CN117549707A - Control method, system and device for semi-active suspension of vehicle - Google Patents

Abstract

The application provides a control method, a system and a device of a semi-active suspension of a vehicle, which are applied to a smooth regulator, wherein the control method comprises the following steps: acquiring initial driving current of a shock absorber in a semi-active suspension in a vehicle to be controlled and running condition information of the vehicle; the timer collects the running time of the vehicle to be controlled according to the running condition information; the enabling marker analyzes the running time, and determines the enabling marking state of the smooth driving current by determining a target timer; a smooth current calculator determines a smooth driving current according to the enabling mark state by using the initial driving current, a preset smooth coefficient and a preset time sequence; and the current synthesizer determines a target driving current for driving the shock absorber from the initial driving current and the smooth driving current according to the enabling mark state. Thus, the smoothness of current switching is improved by a method of smoothly adjusting current in a semi-active suspension control system, thereby improving the comfort of the driver and passengers.

Description

Control method, system and device for semi-active suspension of vehicle

Technical Field

The application relates to the technical field of vehicle vibration reduction, in particular to a control method, a system and a device of a semi-active suspension of a vehicle.

Background

Compared with the traditional passive suspension system, the semi-active vehicle suspension system utilizes the damping adjustable shock absorber to combine with the electronic control unit, the sensor, the vehicle-mounted network information and the like to realize real-time on-line adjustment of suspension performance, thereby improving vehicle chassis performance including riding comfort and driving operability.

At present, although more closed-loop control methods for semi-active suspension systems have been disclosed, the dependency on the open-loop control strategy still cannot be completely avoided by practical semi-active suspension systems due to the complexity of the road surface and the vehicle driving environment. For example, when a vehicle is traveling over sudden large rough roads, it is often desirable for the shock absorber to possess characteristics that allow for rapid adjustment. If the traditional closed-loop control mode is still adopted, the problems of small adjustment amplitude, unobvious performance improvement and the like can be generated; if the closed loop gain is enlarged, the damping adjustment amplitude under the normal working condition may be excessively large. Therefore, the open-loop control method has a larger application value aiming at specific sporadic working conditions. However, the damping characteristics of the shock absorber under open loop control often vary excessively abruptly and non-smoothly, and are represented by a jump in the drive current of the shock absorber, which can cause vibration of sprung or unsprung vibration, affecting the riding experience of the occupant and the driving experience of the driver.

Disclosure of Invention

In view of this, the present application aims to provide a control method, a system and a device for a semi-active suspension of a vehicle, by improving the smoothness of the switching of the driving current, the given smooth current will directly drive the damping-adjustable shock absorber, and further, the stability of the vehicle in the driving process can be ensured by the shock absorber, so as to achieve the purpose of improving the driving experience of the personnel in the vehicle.

The embodiment of the application provides a control method of a semi-active suspension of a vehicle, which is applied to a smooth regulator and comprises the following steps:

acquiring initial driving current for driving a shock absorber arranged in a semi-active suspension in a vehicle to be controlled and running condition information of the vehicle to be controlled;

a timer arranged in the smooth regulator collects the vehicle running time of the vehicle to be controlled according to the running condition information;

an enable flag in the smoothing regulator analyzes the vehicle travel time, and determines an enable flag state of a smoothing drive current for driving the shock absorber by determining a target timer that collects the vehicle travel time; wherein the enabling flag state is used for reflecting a jump state of the smooth driving current;

A smooth current calculator in the smooth regulator determines a smooth driving current for driving the shock absorber according to the enabling mark state by using the initial driving current, a preset smooth coefficient and a preset time sequence;

and a current synthesizer in the smooth regulator determines a target driving current for driving the shock absorber from the initial driving current and the smooth driving current according to the enabling mark state.

Further, the built-in timer of the smooth regulator comprises a rising timer and a falling timer; the timer arranged in the smooth regulator collects the vehicle running time of the vehicle to be controlled according to the running condition information, and the timer comprises:

when the running condition information indicates that the vehicle to be controlled enters a target running state, acquiring the vehicle running time of the vehicle to be controlled by using the ascending timer; the target running state indicates that the vehicle to be controlled runs to a special abnormal road condition;

and when the running condition information indicates that the vehicle to be controlled exits from the target running state, acquiring the vehicle running time of the vehicle to be controlled by using the descent timer.

Further, the control method further includes:

and when the running time of the vehicle acquired by the target timer reaches a preset threshold value, resetting the target timer.

Further, the target timer comprises a rise timer and a fall timer; an enable flag in the smoothing regulator determines an enable flag state of a smoothing drive current for driving the shock absorber by determining a target timer that collects the vehicle running time, comprising:

when the target timer is a rising timer, determining that the enabling mark state is a rising smooth state; the rising smooth state is used for indicating that the smooth driving current is in a rising smooth period;

when the target timer is a falling timer, determining that the enabling mark state is a falling smooth state; the falling smooth state is used for indicating that the smooth driving current is in a falling smooth period;

when the rising timer and the falling timer are not in working states, determining that the enabling mark state is a non-smooth state; the non-smooth state is used to indicate that the smooth drive current is in a non-smooth phase.

Further, the smoothing current calculator in the smoothing regulator determines a smoothing driving current for driving the shock absorber according to the enabling flag state by using the initial driving current, a preset smoothing coefficient, and a preset time series, including:

When the enabling mark state is in a rising smooth state, determining a rising smooth driving current for driving the shock absorber by using the initial driving current, a preset smooth coefficient and a preset time sequence;

and when the enabling mark state is a descending smooth state, determining the descending smooth driving current for driving the shock absorber by using the initial driving current, a preset smooth coefficient and a preset time sequence.

Further, the smooth driving current comprises a rising smooth driving current and a falling smooth driving current; the current synthesizer in the smoothing regulator determines a target driving current for driving the shock absorber from the initial driving current and the smoothing driving current according to the enabling flag state, and the current synthesizer comprises:

when the enable flag state is a non-smooth state, the current synthesizer determines the initial driving current as a target driving current for driving the shock absorber;

when the enable flag state is a rising smooth state, the current synthesizer determines the rising smooth driving current as a target driving current for driving the shock absorber;

When the enable flag state is a falling smooth state, the current synthesizer determines the falling smooth driving current as a target driving current for driving the shock absorber.

The embodiment of the application also provides a control system of the semi-active suspension of the vehicle, which comprises a special working condition identifier, a current switching driver and a smooth regulator:

processing the received first vibration acceleration and the second vibration acceleration by the special working condition identifier, determining operation working condition information, and sending the determined operation working condition information to the current switching driver and the smoothing regulator;

determining initial driving current by the current switching driver according to the operation condition information, and sending the determined initial driving current to the smooth regulator;

and determining a target driving current for driving the shock absorber by the smooth regulator according to the operating condition information and the initial driving current.

Further, the processing, by the special operating condition identifier, the received first vibration acceleration and the second vibration acceleration, and determining operating condition information includes:

Receiving a first vibration acceleration of a sprung mass in a vertical direction and a second vibration acceleration of an unsprung mass in the vertical direction in the semi-active suspension in the vehicle to be controlled by a special working condition identifier in the semi-active suspension in the vehicle to be controlled;

performing numerical integration processing on the first vibration acceleration and the second vibration acceleration, determining the operation condition parameters, and judging whether the operation condition parameters are larger than a preset operation condition threshold value or not;

if yes, determining that the running condition information indicates that the vehicle to be controlled enters a target running state;

if not, determining that the running condition information indicates that the vehicle to be controlled exits the target running state.

Further, determining, by the current switching driver, an initial drive current according to the operating condition information, including:

the current switching driver in the semi-active suspension of the vehicle to be controlled determines the initial driving current according to the running condition information indicating whether the vehicle to be controlled enters a target running state;

if yes, the current switching driver determines that the initial driving current is a high-order driving current;

if not, the current switching driver determines that the initial driving current is a low-order driving current.

The embodiment of the application also provides a control device of the semi-active suspension of the vehicle, which comprises:

the timer is used for acquiring the running condition information of the vehicle to be controlled; collecting the vehicle running time of the vehicle to be controlled according to the running condition information;

an enable flag for analyzing the vehicle travel time, determining an enable flag state of a smooth driving current for driving the shock absorber by determining a target timer for collecting the vehicle travel time; wherein the enabling flag state is used for reflecting a jump state of the smooth driving current;

a smoothing current calculator for determining a smoothing driving current for driving the shock absorber according to the enabling flag state using the initial driving current, a preset smoothing coefficient, and a preset time series;

the current synthesizer is used for obtaining initial driving current for driving a shock absorber arranged in a semi-active suspension in the vehicle to be controlled; and determining a target driving current for driving the shock absorber from the initial driving current and the smooth driving current according to the enabling mark state.

Further, the built-in timer of the smooth regulator comprises a rising timer and a falling timer; the timer arranged in the smooth regulator is used for collecting the vehicle running time of the vehicle to be controlled according to the running condition information, and the timer is used for:

When the running condition information indicates that the vehicle to be controlled enters a target running state, acquiring the vehicle running time of the vehicle to be controlled by using the ascending timer; the target running state indicates that the vehicle to be controlled runs to a special abnormal road condition;

and when the running condition information indicates that the vehicle to be controlled exits from the target running state, acquiring the vehicle running time of the vehicle to be controlled by using the descent timer.

Further, the timer is further configured to:

and when the running time of the vehicle acquired by the target timer reaches a preset threshold value, resetting the target timer.

Further, the target timer comprises a rise timer and a fall timer; an enable flag in the smoothing regulator determines an enable flag state of a smoothing drive current for driving the shock absorber by determining a target timer that collects the vehicle running time, the enable flag being for:

when the target timer is a rising timer, determining that the enabling mark state is a rising smooth state; the rising smooth state is used for indicating that the smooth driving current is in a rising smooth period;

When the target timer is a falling timer, determining that the enabling mark state is a falling smooth state; the falling smooth state is used for indicating that the smooth driving current is in a falling smooth period;

when the rising timer and the falling timer are not in working states, determining that the enabling mark state is a non-smooth state; the non-smooth state is used to indicate that the smooth drive current is in a non-smooth phase.

Further, a smoothing current calculator in the smoothing regulator determines a smoothing driving current for driving the shock absorber according to the enabling flag state by using the initial driving current, a preset smoothing coefficient, and a preset time series, the smoothing current calculator being configured to:

when the enabling mark state is in a rising smooth state, determining a rising smooth driving current for driving the shock absorber by using the initial driving current, a preset smooth coefficient and a preset time sequence;

and when the enabling mark state is a smooth state, determining a descending smooth driving current for driving the shock absorber by using the initial driving current, a preset smooth coefficient and a preset time sequence.

Further, the smooth driving current comprises a rising smooth driving current and a falling smooth driving current; a current synthesizer in the smoothing regulator, determining a target driving current for driving the shock absorber from the initial driving current and the smoothing driving current according to the enabling flag state, wherein the current synthesizer is used for:

when the enable flag state is a non-smooth state, the current synthesizer determines the initial driving current as a target driving current for driving the shock absorber;

when the enable flag state is a rising smooth state, the current synthesizer determines the rising smooth driving current as a target driving current for driving the shock absorber;

when the enable flag state is a falling smooth state, the current synthesizer determines the falling smooth driving current as a target driving current for driving the shock absorber.

The embodiment of the application provides a control method, a system and a device for a semi-active suspension of a vehicle, wherein the control method comprises the following steps: acquiring initial driving current for driving a shock absorber arranged in a semi-active suspension in a vehicle to be controlled and running condition information of the vehicle to be controlled; a timer arranged in the smooth regulator collects the vehicle running time of the vehicle to be controlled according to the running condition information; an enable flag in the smoothing regulator analyzes the vehicle travel time, and determines an enable flag state of a smoothing drive current for driving the shock absorber by determining a target timer that collects the vehicle travel time; wherein the enabling flag state is used for reflecting a jump state of the smooth driving current; a smooth current calculator in the smooth regulator determines a smooth driving current for driving the shock absorber according to the enabling mark state by using the initial driving current, a preset smooth coefficient and a preset time sequence; and a current synthesizer in the smooth regulator determines a target driving current for driving the shock absorber from the initial driving current and the smooth driving current according to the enabling mark state.

Compared with the method in the prior art that the damping adjustable shock absorber in the semi-active suspension is driven by directly adopting the switching driving current in open loop control, the method for switching the driving current directly output by the traditional current switching driver is improved according to the special road condition that the vehicle semi-active suspension system detects the sudden driving of the vehicle, and a smooth regulator is added in the semi-active suspension control system to improve the smoothness of the switching of the driving current, so that the given smooth current directly drives the damping adjustable shock absorber, the performance of the chassis of the vehicle in the special driving condition can be improved, and the driving experience of personnel in the vehicle is improved.

In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flowchart of a control method of a semi-active suspension of a vehicle according to an embodiment of the present application;

FIG. 2 is a system block diagram of a semi-active suspension for a vehicle according to an embodiment of the present application;

FIG. 3 is a graph illustrating an example of a current variation curve for driving a shock absorber in a semi-active suspension of a vehicle according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a semi-active suspension control system for a vehicle according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of a control device for a semi-active suspension of a vehicle according to an embodiment of the present application.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. Based on the embodiments of the present application, every other embodiment that a person skilled in the art would obtain without making any inventive effort is within the scope of protection of the present application.

It has been found that the damping characteristics of a shock absorber placed in a semi-active suspension of a vehicle under open loop control often vary excessively abruptly and non-smoothly, and are manifested in jumps in the drive current of the shock absorber, which can cause jolt of sprung or unsprung vibrations, affecting the riding experience of the occupant and the driving experience of the driver.

Based on the above, the embodiment of the application provides a control method of a semi-active suspension of a vehicle, which is improved according to the special road condition that a vehicle semi-active suspension system detects that the vehicle suddenly runs in the running process, and the method for directly outputting the switching driving current of a traditional current switching driver, wherein a smooth regulator is added in the semi-active suspension control system to improve the smoothness of the switching of the driving current, so that the given smooth current directly drives a damping adjustable shock absorber, the performance of a chassis of the vehicle in the running process of the special working condition can be improved, and the driving experience of personnel in the vehicle is improved.

Referring to fig. 1, fig. 1 is a flowchart of a control method of a semi-active suspension of a vehicle according to an embodiment of the present application. As shown in fig. 1, a control method of a semi-active suspension of a vehicle provided in an embodiment of the present application is applied to a smoothing regulator, and includes:

S101, acquiring initial driving current for driving a shock absorber arranged in a semi-active suspension in a vehicle to be controlled and running condition information of the vehicle to be controlled.

The semi-active suspension of the vehicle to be controlled is a controllable suspension system which utilizes a damping adjustable shock absorber to sense the road surface condition and the vehicle body posture in combination with a sensor to realize real-time on-line adjustment of the suspension performance, thereby improving the running smoothness and stability of the vehicle; the initial driving current for driving the shock absorber arranged in the semi-active suspension in the vehicle to be controlled is the current of the driving damping adjustable shock absorber which is output in a conventional mode in an open-loop control strategy of the semi-active suspension, and the initial driving current comprises a low-level driving current and a high-level driving current which correspond to the driving current which is determined and output by the shock absorber corresponding to the conventional road condition and the special abnormal road condition respectively.

The running condition information of the vehicle to be controlled is road condition information of the vehicle to be controlled on the uneven road in the running process, the running condition information represents the running condition state of the vehicle, the running condition information comprises a conventional running condition and a special running condition, the special running condition comprises the special uneven road condition such as a rough bulge road surface or a hollow road surface and the like of the road condition of the vehicle running path.

Specifically, referring to fig. 2 for a system structure description of a semi-active suspension in a vehicle to be controlled, fig. 2 is a system structure diagram of the semi-active suspension of the vehicle according to an embodiment of the present application. As shown in fig. 2, a vehicle 10 equipped with a damping-adjustable semi-active suspension electronic control system, which is driven on uneven roads and is about to pass through a large relief bump road surface 101 or a hollow road surface 102, is connected with a vehicle body equivalent mass 20 (also called sprung mass) and a wheel equivalent mass 30 (also called unsprung mass) by a spring, 40 and a damping-adjustable shock absorber 60, and the vertical rigidity of the tire can be equivalent to one spring 50. Acceleration sensors 70 and 80 for monitoring vertical vibration of the vehicle are respectively arranged on the vehicle body equivalent mass block and the wheel equivalent mass block, information monitored by the sensors is transmitted to a semi-active suspension control system 90, and different driving currents are output to the damping adjustable shock absorber by a smooth regulator in the semi-active suspension control system according to a system calculation result.

In the step, a smooth regulator arranged in a semi-active suspension in a vehicle to be controlled acquires information of the operation condition of the vehicle to be controlled from a semi-active suspension control system, and the semi-active suspension control system determines initial driving current for driving a shock absorber arranged in the semi-active suspension in the vehicle to be controlled according to the information of the operation condition of the vehicle to be controlled and sends the initial driving current to the smooth regulator.

Specifically, the operating condition state a represented by the information of the operating condition of the vehicle to be controlled obtained from the semi-active suspension control system ₁ Including normal and special operating conditions, are expressed in the form of:

A ₁ ＝1；

A ₁ ＝0。

wherein A is ₁ When the running condition is 1, the running condition state represented by the information representing the running condition of the current vehicle to be controlled is a special running condition; a is that ₁ And when the operating condition state is 0, the operating condition state represented by the information representing the operating condition of the current vehicle to be controlled is the normal operating condition.

S102, acquiring the vehicle running time of the vehicle to be controlled by a timer arranged in the smooth regulator according to the running condition information.

In this step, the timer in the smoothing regulator is used for recording the running time of the vehicle to be controlled under the running condition, namely, the running cycle time of the semi-active suspension control system of the vehicle to be controlled, and is used for providing a judgment basis for the subsequent change of the smooth current jump changing along with the time, and the timer comprises an ascending timer and a descending timer, which respectively represent the monotonic increasing characteristic and the monotonic decreasing characteristic reflected by the smooth current jump in the form of a function.

In one embodiment of the present application, step S102 may include:

S1021, when the running condition information indicates that the vehicle to be controlled enters a target running state, acquiring the running time of the vehicle to be controlled by using the ascending timer; and the target running state indicates that the vehicle to be controlled runs to a special abnormal road condition.

In the step, the acquired operation condition information is analyzed in real time in the running process of the vehicle to be controlled, and when the operation condition information indicates that the vehicle to be controlled enters a target operation condition state from a normal operation condition state, the ascending timer starts to start timing in response to the fact that the vehicle to be controlled enters the target operation state from the normal operation state, so that the running time of the vehicle to be controlled is acquired.

Here, the target running state indicates that the vehicle to be controlled is running to a special abnormal road condition; that is, when the vehicle to be controlled is traveling to a special abnormal road condition, it may be indicated that the vehicle to be controlled enters the target running state.

Specifically, when the operating condition information indicates thatWhen the vehicle is controlled to enter a target running state, namely, when the running state is changed from a normal running state to a special running state, the running state A is used ₁ Represented by 0 switching to 1, rise timer T ₁ The operation is started, namely, the timing operation is performed according to the following expression:

T ₁ (k+1)＝T ₁ (k)+T _Sample ifA ₁ (k)＝0andA ₁ (k+1)＝1。

wherein k is the current operating condition period; k+1 is the next operating condition period; t (T) ₁ (k) Representing the vehicle running time of the current running working condition period acquired by the rising timer; t (T) ₁ (k+1) represents the vehicle travel time of the next operation condition period acquired by the rise timer; t (T) _Sample The switching time of the preset operation condition state is represented, wherein the switching time of the operation condition state is determined according to the performance of a shock absorber arranged in a semi-active suspension of the vehicle, the switching time of a common shock absorber responding to the operation condition state is between 1ms and 5ms, and the better the performance of the shock absorber is, the less the time is required for responding to the switching of the state.

And S1022, when the running condition information indicates that the vehicle to be controlled exits the target running state, acquiring the running time of the vehicle to be controlled by using the descent timer.

In the step, the acquired operation condition information is analyzed in real time in the running process of the vehicle to be controlled, and when the operation condition information indicates that the vehicle to be controlled exits the target operation condition state and enters the normal operation condition state, the descent timer responds to the fact that the vehicle to be controlled exits the target operation condition state and enters the normal operation condition state, starts to start timing, and therefore the running time of the vehicle to be controlled is acquired.

Specifically, when the operation condition information indicates that the vehicle to be controlled exits the target operation state, that is, when the operation condition state is changed from the special operation condition to the normal operation condition, the vehicle is in the operation condition state A ₁ Indicated by a 1 to 0, the rise timer T ₂ The operation is started, namely, the following timing operation is performed:

T ₂ (k+1)＝T ₂ (k)+T _Sample ifA ₁ (k)＝0andA ₁ (k+1)＝1。

wherein T is ₂ (k) Representing the vehicle running time of the current running working condition period acquired by the descent timer; t (T) ₂ (k+1) represents the vehicle travel time for the next operating condition period acquired by the descent timer.

Optionally, in addition to the braking control method of the vehicle including the steps S101 to S102, step S106 is further included, specifically, step S106 is a step for explaining a control method in which a timer is reset according to the acquired vehicle running time, and after the timer built in the smoothing regulator acquires the vehicle running time of the vehicle to be controlled according to the running condition information, a timer reset strategy is designed to stop the timer and zero the time.

Here, specific steps of steps S101 to S102 are described above, and are not described here again.

S106, when the vehicle running time acquired by the target timer reaches a preset threshold value, resetting the target timer.

In this step, the running up timer or down timer is determined as the target timer. The preset threshold value is a maximum threshold value according to the running time of the preset vehicle under the special running working condition in the running process of the shock absorber, and the preset threshold value is determined according to factors such as the actual running road condition of the vehicle, the performance of the shock absorber of the vehicle and the like in practical application and by combining with experimental test results of the vehicle. When the running time of the vehicle acquired by the running rising timer or falling timer reaches a preset threshold value, resetting the running rising timer or falling timer to zero.

Specifically, when the vehicle running time of the current running working condition period acquired by the rising timer reaches a preset rising timer threshold value, the rising timer performs reset processing of zeroing so as to enable the vehicle running time of the rising timer in the next running working condition period to be zeroed; similarly, when the vehicle running time of the current running working condition period acquired by the down timer reaches a preset down timer threshold value, the down timer performs reset processing of zeroing so as to enable the vehicle running time of the down timer in the next running working condition period to be zeroed. The timer reset processing expression is as follows:

T ₁ (k+1)＝0ifT ₁ (k)＝T _{1_Thd} ；

T ₂ (k+1)＝0ifT ₂ (k)＝T _{2_Thd} 。

Wherein T is _{1_Thd} A rise timer threshold; t (T) _{2_Thd} To drop the timer threshold.

Here, the timer determines the target timer according to the switching of the to-be-controlled vehicle entering and exiting the target running state indicated by the running condition information, and when the running time of the vehicle acquired by the target timer reaches the preset threshold value, the target timer is reset, so that the target timer in the scheme, including the ascending timer and the descending timer, cannot be started at the same time.

S103, analyzing the vehicle running time by an enabling marker in the smooth regulator, and determining an enabling marking state of a smooth driving current for driving the shock absorber by determining a target timer for collecting the vehicle running time; wherein the enable flag state is used to reflect a transition state of the smooth drive current.

It should be noted that, selecting the running timer and the non-reset timer as the target timer, according to the low-level driving current and the high-level driving current included in the initial driving current, it may be determined that the smooth driving current is a current that smoothly jumps between the low-level and the high-level of the driving current, when the jump of the smooth driving current from the low-level to the high-level appears as a rising jump, the corresponding enabling flag state indicates that the smooth driving current is in a rising smooth period; when the transition of the smooth driving current from the high level to the low level appears as a falling transition, the corresponding enabling mark state indicates that the smooth driving current is in a falling smooth period.

In the step, firstly, an enabling marker in the smooth regulator analyzes the vehicle running time acquired by a timer to determine whether a target timer for acquiring the vehicle running time is a rising timer or a falling timer; then, an enable flag state of a smooth driving current for driving the shock absorber is determined by judging whether or not the acquisition time result of the target timer is reset to zero.

In one embodiment of the present application, step S103 may include:

s1031, when the target timer is a rising timer, determining that the enabling mark state is a rising smooth state; the ramp-up smoothing state is used to indicate that the smooth drive current is in a ramp-up smoothing phase.

In the step, firstly, when the running timer without resetting is a rising timer, the rising timer is determined to be a target timer, and then the enabling mark state is determined to be a rising smooth state according to the vehicle running time acquired by the rising timer, wherein the rising smooth state is used for indicating that the smooth driving current is in a rising smooth period.

Specifically, the vehicle travel time T acquired by the rise timer ₁ Vehicle travel time T not 0 and collected by descent timer ₂ When reset to zero, the enabling marker A2 is marked as 1, which indicates that the enabling marker state is in a rising smooth state, namely, the smooth driving current is in a rising smooth period, and the specific expression is as follows:

A ₂ ＝1ifT ₁ ≠0andT ₂ ＝0。

s1032, when the target timer is a falling timer, determining that the enabling mark state is a falling smooth state; the falling smoothing state is used for indicating that the smooth driving current is in a falling smoothing period.

In this step, first, when the timer that is running and has not been reset is a down timer, it is determined that the down timer is a target timer; and then, determining the enabling mark state as a descending smooth state according to the vehicle running time acquired by the descending timer, wherein the descending smooth state is used for indicating that the smooth driving current is in a descending smooth period.

Specifically, at presentVehicle travel time T collected by down timer ₂ Vehicle travel time T not 0 and collected by rise timer ₁ When reset to zero, the enabling marker A2 is marked as 2, which indicates that the enabling marker state is in a falling smooth state, namely the smooth driving current is in a rising smooth period, and the specific expression is as follows:

A ₂ ＝2ifT ₁ ＝0andT ₂ ≠0。

s1033, when the rising timer and the falling timer are not in working states, determining that the enabling mark state is a non-smooth state; the non-smooth state is used to indicate that the smooth drive current is in a non-smooth phase.

In the step, firstly, determining that a timer which is not running currently or the timer is reset and is in a reset state; and then, determining the enabling mark state as a non-smooth state according to the vehicle running time acquired by the rising timer to be 0, wherein the non-smooth state is used for indicating that the smooth driving current is in a non-smooth period.

Specifically, the vehicle travel time T acquired by the rise timer ₁ Vehicle travel time T acquired by 0 and descent timer ₂ Also 0, the enabling flag A2 is marked as 0, which indicates that the enabling flag state is in a non-smooth state, that is, the smooth driving current is in a non-smooth period, and the specific expression is as follows:

A ₂ ＝0 if T ₁ ＝0 and T ₂ ＝0。

and S104, a smooth current calculator in the smooth regulator determines a smooth driving current for driving the shock absorber according to the enabling mark state by using the initial driving current, a preset smooth coefficient and a preset time sequence.

The smoothing current calculator performs smoothing processing based on the low-order drive current and the high-order drive current in the initial drive current so that smooth monotonic expression of the current value can be exhibited during the enabled flag state period. The preset smoothing coefficient is determined according to the speed of the vehicle to be controlled, in practical application, the driving current can improve the smoothness according to the reduction of the speed, and similarly, the higher the speed of the vehicle to be controlled is, the smaller the degree of smoothing processing of the initial driving circuit is, so that the smoothing coefficient can be adjusted according to the speed of the vehicle to achieve the effect, namely, the smoothing coefficient is adjusted to be a smaller value along with the increase of the speed; as the speed decreases, the smoothing coefficient adjusts to a larger value. The preset time array is a maximum operation condition cycle number of the time array determined according to a preset threshold value of the timer and the switching time of the preset operation condition state, and the cycle array of the operation condition of the vehicle to be controlled is determined.

In this step, the smoothing current calculator in the smoothing regulator determines a calculation formula of a smoothing current corresponding to the enabled flag state based on a rising smoothing period and a falling smoothing period indicated by the enabled flag state, wherein the calculation formula of the smoothing current is a function expression corresponding to a time series set for realizing the smoothing performance of the current, and the smoothing driving current for driving the shock absorber is determined from the calculation formula of the smoothing current corresponding to the enabled flag state using the initial driving current, a preset smoothing coefficient, and a preset time series.

In one embodiment of the present application, step S104 may include:

s1041, when the enabling mark state is a rising smooth state, determining a rising smooth driving current for driving the shock absorber by using the initial driving current, a preset smooth coefficient and a preset time sequence.

In this step, when the rise timer is started, i.e. the vehicle travel time T acquired by the rise timer ₁ Not equal to 0, the smoothing current calculator starts to operate according to the following calculation formula and gives a rising smoothing current value I which varies with the preset time series ₁ (n)：

I ₁ (n)＝I _l +(I _h -I _l )·(1-e ^-x(n)/μ1(v) )。

Wherein I is _h A high-order driving current value in the initial driving current; i _l A low-order drive current value in the initial drive current; n is the period of the running condition of the vehicle after triggering and startingTime of the period. According to a preset threshold value T of the rise timer _{1_Thd} And a preset switching time T of the operating condition state _Sample The range of the maximum operating condition cycle number N, N of the time series of the rising smoothing period and the maximum operating condition cycle number N can be obtained by the following calculation formula:

n＝{1,2,3,…,N},N＝T _{1_Thd} /T _Sample 。

according to the moment n of the vehicle in the running working condition period, determining a preset time sequence x (n) as the following expression:

in the specific implementation process, mu in the calculation formula of the smooth current ₁ (v) The vehicle speed threshold value for determining the rising smoothness coefficient is determined in practical use based on the characteristics of the shock absorber and experimental determination, and when the vehicle speed threshold value is defined as 30km/h, the rising smoothness coefficient mu ₁ The relation with the vehicle speed v is shown in the following expression:

μ ₁ ＝0.2ifv≤30km/h；

μ ₁ ＝0.1ifv>30km/h。

s1042, when the enable flag state is a descending smooth state, determining a descending smooth driving current for driving the shock absorber by using the initial driving current, a preset smooth coefficient and a preset time sequence.

In this step, when the descent timer is started, i.e. the vehicle travel time T acquired by the descent timer ₂ Not equal to 0, the smoothing current calculator starts to operate according to the following calculation formula and gives a descending smoothing current value I which varies with the preset time sequence ₂ (n)：

Wherein I is _h ，I _l Synchronization with definition of x (n)Step S1041, according to the preset threshold T of the falling timer _{2_Thd} And a preset switching time T of the operating condition state _Sample The determined range of the maximum operating condition cycle number N, N of the time series in the falling smoothing period and the maximum operating condition cycle number N can be obtained by the following calculation formula:

n＝{1,2,3,…,N},N＝T _{2_Thd} /T _Sample 。

in the specific implementation process, mu in the calculation formula of the smooth current ₂ (v) For the preset falling smoothness coefficient, the vehicle speed threshold value for determining the falling smoothness coefficient is determined in practical application according to the characteristics of the shock absorber and experimental determination, and when the vehicle speed threshold value is limited to 30km/h, the falling smoothness coefficient mu ₂ The relation with the vehicle speed v is shown in the following expression:

μ ₂ ＝0.3ifv≤30km/h；

μ ₂ ＝0.15ifv>30km/h。

and S105, determining a target driving current for driving the shock absorber from the initial driving current and the smooth driving current according to the enabling mark state by a current synthesizer in the smooth regulator.

In this step, the current synthesizer in the smoothing regulator generates a current I based on the initial drive current ₀ Rising the smoothing drive current I ₁ The smooth driving current I is reduced ₂ Enable marker a ₂ The result of the given enable mark state determines the target driving current I for driving the shock absorber ₃ 。

In one embodiment of the present application, step S105 may include:

s1051, when the enable flag state is a non-smooth state, the current synthesizer determines the initial driving current as a target driving current for driving the shock absorber.

In this step, when the enable flag state A ₂ When 0 represents a non-smooth state, the current synthesizer I ₃ The initial driving current I is set ₀ Determining a target drive current for driving the shock absorberThe specific expression relationship is as follows:

I ₃ ＝I ₀ ifA ₂ ＝0。

s1052, when the enable flag state is a rising smooth state, the current synthesizer determines the rising smooth driving current as a target driving current for driving the shock absorber.

In this step, when the enable flag state A ₂ When 1 represents the rising smooth state, the current synthesizer I ₃ The rising smooth driving current I ₁ The target driving current for driving the shock absorber is determined as follows:

I ₃ ＝I ₁ ifA ₂ ＝1。

s1053, when the enable flag state is a falling smooth state, the current synthesizer determines the falling smooth driving current as a target driving current for driving the shock absorber.

In this step, when the enable flag state A ₂ When 2 represents a falling smooth state, the current synthesizer I ₃ Smoothing the falling smooth driving current I ₂ The target driving current for driving the shock absorber is determined as follows:

I ₃ ＝I ₂ ifA ₂ ＝2。

specifically, an embodiment tests the current effect of a damper used in a semi-active suspension of a vehicle, please refer to fig. 3, and fig. 3 is an exemplary graph of a current variation curve of a damper used in a semi-active suspension of a vehicle according to an embodiment of the present application. As shown in FIG. 3, the solid line of the current in the figure is the initial driving current I of the comparative example, i.e. without smoothing ₀ The dashed line and the dash-dot line in fig. 3 are the drive current after the smoothing process at the low vehicle speed and the drive current after the smoothing process at the high vehicle speed, respectively, and the abscissa in fig. 3 is the vehicle running time and the ordinate is the target drive current amplitude outputted for driving the shock absorber. As can be seen from fig. 3, the switching of the initial drive current between the high-order drive current value and the low-order drive current value is straightforward. This abrupt change in current is a poor performance in time control applications of semi-active suspensions, and after the smoothing mechanism of the present solution, the current changes between the high and low values become smoother.

According to the control method of the semi-active suspension of the vehicle, initial driving current for driving the shock absorber arranged in the semi-active suspension of the vehicle to be controlled and operation condition information of the vehicle to be controlled are obtained; a timer arranged in the smooth regulator collects the vehicle running time of the vehicle to be controlled according to the running condition information; an enable flag in the smoothing regulator analyzes the vehicle travel time, and determines an enable flag state of a smoothing drive current for driving the shock absorber by determining a target timer that collects the vehicle travel time; wherein the enabling flag state is used for reflecting a jump state of the smooth driving current; a smooth current calculator in the smooth regulator determines a smooth driving current for driving the shock absorber according to the enabling mark state by using the initial driving current, a preset smooth coefficient and a preset time sequence; and a current synthesizer in the smooth regulator determines a target driving current for driving the shock absorber from the initial driving current and the smooth driving current according to the enabling mark state. Therefore, according to the special road condition that the vehicle semi-active suspension system detects the sudden driving of the vehicle, the method for directly outputting the switching driving current of the traditional current switching driver is improved, and a smooth regulator is added in the semi-active suspension control system to improve the smoothness of the switching of the driving current, so that the given smooth current directly drives the damping adjustable shock absorber, the chassis performance of the vehicle in the special driving condition can be improved, and the driving experience of personnel in the vehicle is improved.

Referring to fig. 4, fig. 4 is a schematic structural diagram of a semi-active suspension control system for a vehicle according to an embodiment of the present application. As shown in fig. 4, the semi-active suspension control system 90 includes a special condition identifier 930, a current switching driver 920, and a smoothing regulator 910:

processing the received first and second vibration accelerations by the special operating condition identifier 930, determining operating condition information, and transmitting the determined operating condition information to the current switching driver 920 and the smoothing regulator 910;

determining, by the current switching driver 920, an initial driving current according to the operating condition information, and transmitting the determined initial driving current to the smoothing regulator 910;

a target drive current for driving the shock absorber 60 is determined by the smoothing regulator 910 based on the operating condition information and the initial drive current.

Further, the step of processing, by the special condition identifier 930, the received first vibration acceleration and the second vibration acceleration to determine operation condition information includes:

receiving, by a special condition identifier 930 in the semi-active suspension of the vehicle to be controlled, a first vibration acceleration of the sprung mass in the vertical direction and a second vibration acceleration of the unsprung mass in the vertical direction in the semi-active suspension of the vehicle to be controlled;

Performing numerical integration processing on the first vibration acceleration and the second vibration acceleration, determining the operation condition parameters, and judging whether the operation condition parameters are larger than a preset operation condition threshold value or not;

if yes, determining that the running condition information indicates that the vehicle to be controlled enters a target running state;

if not, determining that the running condition information indicates that the vehicle to be controlled exits the target running state.

Specifically, the special condition identifier 930 determines the operating condition according to the following manner according to the first vibration acceleration of the sprung mass in the vertical direction and the second vibration acceleration of the unsprung mass in the vertical direction in the semi-active suspension of the vehicle to be controlled:

wherein A is ₁ When 1, the current target running state is represented, A ₁ And when the value is 0, the current state is the target operation state, namely the normal operation working condition state is entered. a, a _s And a _u A first vibration acceleration of the sprung mass in the vertical direction and a second vibration acceleration of the unsprung mass in the vertical direction, respectively, t being time, z _thd And the judgment threshold value is the judgment threshold value of the target operation condition state.

Further, the step of determining, by the current switching driver 920, an initial driving current according to the operating condition information includes:

The current switching driver 920 in the semi-active suspension of the vehicle to be controlled determines the initial driving current according to the running condition information indicating whether the vehicle to be controlled enters a target running state;

if yes, the current switching driver 920 determines the initial driving current to be a high driving current;

if not, the current switching driver 920 determines the initial driving current to be a low driving current.

Specifically, based on the calculation result of the special condition identifier 930, the current switching driver 920 will give the initial driving current as follows:

I ₀ ＝I _h ifA ₁ ＝1

I ₀ ＝I _l ifA ₁ ＝0

wherein A is ₁ Representing the above-described enable flag state; i ₀ An initial driving current output for the current switching driver 920; i _h Is a high-order driving current; i _l For low-order drive current, I _h And I _l The specific values of (2) are generally determined by experimental tests on the shock absorber in combination with the specific characteristics of the shock absorber.

Referring to fig. 5, fig. 5 is a schematic structural diagram of a control device for a semi-active suspension of a vehicle according to an embodiment of the present application. As shown in fig. 5, the control device 910 includes:

a timer 911 for acquiring operation condition information of the vehicle to be controlled; collecting the vehicle running time of the vehicle to be controlled according to the running condition information;

An enable flag 912 for analyzing the vehicle travel time, determining an enable flag state of a smooth driving current for driving the shock absorber by determining a target timer for collecting the vehicle travel time; wherein the enabling flag state is used for reflecting a jump state of the smooth driving current;

a smoothing current calculator 913 for determining a smoothing driving current for driving the shock absorber according to the enable flag state using the initial driving current, a preset smoothing coefficient, and a preset time series;

a current synthesizer 914 for obtaining an initial driving current for driving a shock absorber provided in a semi-active suspension in a vehicle to be controlled; and determining a target driving current for driving the shock absorber from the initial driving current and the smooth driving current according to the enabling mark state.

Further, the timer 911 built in the smoothing regulator includes a rise timer and a fall timer; the timer 911 built in the smoothing regulator collects the vehicle running time of the vehicle to be controlled according to the running condition information, and the timer 911 is used for:

when the running condition information indicates that the vehicle to be controlled enters a target running state, acquiring the vehicle running time of the vehicle to be controlled by using the ascending timer; the target running state indicates that the vehicle to be controlled runs to a special abnormal road condition;

And when the running condition information indicates that the vehicle to be controlled exits from the target running state, acquiring the vehicle running time of the vehicle to be controlled by using the descent timer.

Further, the timer 911 is further configured to:

when the vehicle running time acquired by the target timer 911 reaches a preset threshold value, the target timer 911 is reset.

Further, the target timer 911 includes a rise timer and a fall timer; an enable flag 912 in the smoothing regulator determines an enable flag state of a smoothing drive current for driving the shock absorber by determining a target timer that collects the vehicle running time, the enable flag 912 being configured to:

determining that the enable flag state is a rising smooth state when the target timer 911 is a rising timer; the rising smooth state is used for indicating that the smooth driving current is in a rising smooth period;

determining that the enable flag state is a falling smooth state when the target timer 911 is a falling timer; the falling smooth state is used for indicating that the smooth driving current is in a falling smooth period;

when the rising timer and the falling timer are not in working states, determining that the enabling mark state is a non-smooth state; the non-smooth state is used to indicate that the smooth drive current is in a non-smooth phase.

Further, the smoothing current calculator 913 in the smoothing regulator determines a smoothing driving current for driving the shock absorber according to the enabling flag state by using the initial driving current, a preset smoothing coefficient, and a preset time series, and the smoothing current calculator 913 is configured to:

when the enabling mark state is in a rising smooth state, determining a rising smooth driving current for driving the shock absorber by using the initial driving current, a preset smooth coefficient and a preset time sequence;

and when the enabling mark state is a smooth state, determining a descending smooth driving current for driving the shock absorber by using the initial driving current, a preset smooth coefficient and a preset time sequence.

Further, the smooth driving current comprises a rising smooth driving current and a falling smooth driving current; a current synthesizer 914 in the smoothing regulator determines a target driving current for driving the shock absorber from the initial driving current and the smoothing driving current according to the enable flag state, the current synthesizer 914 being configured to:

when the enable flag state is a non-smooth state, the current synthesizer 914 determines the initial driving current as a target driving current for driving the shock absorber;

When the enable flag state is a rising smooth state, the current synthesizer 914 determines the rising smooth driving current as a target driving current for driving the shock absorber;

when the enable flag state is a falling smooth state, the current synthesizer 914 determines the falling smooth driving current as a target driving current for driving the shock absorber.

According to the control device of the semi-active suspension of the vehicle, initial driving current for driving the shock absorber arranged in the semi-active suspension of the vehicle to be controlled and operation condition information of the vehicle to be controlled are obtained; a timer arranged in the smooth regulator collects the vehicle running time of the vehicle to be controlled according to the running condition information; an enable flag in the smoothing regulator analyzes the vehicle travel time, and determines an enable flag state of a smoothing drive current for driving the shock absorber by determining a target timer that collects the vehicle travel time; wherein the enabling flag state is used for reflecting a jump state of the smooth driving current; a smooth current calculator in the smooth regulator determines a smooth driving current for driving the shock absorber according to the enabling mark state by using the initial driving current, a preset smooth coefficient and a preset time sequence; and a current synthesizer in the smooth regulator determines a target driving current for driving the shock absorber from the initial driving current and the smooth driving current according to the enabling mark state. Therefore, according to the special road condition that the vehicle semi-active suspension system detects the sudden driving of the vehicle, the method for directly outputting the switching driving current of the traditional current switching driver is improved, and a smooth regulator is added in the semi-active suspension control system to improve the smoothness of the switching of the driving current, so that the given smooth current directly drives the damping adjustable shock absorber, the chassis performance of the vehicle in the special driving condition can be improved, and the driving experience of personnel in the vehicle is improved.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

Finally, it should be noted that: the foregoing examples are merely specific embodiments of the present application, and are not intended to limit the scope of the present application, but the present application is not limited thereto, and those skilled in the art will appreciate that while the foregoing examples are described in detail, the present application is not limited thereto. Any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or make equivalent substitutions for some of the technical features within the technical scope of the disclosure of the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. A control method of a semi-active suspension for a vehicle, applied to a smoothing regulator, the control method comprising:

acquiring initial driving current for driving a shock absorber arranged in a semi-active suspension in a vehicle to be controlled and running condition information of the vehicle to be controlled;

a timer arranged in the smooth regulator collects the vehicle running time of the vehicle to be controlled according to the running condition information;

an enable flag in the smoothing regulator analyzes the vehicle travel time, and determines an enable flag state of a smoothing drive current for driving the shock absorber by determining a target timer that collects the vehicle travel time; wherein the enabling flag state is used for reflecting a jump state of the smooth driving current;

a smooth current calculator in the smooth regulator determines a smooth driving current for driving the shock absorber according to the enabling mark state by using the initial driving current, a preset smooth coefficient and a preset time sequence;

and a current synthesizer in the smooth regulator determines a target driving current for driving the shock absorber from the initial driving current and the smooth driving current according to the enabling mark state.

2. The method of claim 1, wherein the built-in timer of the smoothing regulator comprises a rise timer and a fall timer; the timer arranged in the smooth regulator collects the vehicle running time of the vehicle to be controlled according to the running condition information, and the timer comprises:

when the running condition information indicates that the vehicle to be controlled enters a target running state, acquiring the vehicle running time of the vehicle to be controlled by using the ascending timer; the target running state indicates that the vehicle to be controlled runs to a special abnormal road condition;

and when the running condition information indicates that the vehicle to be controlled exits from the target running state, acquiring the vehicle running time of the vehicle to be controlled by using the descent timer.

3. The method of claim 1, wherein the control method further comprises:

and when the running time of the vehicle acquired by the target timer reaches a preset threshold value, resetting the target timer.

4. The method of claim 1, wherein the target timer comprises a rise timer and a fall timer; an enable flag in the smoothing regulator determines an enable flag state of a smoothing drive current for driving the shock absorber by determining a target timer that collects the vehicle running time, comprising:

When the target timer is a rising timer, determining that the enabling mark state is a rising smooth state; the rising smooth state is used for indicating that the smooth driving current is in a rising smooth period;

when the target timer is a falling timer, determining that the enabling mark state is a falling smooth state; the falling smooth state is used for indicating that the smooth driving current is in a falling smooth period;

when the rising timer and the falling timer are not in working states, determining that the enabling mark state is a non-smooth state; the non-smooth state is used to indicate that the smooth drive current is in a non-smooth phase.

5. The method according to claim 1, wherein the smoothing current calculator in the smoothing regulator determines a smoothing driving current for driving the damper using the initial driving current, a preset smoothing coefficient, and a preset time series according to the enable flag state, comprising:

when the enabling mark state is in a rising smooth state, determining a rising smooth driving current for driving the shock absorber by using the initial driving current, a preset smooth coefficient and a preset time sequence;

And when the enabling mark state is a descending smooth state, determining the descending smooth driving current for driving the shock absorber by using the initial driving current, a preset smooth coefficient and a preset time sequence.

6. The method of claim 1, wherein the smoothing drive current comprises a rising smoothing drive current and a falling smoothing drive current; the current synthesizer in the smoothing regulator determines a target driving current for driving the shock absorber from the initial driving current and the smoothing driving current according to the enabling flag state, and the current synthesizer comprises:

when the enable flag state is a non-smooth state, the current synthesizer determines the initial driving current as a target driving current for driving the shock absorber;

when the enable flag state is a rising smooth state, the current synthesizer determines the rising smooth driving current as a target driving current for driving the shock absorber;

when the enable flag state is a falling smooth state, the current synthesizer determines the falling smooth driving current as a target driving current for driving the shock absorber.

7. A control system for a semi-active suspension of a vehicle, the control system comprising a special condition identifier, a current switching driver and a smoothing regulator according to any one of claims 1 to 6;

processing the received first vibration acceleration and the second vibration acceleration by the special working condition identifier, determining operation working condition information, and sending the determined operation working condition information to the current switching driver and the smoothing regulator;

determining initial driving current by the current switching driver according to the operation condition information, and sending the determined initial driving current to the smooth regulator;

and determining a target driving current for driving the shock absorber by the smooth regulator according to the operating condition information and the initial driving current.

8. The control system of claim 7, wherein the processing of the received first and second vibratory accelerations by the special condition identifier to determine operating condition information comprises:

receiving a first vibration acceleration of a sprung mass in a vertical direction and a second vibration acceleration of an unsprung mass in the vertical direction in the semi-active suspension in the vehicle to be controlled by a special working condition identifier in the semi-active suspension in the vehicle to be controlled;

Performing numerical integration processing on the first vibration acceleration and the second vibration acceleration, determining the operation condition parameters, and judging whether the operation condition parameters are larger than a preset operation condition threshold value or not;

if yes, determining that the running condition information indicates that the vehicle to be controlled enters a target running state;

if not, determining that the running condition information indicates that the vehicle to be controlled exits the target running state.

9. The control system of claim 7, wherein determining, by the current switching driver, an initial drive current based on the operating condition information comprises:

the current switching driver in the semi-active suspension of the vehicle to be controlled determines the initial driving current according to the running condition information indicating whether the vehicle to be controlled enters a target running state;

if yes, the current switching driver determines that the initial driving current is a high-order driving current;

if not, the current switching driver determines that the initial driving current is a low-order driving current.

10. A control device of a semi-active suspension of a vehicle, characterized by comprising:

the timer is used for acquiring the running condition information of the vehicle to be controlled; collecting the vehicle running time of the vehicle to be controlled according to the running condition information;

An enable flag for analyzing the vehicle travel time, determining an enable flag state of a smooth driving current for driving the shock absorber by determining a target timer for collecting the vehicle travel time; wherein the enabling flag state is used for reflecting a jump state of the smooth driving current;

a smoothing current calculator for determining a smoothing driving current for driving the shock absorber according to the enabling flag state using the initial driving current, a preset smoothing coefficient, and a preset time series;

the current synthesizer is used for obtaining initial driving current for driving a shock absorber arranged in a semi-active suspension in the vehicle to be controlled; and determining a target driving current for driving the shock absorber from the initial driving current and the smooth driving current according to the enabling mark state.