade of a road surface where the vehicle is located according to the working condition data and generating control data according to the vehicle state, the road condition type and the road condition grade, and the execution module is used for controlling the vehicle suspension according to the control data so as to adjust the vehicle height and the damping of a shock absorber of the vehicle through the vehicle suspension. Can set up a plurality of road surface road conditions grades that show different risks of traveling in advance, the controller can determine road conditions grade and road conditions type according to the operating mode data of gathering, again to different road conditions grade, road conditions type and vehicle state, the control data of corresponding different vehicle suspensions that sets up, make the vehicle meet different road conditions type, the road surface of road conditions grade, execution module can adopt with the road conditions type, road conditions grade and vehicle state adaptive control data go the car height and the shock absorber damping of adjusting the vehicle, divide into different road conditions grade with different road surfaces, carry out hierarchical processing to the road conditions grade, so that vehicle suspension control system adopts more accurate control data to control the vehicle, driving safety and navigating mate's travelling comfort has been taken into account.
It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present invention, nor are they intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.
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 description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a block diagram of a vehicle suspension control system according to an embodiment of the present invention;
FIG. 2 is a block diagram of another vehicle suspension control system provided in accordance with an embodiment of the present invention;
FIG. 3 is a flow chart for determining a vehicle suspension adjustment mode according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a torsion-vehicle height threshold curve according to an embodiment of the present invention;
FIG. 5 is a flow chart of a method of controlling a suspension of a vehicle according to a second embodiment of the present invention;
fig. 6 is a schematic structural diagram of a vehicle according to a third embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
Example one
Fig. 1 is a schematic structural diagram of a vehicle suspension control system according to an embodiment of the present invention, which is applicable to a situation where a vehicle suspension is adjusted to adapt a vehicle height and a damping of a shock absorber to a road condition. As shown in fig. 1, the vehicle suspension control system includes a controller 10, a sensor 20 connected to the controller 10, and an actuator module 30.
The sensor is used for collecting the working condition data of the vehicle.
The operating condition data may include vehicle speed, vehicle height, longitudinal acceleration, lateral acceleration, etc., and according to the required operating condition data, the sensors in this embodiment may include a speed sensor, a height sensor, an acceleration sensor, etc., and different kinds of sensors may be installed at positions corresponding to the operating condition data. And when the sensor collects the working condition data, the working condition data are sent to the controller.
The controller is used for determining the vehicle state of the vehicle, the road condition type of the road surface where the vehicle is located and the road condition grade according to the working condition data, and generating control data according to the vehicle state, the road condition type and the road condition grade.
The working condition data can reflect the vehicle state, the road condition type and the road condition grade. For example, regarding the vehicle state, the vehicle height of the vehicle is also changed greatly when the vehicle is running, and the vehicle height of the vehicle is changed little or unchanged when the vehicle is stopped, so that the vehicle height of the vehicle can reflect the vehicle state; regarding the road condition type, the height difference of the left side and the right side of the vehicle can also reflect whether the vehicle is in a side deviation road condition; the height difference of the vehicle at the same position of two adjacent acquisition times can also reflect whether the vehicle is in a bumpy and fluctuant road condition; regarding the road condition grades, the same are the cornering road conditions, and the height difference of the left side and the right side of the vehicle can reflect the cornering degree of the current road surface, namely different road condition grades. The vehicle state, the road condition type and the corresponding relation between the road condition grade and the working condition data are stored in a storage unit of the controller, and the controller can determine the vehicle state, the road condition type and the road condition grade of the vehicle according to the working condition data.
Wherein, can preset a plurality of different road conditions grades, road conditions grade can show the degree that the road surface is unfavorable for safe driving, correspondingly, also can show the vehicle and adopt the risk degree of the conventional control mode control vehicle of semi-active suspension when the road surface is gone, specifically, road conditions grade can set up according to actual demand.
The controller can also generate control data according to the vehicle state, the road condition type and the road condition grade, the control data is preset and corresponds to the vehicle state and the road condition grade, the control data is bound with the vehicle state and the road condition grade and is stored in a storage unit of the controller, and when the vehicle state and the road condition grade are determined, the control data corresponding to the vehicle state and the road condition grade can be searched from the storage unit.
The execution module is used for controlling the vehicle suspension according to the control data so as to adjust the vehicle height and the shock absorber damping of the vehicle through the vehicle suspension.
A vehicle suspension, namely a semi-active suspension, is a controllable suspension system which can improve the running smoothness and stability of an automobile by adjusting the damping parameters of a vehicle height and a shock absorber through sensing data such as the road condition, the vehicle body posture and the like by a sensor. The control data is used for carrying out vehicle height control and shock absorber damping control on the vehicle so as to give consideration to safety and comfort, and the execution module can set parameters of a vehicle suspension by adopting the control data so as to adjust the vehicle height and the shock absorber damping. The execution module can comprise a vehicle height adjusting submodule and a shock absorber damping adjusting submodule, wherein the vehicle height adjusting submodule is used for controlling air inflation and air deflation of the air suspension according to control data so as to adjust the vehicle height of the vehicle, and the shock absorber damping adjusting submodule is used for controlling the current of an electromagnetic valve in the shock absorber according to the control data so as to adjust the shock absorber damping. The damper may be a CDC damper, which is a device for accelerating the damping of the vehicle frame and body vibrations to improve the driving comfort of the vehicle.
In the conventional control mode of the vehicle suspension, the adjustable range of the vehicle height and the damper damping of the vehicle is large, that is, the variation range of the vehicle height and the damper damping is possibly large, and when the road surface is a special road condition which is unfavorable for the safe driving of the vehicle, such as a curved road condition, an uneven road condition, a large slope or a lateral deviation, and the like, when the vehicle is controlled by adopting the conventional control mode of the vehicle suspension, because the variation range of the vehicle height and the damper damping in the special road condition is large, the vehicle is easy to turn over or collide with a chassis, and the safety is relatively low, therefore, in the prior art, the adjustment of the vehicle suspension is forbidden when the vehicle meets the special road condition, but the comfort of passengers is greatly reduced, in the embodiment, the vehicle height and the damper damping are adjusted by setting different road condition grades, and adopting the control data which are adaptive to the vehicle state, the road condition type and the road condition grade, the safety of the vehicle is ensured, and meanwhile, the comfort of passengers is also taken into consideration.
The embodiment of the invention provides a vehicle suspension control system which comprises a controller, a sensor and an execution module, wherein the sensor is connected with the controller and used for collecting working condition data of a vehicle, the controller is used for determining a vehicle state of the vehicle and determining a road condition type and a road condition grade of a road surface where the vehicle is located according to the working condition data and generating control data according to the vehicle state, the road condition type and the road condition grade, and the execution module is used for controlling the vehicle suspension according to the control data so as to adjust the vehicle height and the damping of a shock absorber of the vehicle through the vehicle suspension. Can set up a plurality of road surface road conditions grades that show different risks of traveling in advance, the controller can determine road conditions grade and road conditions type according to the operating mode data of gathering, again to different road conditions grade, road conditions type and vehicle state, the control data of corresponding different vehicle suspensions that sets up, make the vehicle meet different road conditions type, the road surface of road conditions grade, execution module can adopt with the road conditions type, road conditions grade and vehicle state adaptive control data go the car height and the shock absorber damping of adjusting the vehicle, divide into different road conditions grade with different road surfaces, carry out hierarchical processing to the road conditions grade, so that vehicle suspension control system adopts more accurate control data to control the vehicle, driving safety and navigating mate's travelling comfort has been taken into account.
In an alternative embodiment of the present invention, the operating condition data includes vehicle speed, vehicle height, lateral acceleration and longitudinal acceleration, and as shown in fig. 2, the controller 20 includes a vehicle state determining module, an operating condition parameter calculating module, a calibration parameter determining module, a road condition grade determining module and a control data generating module.
The vehicle state determining module is used for determining the vehicle state of the vehicle according to the vehicle speed in the working condition data and the preset vehicle speed, and the vehicle state comprises a parking state and a driving state.
The vehicle speed in the working condition data can reflect the vehicle state, compared with the driving state, the vehicle in the parking state has slower speed, the corresponding relation between the vehicle state and the working condition data is stored in a storage unit of the controller, and the controller can determine the vehicle state of the vehicle according to the working condition data. For example, the preset vehicle speed is 5km/h, and when the vehicle speed is less than 5km/h, it is determined that the vehicle is in a parking state, and when the vehicle speed is greater than or equal to 5km/h, it is determined that the vehicle is in a driving state.
And the working condition parameter calculation module is used for calculating working condition parameters according to the vehicle height, the lateral acceleration and the longitudinal acceleration in the working condition data. The working condition data can comprise vehicle speed, vehicle height, longitudinal acceleration and lateral acceleration, the working condition parameters can comprise torsion degree, pitch degree, longitudinal acceleration and lateral acceleration, the longitudinal acceleration and the lateral acceleration can be directly obtained according to the working condition data, and the torsion degree and the pitch degree can be calculated according to the vehicle height. For example, pitch can be determined from the front-rear vehicle height difference.
The calibration parameter determination module is used for determining a calibration parameter of the working condition parameter corresponding to the vehicle state aiming at each working condition parameter. The calibration parameters corresponding to each working condition parameter are preset and stored in a storage unit of the controller in a binding mode, the calibration parameters are used for dividing different road condition types and different road condition grades, each working condition parameter corresponds to at least one calibration parameter, namely a plurality of parameter ranges can be determined according to the calibration parameters, and different parameter ranges represent different road condition types and different road condition grades.
The road condition grade determining module is used for determining the road condition type and the road condition grade of the road surface where the vehicle is located according to the calibration parameters and the working condition parameters. The calibration parameters can be used for dividing different road condition types and road condition grades, and when the working condition parameters are known, the working condition parameters are compared with the calibration parameters, the parameter range where the working condition parameters are located is determined, and then the corresponding road condition types and road condition grades are determined. The road condition type includes at least one of a distorted road condition, an undulated road condition, a ramp road condition, and a deviated road condition corresponding to the operating condition parameter.
In an example of this embodiment, the calibration parameters include a first calibration parameter and a second calibration parameter, the road condition level determining module includes a low-risk road condition determining sub-module, a high-risk road condition determining sub-module, and a medium-risk road condition determining sub-module, the low-risk road condition determining sub-module is configured to determine, for each working condition parameter, that the road condition level is a low-risk road condition when the working condition parameter is smaller than the first calibration parameter, the high-risk road condition determining sub-module is configured to determine that the road condition level is a high-risk road condition when the working condition parameter is larger than the second calibration parameter, and the medium-risk road condition determining sub-module is configured to determine that the road condition level is a medium-risk road condition when the working condition parameter is between the first calibration parameter and the second calibration parameter. In this example, the calibration parameter for each operating condition parameter includes a first calibration parameter and a second calibration parameter, and the first calibration parameter is smaller than the second calibration parameter, so that the first calibration parameter and the second calibration parameter can be divided into 3 parameter ranges, which respectively correspond to the low-risk road condition, the high-risk road condition, and the medium-risk road condition, and when the operating condition parameters are known, the corresponding road condition grades can be determined. The first calibration parameter and the second calibration parameter are both parameters determined after real vehicle calibration in the corresponding road condition type, and the application values of different vehicles are different.
In another example of this embodiment, the vehicle heights include a front left vehicle height, a front right vehicle height, a back left vehicle height, and a back right vehicle height, the operating parameters include a degree of torsion and a degree of pitch, and the operating parameter calculating module includes:
a torsion degree calculation submodule for calculating a torsion degree using the following formula:
A＝|H FL (t)+H RR (t)-(H FR (t)+H RL (t))|/(100mm)*100％，
a pitching degree operator module for calculating pitching degree by adopting the following formula:
B＝|H FL (t)+H FR (t)-(H RL (t)+H RR (t))|/(100mm)*100％，
wherein A is the degree of torsion, B is the degree of pitch, H FL (t) front left vehicle height at time t, H RR (t) rear right vehicle height at time t, H FR (t) front right vehicle height at time t, H RL (t) is the rear left vehicle height at time t.
Under different road conditions, because each position of the vehicle is stressed differently, the vehicle height of the position of the wheel axle of the vehicle is possibly different, and is more obvious in distorted road conditions and fluctuant road conditions, for example, the distorted road conditions can be rugged mountain roads, because the road surface has larger and irregular fluctuation, the heights of the positions of the vehicle are possibly different, and similarly, the fluctuant road conditions are generally roads with more barriers, the road surfaces have bumpy and unsmooth, and the vehicle heights of the positions of the vehicle are naturally different, so that the vehicle height of each position of the vehicle can be adopted to judge whether the vehicle is in the distorted road conditions or the fluctuant road conditions.
The vehicle height is adopted to calculate the torsion degree and the pitch degree, whether the current road condition belongs to the torsion road condition or the undulation road condition can be simply and quickly determined, and the controller can conveniently and quickly make related control decisions. It should be noted that, a conventional vehicle is generally a four-wheel vehicle, and therefore, the four-wheel vehicle is taken as an example in this example to describe the calculation manner of the torsion resistance and the pitch, and of course, for other types of vehicles such as three-wheel vehicles and six-wheel vehicles, the calculation formulas of the torsion resistance and the pitch may also be adaptively modified, and the present invention is not limited thereto.
Regarding the road condition of the ramp, when the vehicle is on the ramp, the front side and the rear side of the vehicle body are higher and lower, a longitudinal acceleration is generated, if the longitudinal acceleration is too large, the vehicle body can be turned over longitudinally to cause danger, and whether the road surface is the road condition of the ramp can be directly judged according to the longitudinal acceleration.
Regarding the off-road-condition, when the vehicle is on the off-road-condition, one side of the vehicle body is higher and the other side of the vehicle body is lower, a lateral acceleration is generated, if the lateral acceleration is too high, the vehicle body is likely to turn over to cause danger, and whether the road surface is the road-condition of the ramp can be directly judged according to the lateral acceleration.
The control data generation module is used for generating control data according to the vehicle state, the road condition type and the road condition grade. Different vehicle states, road condition types and road condition grades can all correspond to different control data so as to give consideration to vehicle driving safety and riding comfort.
In an optional embodiment of the present invention, the road condition grades include a low-risk road condition, a medium-risk road condition and a high-risk road condition, the control data generation module includes an adjustment prohibition mode determination submodule, a parameter range determination submodule and an adjustment restriction data generation submodule, the adjustment prohibition mode determination submodule is configured to generate control data corresponding to the adjustment prohibition mode when the road condition is the high-risk road condition, the parameter range determination submodule is configured to determine a vehicle height range and a damping range according to a vehicle state, a road condition type and a working condition parameter in a preset vehicle height curve and a damping curve when the road condition is the medium-risk road condition, and the adjustment restriction data generation submodule is configured to generate the control data according to the vehicle height range and the damping range.
The vehicle height curve and the damping curve can be curves obtained in advance according to vehicle suspension adjustment data of a vehicle in historical data during safe driving under different road conditions, and can also be curves obtained by real vehicle calibration, the vehicle height curve comprises a vehicle height threshold value, namely the vehicle height curve is used for limiting the adjustment range of the vehicle height, the damping curve comprises a damping threshold value, and the damping curve is used for limiting the adjustment range of the damping of the shock absorber.
In a low-risk road condition, for example, in a straight road condition, the driving safety of the vehicle is high, the driving safety of the vehicle is guaranteed, the comfort of passengers can be considered more, and the adjustment of the vehicle height and the damping of the shock absorber within the adjustable range is safe and reliable for the driving of the vehicle, so that when the road condition is the low-risk road condition, the controller does not limit the adjusting range of the vehicle height and the damping of the shock absorber, namely the vehicle suspension can still adopt a conventional adjusting mode to adjust the vehicle height and the damping of the shock absorber, and in the conventional adjusting mode, the adjustable range of the vehicle height and the damping of the shock absorber is larger, and the comfort of the passengers is higher.
In the high-risk road condition, the driving of the vehicle is dangerous, the adjustment of the vehicle height and the damping of the shock absorber means the change of the gravity center of the vehicle, and the vehicle is easy to overturn due to unstable gravity center in the high-risk road condition, for example, in the high-risk road condition of sharp turning, the gravity center of the vehicle is changed rapidly, at the moment, the vehicle suspension adjusts the vehicle height, and the damping of the shock absorber is dangerous for the driving of the vehicle, so that when the vehicle runs in the high-risk road condition, in order to ensure the driving safety, the controller can prohibit the adjustment of the vehicle height and the damping of the shock absorber by the vehicle suspension, namely, control data corresponding to a regulation prohibition mode can be generated to prohibit the adjustment action of the vehicle suspension.
Compared with a high-risk road condition, in a medium-risk road condition, the driving risk of the vehicle is low, if the adjustment of the vehicle height and the damping of the shock absorber is completely forbidden, the riding comfort is greatly reduced, in order to take the safety and the riding comfort of the vehicle driving into consideration, the embodiment adopts control data corresponding to a limiting adjustment mode to control a vehicle suspension, in the limiting adjustment mode, the vehicle height range and the damping range of the shock absorber are limited, and the vehicle height range and the damping range of the shock absorber can be determined in a preset vehicle height curve and a preset damping curve according to the vehicle state, the road condition type and working condition parameters.
After the vehicle height range and the damping range are obtained, the limit adjustment data generation submodule can generate corresponding control data to be sent to the vehicle suspension, so that the variation range of the vehicle height is within the vehicle height range when the vehicle suspension adjusts the vehicle height and the damping of the shock absorber, and the variation range of the damping is within the damping range, and the control of the vehicle suspension is realized.
Different adjusting modes are determined in different road condition grades to obtain control data corresponding to the adjusting modes, and the riding comfort of the vehicle can be improved to the maximum extent on the basis of ensuring the driving safety of the vehicle. And when the road condition grade is the medium-risk road condition, by limiting the vehicle height range and the damping range, dangerous accidents such as vehicle rollover and the like caused by large adjustment range of the medium-risk road condition can be avoided, the driving safety of the vehicle is ensured, and the riding comfort of the vehicle is also improved.
To more clearly illustrate the manner in which the controller determines the road condition type and the road condition grade, and the manner in which the controller determines the adjustment mode of the vehicle suspension when the controller is in different vehicle states, road condition types and road condition grades, the following description is provided with reference to fig. 3 for the process in which the controller determines the road condition type, the road condition grade and the adjustment mode of the vehicle suspension when the vehicle speed is less than 5km/h (parking state):
firstly, working condition parameters including the degree of torsion, the pitch, the lateral acceleration and the longitudinal acceleration can be obtained through calculation according to working condition data, and then, aiming at each working condition parameter, a first calibration parameter and a second calibration parameter are determined, wherein the first calibration parameter a0 and the second calibration parameter a1 are corresponding to the degree of torsion, the first calibration parameter b0 and the second calibration parameter b1 are corresponding to the degree of torsion, the first calibration parameter c0 and the second calibration parameter c1 are corresponding to the degree of lateral acceleration, and the first calibration parameter d0 and the second calibration parameter d1 are corresponding to the degree of longitudinal acceleration.
The following steps are then performed as shown in fig. 3:
step 1: and starting.
Step 2: and judging whether the working condition parameters are larger than first calibration parameters or not for each working condition parameter, namely respectively judging whether the torsion degree is larger than a0, the pitching degree is larger than b0, the lateral acceleration is larger than c0 and the longitudinal acceleration is larger than d0, if so, executing the step 4, and if not, executing the step 3.
And step 3: and determining that the current road condition type is a straight road condition and the road condition grade is a low-risk road condition, determining that the adjusting mode of the vehicle suspension is a conventional adjusting mode by the controller, and not controlling the adjusting range of the vehicle height and the damping range of the shock absorber by the controller.
And 4, step 4: and determining the road condition type of the road condition, and executing the step 5. Taking the torsion degree as an example, when the torsion degree is greater than a0, determining that the type of the road condition of the current road surface is a twisted road condition, and activating the twisted road condition parking state of the vehicle suspension, that is, the vehicle suspension enters the state of preparing to switch the adjustment mode.
And 5: and judging whether the working condition parameters are larger than second calibration parameters or not according to each working condition parameter, namely respectively judging whether the torsion resistance is larger than a1, the pitching degree is larger than b1, the lateral acceleration is larger than c1 and the longitudinal acceleration is larger than d1, if so, executing the step 6, and if not, executing the step 7.
Step 6: and determining that the road condition grade of the current road surface is a high-risk road condition, determining that the adjusting mode of the vehicle suspension is a regulation forbidding mode by the controller, generating control data comprising regulation forbidding instructions and sending the control data to the vehicle suspension.
And 7: determining that the road condition grade of the current road surface is a medium-risk road condition, determining that the adjusting mode of the vehicle suspension is a limiting adjusting mode by the controller, determining that the vehicle height adjusting range and the damping range of the vehicle suspension are adjusted by the controller according to the road condition type and the road condition grade, generating corresponding control data and sending the control data to the vehicle suspension.
Taking the degree of torsion as an example, respectively setting a0 and a1 at 40% and 70%, respectively, when the degree of torsion is less than 40%, the vehicle suspension adjusts the vehicle height and the shock absorber damping in a normal mode, when the degree of torsion is 40% -70%, the vehicle height and the shock absorber damping change with the change in the degree of torsion, and when the degree of torsion is greater than 70%, the controller prohibits the vehicle suspension from adjusting the vehicle height and the shock absorber damping.
In the above example, the first parameters a0, b0, c0 and d0 and the second parameters a1, b1, c1 and d1 are values determined after actual vehicle calibration in a road surface corresponding to the road condition type, and the applicable values of different vehicles are different.
The first calibration parameter and the second calibration parameter of each working condition parameter under different vehicle states are different, but the process of determining the road condition type, the road condition grade and the adjusting mode of the vehicle suspension by the controller when the vehicle speed is more than or equal to 5km/h (driving state) is similar to the process of determining the vehicle speed is less than 5km/h (parking state), and the related description of the parking state can be referred to.
In an optional example of the embodiment, the vehicle height curve includes a vehicle height upper limit curve and a vehicle height lower limit curve, the damping curve includes a damping upper limit curve and a damping lower limit curve, and the parameter range determination submodule includes a curve determination unit, a vehicle height threshold determination unit, a vehicle height range determination unit, a damping threshold determination unit, and a damping range determination unit.
The curve determining unit is used for determining a corresponding vehicle height upper limit curve, a vehicle height lower limit curve, a damping upper limit curve and a damping lower limit curve according to a vehicle state and a road condition type, the vehicle height threshold determining unit is used for determining a vehicle height upper limit value in the vehicle height upper limit curve corresponding to a working condition parameter and determining a vehicle height lower limit value in the corresponding vehicle height lower limit curve, the vehicle height range determining unit is used for obtaining a vehicle height range according to the vehicle height upper limit value and the vehicle height lower limit value, the damping threshold determining unit is used for determining a damping upper limit value in the damping upper limit curve corresponding to the working condition parameter and determining a damping lower limit value in the corresponding damping lower limit curve, and the damping range determining unit is used for obtaining a damping range according to the damping upper limit value and the damping lower limit value.
Taking the vehicle height range obtaining mode under the distorted road condition as an example, as shown in fig. 4, the vehicle height upper limit curve and the vehicle height lower limit curve under the driving state in the distorted road condition are shown, the abscissa is the torsion degree, the abscissa range is 40% -70%, which corresponds to a0-a1, namely the value range of the torsion degree under the middle dangerous road condition, the ordinate of the vehicle height upper limit curve is the limited vehicle height upper limit value, the ordinate of the vehicle height lower limit curve is the limited vehicle height lower limit value, it can be seen from the curves that the adjusting range of the vehicle height changes along with the change of the torsion degree, for example, when the distortion is 40% -50%, the vehicle height upper limit value is 30cm, the vehicle height lower limit value is-10 cm, the adjusting range is-10-30 cm, when the distortion is 50% -60%, the vehicle height adjusting range is-5-20 cm, when the distortion is 60% -70%, the vehicle height adjusting range is-2-10 cm, and in fig. 4, along with the increase of the torsion resistance, the vehicle height adjusting range can be gradually reduced, so that the safety of the vehicle when the vehicle runs on a twisted road surface is improved.
Of course, the sectional correspondence between the degree of torsion and the vehicle height threshold shown in fig. 4 is only an example, and the correspondence between the degree of torsion and the vehicle height threshold may be set by using an exponential formula, a polynomial formula, or the like, which is not limited in the present invention.
In a driving road surface of a vehicle, multiple road condition types with risk levels may also exist at the same time, for example, the road surface is not only a twisted road condition but also a rough road condition, each road condition type may obtain a vehicle height range and a damping range correspondingly, but the degrees of each road condition type are different, for example, the twist degree of the twisted road condition is 60%, and the pitch degree of the rough road condition is 40%, the vehicle height range and the damping range corresponding to each road condition type may be different, and in a scene where multiple road condition types coexist, multiple vehicle height ranges and multiple damping ranges may exist, and then a final vehicle height range and a final damping range may be determined from the multiple vehicle height ranges and the multiple damping ranges as a basis for generating control data of a vehicle suspension.
In an optional example of the embodiment, the restriction adjustment data generation submodule includes a characteristic vehicle height range determination unit, a characteristic damping range determination unit, and a control data generation unit, the characteristic vehicle height range determination unit is configured to use an intersection of a plurality of vehicle height ranges as a characteristic vehicle height range when a plurality of vehicle height ranges exist, the characteristic damping range determination unit is configured to use a damping range with a maximum damping lower limit value among the plurality of damping ranges as a characteristic damping range when a plurality of damping ranges exist, and the control data generation unit is configured to generate the control data according to the characteristic vehicle height range and the characteristic damping range.
And taking the intersection of the plurality of vehicle height ranges as a characteristic vehicle height range, defining the characteristic vehicle height range by taking the minimum value of the plurality of vehicle height upper limit values and the maximum value of the plurality of vehicle height lower limit values (wherein the vehicle height upper limit value is greater than the vehicle height lower limit value), and the smaller the vehicle height upper limit value is and the larger the vehicle height lower limit value is, the smaller the adjustment range of the vehicle height is, the more stable the center of gravity of the vehicle is and the stronger the safety of vehicle driving is.
The shock absorber adjusting mode is a softest mode, a comfortable mode, an equilibrium mode, a sport mode and a hardest mode, a damping range with the maximum damping lower limit value in a plurality of damping ranges is used as a characteristic damping range, namely the shock absorber adjusting mode is limited to be in a harder adjusting mode, the adjusting amplitude of the shock absorber is smaller, and the safety of vehicle driving is stronger. Under the condition that multiple medium-risk road condition types exist, the vehicle height range with the minimum vehicle height adjusting range and the damping range with harder shock absorber adjusting modes are set according to the corresponding parameter ranges of the multiple road condition types, and the riding comfort is considered on the basis of preferentially ensuring the safety of vehicle driving.
Example two
Fig. 5 is a flowchart of a vehicle suspension control method according to a second embodiment of the present invention, and this embodiment is applicable to a situation where a vehicle suspension of a vehicle is controlled to achieve both safety and riding comfort. As shown in fig. 5, the vehicle suspension control method includes:
s501, collecting working condition data of the vehicle.
S502, determining the vehicle state of the vehicle, the road condition type of the road surface where the vehicle is located and the road condition grade according to the working condition data, and generating control data according to the vehicle state, the road condition type and the road condition grade.
And S503, controlling the vehicle suspension according to the control data so as to adjust the vehicle height and the shock absorber damping of the vehicle through the vehicle suspension.
In an optional embodiment of the present invention, the working condition data includes a vehicle speed, a vehicle height, a lateral acceleration and a longitudinal acceleration, the vehicle state of the vehicle and the road condition grade of the road surface on which the vehicle is located are determined according to the working condition data, and the control data is generated according to the vehicle state and the road condition grade, including:
determining the vehicle state of the vehicle according to the vehicle speed in the working condition data and a preset vehicle speed, wherein the vehicle state comprises a parking state and a driving state;
calculating working condition parameters according to the vehicle height, the lateral acceleration and the longitudinal acceleration in the working condition data;
determining a calibration parameter of a working condition parameter corresponding to the vehicle state aiming at each working condition parameter;
determining the road condition type and the road condition grade of the road surface on which the vehicle is positioned according to the calibration parameters and the working condition parameters;
and generating control data according to the vehicle state, the road condition type and the road condition grade.
In an optional embodiment of the present invention, the determining the road condition type and the road condition grade of the road surface on which the vehicle is located according to the calibration parameter and the working condition parameter includes:
for each working condition parameter, when the working condition parameter is smaller than a first calibration parameter, determining the road condition grade as a low-risk road condition;
when the working condition parameter is greater than the second calibration parameter, determining the road condition grade as a high-risk road condition;
and when the working condition parameters are between the first calibration parameters and the second calibration parameters, determining the road condition grade as the medium risk road condition.
In an alternative embodiment of the present invention, the road condition type includes at least one of a twisted road condition, a rough road condition, a side-bias road condition, and a slope road condition.
In an optional embodiment of the present invention, the vehicle heights include a front left vehicle height, a front right vehicle height, a rear left vehicle height, and a rear right vehicle height, the operating condition parameters include a degree of torsion and a degree of pitch, and the operating condition parameters are calculated according to the vehicle heights, lateral accelerations, and longitudinal accelerations in the operating condition data, and include:
the torsion resistance was calculated using the following formula:
A＝|H FL (t)+H RR (t)-(H FR (t)+H RL (t))|/(100mm)*100％，
the pitch is calculated using the following formula:
B＝|H FL (t)+H FR (t)-(H RL (t)+H RR (t))|/(100mm)*100％，
wherein A is the degree of twist, B is the degree of pitch, H FL (t) front left vehicle height at time t, H RR (t) rear right vehicle height at time t, H FR (t) front right vehicle height at time t, H RL (t) is the rear left vehicle height at time t.
In an optional embodiment of the present invention, the road condition grades include a low risk road condition, a medium risk road condition and a high risk road condition, and the generating the control data according to the vehicle state, the road condition type and the road condition grade includes:
when the road condition is a high-risk road condition, generating control data corresponding to the adjustment prohibition mode;
when the road condition is a medium-risk road condition, determining a vehicle height range and a damping range according to the vehicle state, the road condition type and the working condition parameters in a preset vehicle height curve and a preset damping curve;
and generating control data according to the vehicle height range and the damping range.
In an optional embodiment of the present invention, when the road condition is a medium risk road condition, determining the control data in the preset vehicle height curve and the preset damping curve according to the vehicle state, the road condition type and the working condition parameters includes:
determining a corresponding vehicle height curve and a corresponding damping curve according to the vehicle state and the road condition type;
determining a vehicle height range and a damping range corresponding to the working condition parameters according to a preset vehicle height curve and a preset damping curve;
and generating control data according to the vehicle height range and the damping range.
In an optional embodiment of the present invention, the vehicle height curve includes a vehicle height upper limit curve and a vehicle height lower limit curve, the damping curve includes a damping upper limit curve and a damping lower limit curve, and the vehicle height range and the damping range corresponding to the operating condition parameter are determined according to the preset vehicle height curve and the preset damping curve, including:
determining corresponding vehicle height upper limit curve, vehicle height lower limit curve, damping upper limit curve and damping lower limit curve according to vehicle state and road condition type
Determining a vehicle height upper limit value in a vehicle height upper limit curve corresponding to the working condition parameters, and determining a vehicle height lower limit value in a corresponding vehicle height lower limit curve;
obtaining a vehicle height range according to a vehicle height upper limit value and a vehicle height lower limit value;
determining a damping upper limit value in a damping upper limit curve corresponding to the working condition parameter, and determining a damping lower limit value in a corresponding damping lower limit curve;
and obtaining a damping range according to the damping upper limit value and the damping lower limit value.
In an alternative embodiment of the invention, generating control data based on the vehicle height range and the damping range comprises:
when a plurality of vehicle height ranges exist, taking the intersection of the plurality of vehicle height ranges as a characteristic vehicle height range;
when a plurality of damping ranges exist, taking the damping range with the maximum damping lower limit value in the plurality of damping ranges as a characteristic damping range;
and generating control data according to the characteristic vehicle height range and the characteristic damping range.
The vehicle suspension control method of the embodiment can be applied to the vehicle suspension control system provided by the first embodiment, and has the corresponding beneficial effects with the vehicle suspension control system. It should be noted that, as for the method embodiment, since it is basically similar to the system embodiment, the description is relatively simple, and for the relevant points, reference may be made to partial description of the system embodiment.
EXAMPLE III
FIG. 6 illustrates a schematic structural diagram of a vehicle 40 that may be used to implement an embodiment of the present invention. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 6, the vehicle 40 includes at least one processor 41, and a memory communicatively connected to the at least one processor 41, such as a Read Only Memory (ROM)42, a Random Access Memory (RAM)43, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 41 may perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM)42 or the computer program loaded from the storage unit 48 into the Random Access Memory (RAM) 43. In the RAM 43, various programs and data required for the operation of the vehicle 40 can also be stored. The processor 41, the ROM 42, and the RAM 43 are connected to each other via a bus 44. An input/output (I/O) interface 45 is also connected to bus 44.
Various components in the vehicle 40 are connected to the I/O interface 45, including: an input unit 46 such as a keyboard, a mouse, etc.; an output unit 47 such as various types of displays, speakers, and the like; a storage unit 48 such as a magnetic disk, an optical disk, or the like; and a communication unit 49 such as a network card, modem, wireless communication transceiver, etc. The communication unit 49 allows the vehicle 40 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
In some embodiments, the vehicle suspension control method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 48. In some embodiments, part or all of the computer program may be loaded and/or installed on the vehicle 40 via the ROM 42 and/or the communication unit 49. When the computer program is loaded into RAM 43 and executed by processor 41, one or more steps of the vehicle suspension control method described above may be performed. Alternatively, in other embodiments, processor 41 may be configured to perform the vehicle suspension control method by any other suitable means (e.g., by way of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described herein may be implemented on a vehicle having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the vehicle. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. A vehicle suspension control system is characterized by comprising a controller, a sensor connected with the controller and an execution module,
the sensor is used for collecting the working condition data of the vehicle;
the controller is used for determining the vehicle state of the vehicle, the road condition type and the road condition grade of the road surface where the vehicle is located according to the working condition data, and generating control data according to the vehicle state, the road condition type and the road condition grade;
and the execution module is used for controlling the vehicle suspension according to the control data so as to adjust the vehicle height and the shock absorber damping of the vehicle through the vehicle suspension.
2. The system of claim 1, wherein the operating condition data includes vehicle speed, vehicle height, lateral acceleration, and longitudinal acceleration, the controller comprising:
the vehicle state determining module is used for determining the vehicle state of the vehicle according to the vehicle speed in the working condition data and a preset vehicle speed, wherein the vehicle state comprises a parking state and a driving state;
the working condition parameter calculation module is used for calculating working condition parameters according to the vehicle height, the lateral acceleration and the longitudinal acceleration in the working condition data;
the calibration parameter determination module is used for determining a calibration parameter of the working condition parameter corresponding to the vehicle state aiming at each working condition parameter;
the road condition grade determining module is used for determining the road condition type and the road condition grade of the road surface where the vehicle is located according to the calibration parameters and the working condition parameters;
and the control data generation module is used for generating control data according to the vehicle state, the road condition type and the road condition grade.
3. The system of claim 2, wherein the calibration parameters comprise a first calibration parameter and a second calibration parameter, and the road condition level determination module comprises:
the low-risk road condition determining submodule is used for determining the road condition grade as a low-risk road condition when the working condition parameter is smaller than the first calibration parameter for each working condition parameter;
the high-risk road condition determining submodule is used for determining that the road condition grade is a high-risk road condition when the working condition parameter is greater than the second calibration parameter;
and the medium risk road condition determining submodule is used for determining the road condition grade to be the medium risk road condition when the working condition parameter is between the first calibration parameter and the second calibration parameter.
4. The system of claim 2, wherein the road condition types include at least one of a rough road condition, a side-bias road condition, and a slope road condition.
5. The system of claim 2, wherein the ride heights comprise a left-front ride height, a right-front ride height, a left-rear ride height, and a right-rear ride height, the operating parameters comprise a twist and a pitch, and the operating parameter calculation module comprises:
a torsion degree calculation submodule for calculating a torsion degree using the following formula:
A＝|H FL (t)+H RR (t)-(H FR (t)+H RL (t))|/(100mm)*100％，
a pitching degree operator module for calculating pitching degree by adopting the following formula:
B＝|H FL (t)+H FR (t)-(H RL (t)+H RR (t))|/(100mm)*100％，
wherein A is the degree of torsion, B is the degree of pitch, H FL (t) front left vehicle height at time t, H RR (t) rear right vehicle height at time t, H FR (t) front right vehicle height at time t, H RL (t) is the rear left vehicle height at time t.
6. The system of claim 2, wherein the traffic classes include low-risk traffic, medium-risk traffic, and high-risk traffic, and the control data generation module comprises:
the adjustment prohibition mode determining submodule is used for generating control data corresponding to the adjustment prohibition mode when the road condition is a high-risk road condition;
the parameter range determining submodule is used for determining a vehicle height range and a damping range according to the vehicle state, the road condition type and the preset vehicle height curve and damping curve of the working condition parameter when the road condition is a medium-risk road condition;
and the limit adjustment data generation submodule is used for generating control data according to the vehicle height range and the damping range.
7. The system of claim 6, wherein the vehicle height curves include an upper vehicle height curve and a lower vehicle height curve, the damping curves include an upper damping limit curve and a lower damping limit curve, and the parameter range determination submodule includes:
the curve determining unit is used for determining a corresponding vehicle height upper limit curve, a vehicle height lower limit curve, a damping upper limit curve and a damping lower limit curve according to the vehicle state and the road condition type;
the vehicle height threshold value determining unit is used for determining a vehicle height upper limit value in a vehicle height upper limit curve corresponding to the working condition parameters and determining a vehicle height lower limit value in a corresponding vehicle height lower limit curve;
the vehicle height range determining unit is used for obtaining a vehicle height range according to the vehicle height upper limit value and the vehicle height lower limit value;
the damping threshold value determining unit is used for determining a damping upper limit value in a damping upper limit curve corresponding to the working condition parameter and determining a damping lower limit value in a corresponding damping lower limit curve;
and the damping range determining unit is used for obtaining a damping range according to the damping upper limit value and the damping lower limit value.
8. The system of claim 6, wherein the limit adjustment data generation submodule comprises:
the characteristic vehicle height range determining unit is used for taking the intersection of the plurality of vehicle height ranges as a characteristic vehicle height range when the plurality of vehicle height ranges exist;
the characteristic damping range determining unit is used for taking a damping range with the maximum damping lower limit value in the damping ranges as a characteristic damping range when the damping ranges exist;
and the control data generating unit is used for generating control data according to the characteristic vehicle height range and the characteristic damping range.
9. A vehicle suspension control method, characterized by comprising:
collecting working condition data of a vehicle;
determining the vehicle state of the vehicle, the road condition type and the road condition grade of the road surface where the vehicle is located according to the working condition data, and generating control data according to the vehicle state, the road condition type and the road condition grade;
controlling a vehicle suspension according to the control data to adjust a body height and a shock absorber damping of the vehicle through the vehicle suspension.
10. A vehicle, characterized in that the vehicle comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle suspension control method of claim 9.
11. A computer readable storage medium storing computer instructions for causing a processor to perform the vehicle suspension control method of claim 9 when executed.
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| US11932327B2 (en) | 2021-02-16 | 2024-03-19 | Caterpillar Paving Products Inc. | Four-legged construction machine having slope stability system with relief valves |
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