WO2021232794A1 - Method and device for adjusting height of air suspension, storage medium and processor - Google Patents

Abstract

A method and device for adjusting the height of air suspension, a storage medium and a processor. The method comprising: acquiring the displacement height difference of a target vehicle body; determining whether the displacement height difference exceeds a preset range, and if the displacement height difference exceeds the preset range, then detecting the duration of the displacement height difference; and if the duration of the displacement height difference exceeds a first preset duration, then controlling an air spring (4) to inflate and deflate so that the height of the target vehicle body is kept within a preset height range, wherein the air spring (4) is disposed on the target vehicle body and is configured to adjust the height of the target vehicle body by means of changing the length thereof. The technical problem in which the load change of a motor vehicle between no load and full load will cause the suspension height to change, resulting in continuous changes in the height of the vehicle from the ground is solved.

Description

Method and device for adjusting the height of air suspension, storage medium and processor

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office, the application number is 202010427302.2, and the invention title "Method and device for adjusting the height of air suspension, storage medium and processor" on May 19, 2020, and its entire content Incorporated in this application by reference.

Technical field

The present invention relates to the technical field of vehicle engineering, in particular to a method and device for adjusting the height of an air suspension, a storage medium and a processor.

Background technique

In related technologies, the load change of a motor vehicle between no load and full load will cause the height of the suspension to change, and the passive suspension will cause the height of the vehicle to change due to the difference in load, which affects the passing distance and safety and comfort of the vehicle. .

In view of the above-mentioned problems in related technologies, no effective solutions have yet been proposed.

Summary of the invention

The main purpose of the present invention is to provide a method and device for adjusting the height of an air suspension, a storage medium, and a processor, so as to solve the problem of the suspension height change caused by the load change of the motor vehicle between no load and full load in the related art. A technical problem that causes the vehicle's ground clearance to change constantly.

In order to achieve the above objective, according to one aspect of the present invention, a method for adjusting the height of an air suspension is provided. The invention includes: obtaining the displacement height difference of the target body; judging whether the displacement height difference exceeds the preset range, if the displacement height difference exceeds the preset range, detecting the duration of the displacement height difference; if the duration of the displacement height difference exceeds the first For the preset duration, the air spring is controlled to inflate and deflate to maintain the height of the target vehicle body within the preset height range, wherein the air spring is arranged on the target vehicle body and is configured to adjust the height of the target vehicle body through changes in its length.

Further, the solenoid valve is connected to the air spring charging and exhaust ports, and before obtaining the displacement height difference of the target vehicle body, the method includes: ECU (Electronic Control Unit) controls the solenoid valve to close, wherein the opening and closing of the solenoid valve determines whether the air spring Perform charging and discharging operations. When the solenoid valve is closed, the amount of gas in the air spring is a constant value.

Further, obtaining the displacement height difference of the target body includes: collecting the current height of the air spring; making the difference between the current height and the target steady-state height to obtain the height difference, where the target steady-state height is the first height of the target body before the current moment. 2. The average height of the height maintained within the preset time; the absolute value of the height difference is determined as the displacement height difference.

Further, when the solenoid valve is in a closed state, the method further includes: acquiring a control sequence, wherein the control sequence includes a plurality of serial numbers, and the serial numbers are used to indicate when the amount of gas in the air spring is a fixed value, The mapping relationship between the pressure in the air spring and the height of the air spring.

Further, obtaining the control sequence includes: calculating the current pressure corresponding to the current height according to the air spring model, where the air spring model is

Wherein, p _{e (n + 1)} for the current pressure of the air spring, the air spring around a standard atmospheric pressure p _a strong, p _{e (n)} of the air spring within the second predetermined duration, the pressure in the air spring, h _n Is the current height, h _n+1 is the target steady-state height, and γ is the variable gas constant; the current height and the current pressure are determined as the corresponding mapping relationship in a serial number.

Further, if the duration of the displacement height difference exceeds a first preset duration, controlling the air spring to inflate and deflate to maintain the height of the target vehicle body within the preset height range includes: if the current height is less than When the target steady-state height is reached, the solenoid valve is controlled to open the charging mode to drive the gas in the gas tank to inflate the air spring through the solenoid valve until the height of the air spring reaches the target steady-state height, Wherein, the gas storage tank is respectively connected to the air spring through the gas inlet and the gas outlet of the solenoid valve; if the current height is greater than the target steady-state height, the solenoid valve is controlled to open the exhaust mode to The air spring is deflated until the height of the air spring reaches the target steady-state height.

Further, in the case that the current height is less than the target steady-state height, the solenoid valve is controlled to open the charging mode to drive the gas in the gas tank to inflate the air spring through the solenoid valve, and then the The method includes: determining a plurality of current pressures of the plurality of air springs through the mapping relationship contained in the serial number according to the current heights of the plurality of air springs, wherein the target vehicle body is provided with a plurality of current pressures. For the air spring, the cross-sectional areas of the multiple air springs are the same; based on the multiple current pressures, the cross-sectional area of the air spring, and the normal load of the target vehicle body, the current overload of the target vehicle body is calculated Ratio; if the overload ratio is greater than or equal to the load threshold, it is determined whether the duration of the overload ratio exceeds a third preset time period; if the overload ratio exceeds the third preset time period, a first alarm prompt is triggered.

Further, in the case that the current height is less than the target steady-state height, after the solenoid valve is controlled to open the charging mode to drive the gas in the gas tank to inflate the air spring through the solenoid valve, the method further The method includes: determining multiple current pressures of the multiple air springs according to the current heights of the multiple air springs through the mapping relationship contained in the serial number, wherein the target vehicle body is provided with multiple current pressures. The air spring; calculate the rollover ratio of the target vehicle body based on a plurality of the current pressures; if the rollover ratio is greater than or equal to the rollover threshold, trigger a second alarm prompt.

In order to achieve the above objective, according to another aspect of the present invention, a device for adjusting the height of an air suspension is provided. The air suspension includes a plurality of air springs, an air tank, a solenoid valve, and a height sensor. The device includes: The acquiring unit is configured to acquire the displacement height difference of the target vehicle body; the first judging unit is configured to judge whether the displacement height difference exceeds a preset range, and if the displacement height difference exceeds the preset range, detect the duration of the displacement height difference; The first control unit is configured to control the charging and discharging of the air spring to maintain the height of the target vehicle body within the preset height range when the duration of the displacement height difference exceeds the first preset time period, wherein the air spring is set The target body is configured to adjust the height of the target body by changing its length.

In order to achieve the above object, according to another aspect of the present invention, a storage medium is provided, the storage medium includes a stored program, and the program executes the above-mentioned method for adjusting the height of an air suspension.

In order to achieve the above object, according to another aspect of the present invention, a processor is provided, which is used to run a program, and the program executes the above-mentioned method for adjusting the height of an air suspension.

Through the present invention, the following steps are adopted: obtain the displacement height difference of the target vehicle body; determine whether the displacement height difference exceeds the preset range, if the displacement height difference exceeds the preset range, detect the duration of the displacement height difference; if the displacement height difference continues If the duration exceeds the first preset duration, the air spring is controlled to inflate and deflate to maintain the height of the target vehicle body within the preset height range. The air spring is set on the target vehicle body and is configured to adjust the target by changing its length The height of the car body solves the technical problem that the load change of the motor vehicle between no-load and full load in the related technology will cause the suspension height to change, resulting in the continuous change of the vehicle's ground clearance, thereby achieving the technical effect of maintaining the stability of the car body height .

Description of the drawings

The drawings constituting a part of the present invention are used to provide a further understanding of the present invention, and the exemplary embodiments of the present invention and the description thereof are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

Fig. 1 is a flowchart of a method for adjusting the height of an air suspension according to an embodiment of the present invention; and

Figure 2 is a schematic diagram of an electronically controlled air suspension structure provided by this application;

Figure 3 is a schematic diagram of a typical thermal process of an air spring;

Fig. 4 is a schematic diagram of a device for adjusting the height of an air suspension according to an embodiment of the present invention

Among them, 1 is the frame, 2 is the wheel bracket, 3 is the wheel, 4 is the air spring, 5 is the shock absorber, 6 is the height sensor, 7 is the height sensor connecting rod, 8 is the solenoid valve, 9 is the air tank, 10 is the gas circuit, and 11 is the signal circuit.

Detailed ways

It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other if there is no conflict. Hereinafter, the present invention will be described in detail with reference to the drawings and in conjunction with the embodiments.

In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances in order to facilitate the embodiments of the present invention described herein. In addition, the terms "including" and "having" and any variations of them are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those clearly listed. Those steps or units may include other steps or units that are not clearly listed or are inherent to these processes, methods, products, or equipment.

According to an embodiment of the present invention, a method for adjusting the height of an air suspension is provided.

Fig. 1 is a flowchart of a method for adjusting the height of an air suspension according to an embodiment of the present invention. As shown in Figure 1, the invention includes the following steps:

Step S101: Obtain the displacement height difference of the target vehicle body.

Step S102: Determine whether the displacement height difference exceeds a preset range, and if the displacement height difference exceeds the preset range, detect the duration of the displacement height difference.

Step S103, if the duration of the displacement height difference exceeds the first preset duration, the air spring is controlled to inflate and deflate to maintain the height of the target vehicle body within the preset height range, wherein the air spring is set on the target vehicle body and is configured To adjust the height of the target vehicle body by changing its length.

Specifically, because the load change of the vehicle body will cause the distance between the vehicle body and the ground to change, the air suspension provided in this application also includes a height sensor, which periodically collects the height of the vehicle body. Optionally, the period is T _s = 25ms, then T _sa = 250ms average data as this height, determine the average height in the current cycle and the average height in the previous cycle, and obtain the average height difference between the two cycles, if the height difference is within a set error ( Within the preset range), it is considered that the height of the vehicle body has not changed, if it exceeds the set error and continues for a certain time T (that is, the first preset time period, preferably, it can be designed as T=(4～8)T _sa ) , It is determined that the height has changed, and the height adjustment process is entered.

This application provides an electronically controlled air suspension structure, and FIG. 2 is a schematic diagram of an electronically controlled air suspension structure.

After entering the vehicle height adjustment process, the air spring is charged and deflated to adjust the height of the vehicle body.

An embodiment of the present invention provides a method for adjusting the height of an air suspension, by obtaining the displacement height difference of the target body; judging whether the displacement height difference exceeds a preset range, and if the displacement height difference exceeds the preset range, detecting the displacement height difference Duration; if the duration of the displacement height difference exceeds the first preset duration, the air spring is controlled to inflate and deflate to maintain the height of the target vehicle within the preset height range, where the air spring is set on the target vehicle and is configured In order to adjust the height of the target vehicle body through the change of its own length, it solves the technical problem that the load change of the motor vehicle between no load and full load in the related technology will cause the suspension height to change, resulting in the continuous change of the vehicle's ground clearance. Achieved the technical effect of maintaining a stable vehicle height.

Optionally, the solenoid valve is connected to the air spring, and before obtaining the displacement height difference of the target vehicle body, the method includes: controlling the solenoid valve to close, wherein the opening and closing of the solenoid valve determines whether the air spring performs charging and discharging operations, and the solenoid valve is closed In the state, the amount of gas in the air spring is a constant value.

Specifically, in the embodiment of the present application, when the load of the vehicle body changes, for example, the number of people in the vehicle changes from one person to multiple people, and the height of the vehicle body is in the process of changing. In this process, due to the solenoid valve In the closed state, the air spring has not been charged and discharged, and the process in the air spring can be regarded as an ideal gas changeable process. At any time k, the pressure in the air spring can be calculated as the height changes, so as to obtain a series of height sequences, pressure sequences, etc., and the internal Flash Memory records the entire load change sequence.

It should be noted that the solenoid valve is connected to the charging port and the exhaust port of the air spring, and the opening and closing of the solenoid valve is controlled by an ECU (Electronic Control Unit).

Optionally, acquiring the displacement height difference of the target vehicle body includes: collecting the current height of the air spring; making the difference between the current height and the target steady state height to obtain the height difference, where the target steady state height is the target body height before the current moment The average height of the height maintained within the second preset time period; the absolute value of the height difference is determined as the displacement height difference.

As mentioned above, in this application, the height of the vehicle body is periodically collected by the height sensor. The vehicle height at the current moment is the average height in the current cycle, and the average height in the current cycle is the difference from the average height in the previous cycle. Obtain the height difference.

Optionally, when the solenoid valve is in a closed state, the method further includes: acquiring a control sequence, wherein the control sequence includes a plurality of serial numbers, and the serial numbers are used to indicate when the amount of gas in the air spring is a fixed value , The mapping relationship between the pressure in the air spring and the height of the air spring.

Specifically, this application proposes a method for adjusting the displacement difference and pressure difference of the target height of the air spring through a sequence, which is provided to the height control unit ECU for real-time control, and the solenoid valve is adjusted to inflate and deflate to maintain the stability and height of the vehicle suspension. Achieve height adjustment.

In the above, a sequence is obtained from the start time of the suspension system when the motor vehicle is ignited to the suspension system close time when the vehicle is turned off, wherein a sequence includes a plurality of serial numbers, and each serial number includes the air spring The mapping relationship between the pressure and the height of the air spring.

Optionally, obtaining the control sequence includes: calculating the current pressure corresponding to the current height according to the air spring model, where the air spring model is

Wherein, p _{e (n + 1)} for the current pressure of the air spring, the air spring around a standard atmospheric pressure p _a strong, p _{e (n)} of the air spring within the second predetermined duration, the pressure in the air spring, h _n Is the current height, h _n+1 is the target steady-state height, and γ is the variable gas constant; the current height and the current pressure are determined as the corresponding mapping relationship in a serial number.

As mentioned above, since the unsprung mass is basically unchanged, but the sprung mass will vary with the person and the load. Therefore, for the detection of the sprung mass, the air spring model needs to be used to estimate the load. At a certain moment, the effective gas pressure in the air spring is pe, and the gas pressure at the initial position is pe0. If the charging and discharging process is not performed, according to the ideal gas variable process equation, we can get

After the above formula is deformed, it is the air spring model, where is the current pressure of the air spring, the standard atmospheric pressure around the air spring, is the air spring in the second preset time period, and the pressure in the air spring is the current height, which is the target The steady-state height is a variable gas constant.

Through the above model, multiple vehicle heights and the pressures in the air springs corresponding to the vehicle heights can be obtained, and the obtained vehicle heights and corresponding pressures are recorded as the content of a serial number.

In this application, a method for controlling the height of an air spring through a sequence is proposed, in which the height of the vehicle body is constantly changing, and the air spring pressure and height difference required for each adjustment process to the set height are used as the pressure The next adjustment of the initial pressure and the required pressure difference, adjust back to the set height, and obtain the pressure and height difference sequence during the entire operation. According to each air spring pressure sequence, the real-time load of each suspension position of the vehicle can also be obtained. Value, used as an early warning judgment for overload and rollover.

Fig. 3 is a schematic diagram of a typical thermal process of an air spring. It may be assumed that the state of the air spring at a certain moment is point 1 in Fig. 3, and its height and pressure sequence are 1 (h1, p1).

When there are more people in the car and the load on the air spring of the air suspension increases, the air spring is compressed to point 2, and its height and pressure sequence are 2 (h2, p2). During the 1-2 process, the air spring is compressed The air change process of is a changeable process, which satisfies formula 1.

After the air spring is compressed and the suspension height is lowered, in order to obtain good driving performance, the electronic control suspension needs to control the solenoid valve to inflate the air spring. At this time, since the load remains unchanged, the pressure in the air spring must eventually remain unchanged. As the inflation progresses, the height of the air spring gradually increases until it finally reaches the state point 3 (h3, p3), where p3=p2.

If starting from point 3, the load on the air spring of the air suspension continues to increase, the air spring is compressed to point 4, its height and pressure sequence is 4 (h4, p4), in the 3-4 process, the air spring The air change process of is a changeable process, which satisfies formula 1.

If starting from point 3, the vehicle reduces the number of people, the load on the air spring of the air suspension is reduced, and the air spring expands to point 4', and its height and pressure sequence is 4 (h4', p4'), at 3-4' In the process, the air change process in the air spring is a changeable process, which satisfies formula 1.

And because the equivalent area of the diaphragm air spring is approximately unchanged, then V _n =A _e h _n and V _n+1 =A _e h _n+1 , volume = area * height, pressure = vertical force/forced area, then Have

in,

in,

It should be noted that the subscript n is the serial number of each height change. What is the serial number? According to the load of a single air spring, the load of all air springs can be obtained, that is, the sprung load of the whole vehicle.

Optionally, if the duration of the displacement height difference exceeds a first preset duration, controlling the inflation and deflation of the air spring to maintain the height of the target vehicle body within the preset height range includes: if the current height When it is less than the target steady-state height, control the solenoid valve to open the inflation mode to drive the gas in the gas tank to inflate the air spring through the solenoid valve until the height of the air spring reaches the target steady-state height , Wherein the gas storage tank is respectively connected to the air spring through the gas inlet and the gas outlet of the solenoid valve; if the current height is greater than the target steady-state height, the solenoid valve is controlled to open the exhaust mode It is assumed that the air spring is deflated until the height of the air spring reaches the target steady-state height.

As mentioned above, the gas difference in the air spring can be calculated based on the height difference. If the current height is less than the target steady-state height of the previous cycle, the solenoid valve is opened to drive the air tank to inflate the air spring so that the height of the air spring reaches the target stable height. State height.

On the contrary, the gas in the air spring is released by the gas difference.

In another optional embodiment of the present application, when the load of the vehicle body does not change, the height adjustment command is used to control the inflation and discharge of the air spring to change the height of the vehicle body, which requires the driver to issue a command based on his usual driving experience. Adjustment instructions.

It should be noted that the solenoid valve is a mechanism that controls the opening and closing of its spool by electrical signals to switch the fluid flow direction of the pipeline; the electrical part is controlled by the ECU controller to control the logic, and the fluid part, such as gas, passes through the pipe. The circuit interface is connected between the gas storage tank and the air spring, so the pipeline gas is controlled by the spool of the electric part of the solenoid valve to control its opening and closing state.

The solenoid valve core has two states of opening and closing, but it may have different compositions such as two-position two-way valve and two-position three-way valve, so although each valve core is in two states, through combination, the gas flow direction can be realized (The directions of charging and discharging are different), and whether charging and discharging are turned on.

Optionally, when the current height is less than the target steady-state height, the solenoid valve is controlled to open the charging mode to drive the gas in the gas tank to inflate the air spring through the solenoid valve. The method includes: determining a plurality of current pressures of the plurality of air springs through the mapping relationship contained in the serial number according to the current heights of the plurality of air springs, wherein For each of the air springs, the cross-sectional areas of the multiple air springs are the same; according to the current pressures, the cross-sectional area of the air springs, and the normal load of the target vehicle body, calculate the current target vehicle body Overload ratio; if the overload ratio is greater than or equal to the load threshold, determine whether the duration of the overload ratio exceeds the third preset duration; if the overload ratio exceeds the third preset duration, trigger the first alarm prompt .

Specifically, according to formula 2, the relationship between the pressure pe(k) at any time k and the pressure pe(k-1) at the previous steady-state time is

Further, according to formula 3, it can be known that the pressure p _e(k) at any time k has the front left p _e(k,FL) , front right p _e(k,FR) , and rear left p _{e(k ,RL)} and the pressure of the four suspension positions of the rear right p _e(k,RR) , so the overload ratio of the body can be obtained as:

By comparing the calculated overload ratio with the load preset, if the overload ratio exceeds the load threshold for a certain period of time, it can be determined that the vehicle body is in an overloaded state, and the first alarm is issued to remind the driver that the vehicle body is overloaded.

Conversely, when the vehicle body is in a safe state, the first alarm prompt is turned off.

Optionally, after the current height is less than the target steady-state height, the solenoid valve is controlled to open the charging mode to drive the gas in the gas tank to inflate the air spring through the solenoid valve, and then the method It also includes: determining a plurality of current pressures of the plurality of air springs according to the current heights of the plurality of air springs through the mapping relationship included in the serial number, wherein the target vehicle body is provided with a plurality of current pressures. The air spring; calculate the rollover ratio of the target vehicle body based on a plurality of the current pressures; if the rollover ratio is greater than or equal to the rollover threshold, trigger a second alarm prompt.

Correspondingly, further, according to formula 3, it can be known that the pressure pe(k) at any time k has the front left pe(k, FL), front right pe(k, FR), and rear left pe(k, RL) and rear right pe(k, RR) four suspension positions, so the rollover ratio of the body can be obtained as:

In the above, the calculated rollover ratio is compared with the rollover threshold. If the rollover ratio exceeds the rollover threshold for a certain period of time, it can be determined that the vehicle body is about to rollover, and a second alarm prompt is issued to remind the driver that the vehicle body is about to roll over. Rollover.

Through the above method, adjust the height of the vehicle to any height value within the adjustable range. In the case of realizing the control sequence of maintaining the vehicle height, changing the height difference of the set height in the sequence can obtain different target heights and realize the vehicle height adjustment in any allowable range.

It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical sequence is shown in the flowchart, in some cases, The steps shown or described can be performed in a different order than here.

The embodiment of the present invention also provides a device for adjusting the height of the air suspension. It should be noted that the device for adjusting the height of the air suspension in the embodiment of the present invention can be used to implement the one provided in the embodiment of the present invention. A method to adjust the height of the air suspension. The following describes a device for adjusting the height of an air suspension provided by an embodiment of the present invention.

Fig. 4 is a schematic diagram of a device for adjusting the height of an air suspension according to an embodiment of the present invention. As shown in FIG. 4, the device includes: a first acquiring unit 401 configured to acquire the displacement height difference of the target vehicle body; the first judging unit 402 is configured to determine whether the displacement height difference exceeds a preset range, and if the displacement height difference Exceeding the preset range, the duration of the displacement height difference is detected; the first control unit 403 is configured to control the air spring to inflate and deflate when the duration of the displacement height difference exceeds the first preset duration to make the target vehicle body The height of is maintained within a preset height range, wherein the air spring is arranged on the target vehicle body and is configured to adjust the height of the target vehicle body through changes in its length.

An apparatus for adjusting the height of an air suspension provided by an embodiment of the present invention is configured to obtain a displacement height difference of a target vehicle body through a first acquiring unit 401; the first determining unit 402 is configured to determine whether the displacement height difference exceeds a predetermined Set the range, if the displacement height difference exceeds the preset range, detect the duration of the displacement height difference; the first control unit 403 is configured to control the air spring when the displacement height difference lasts longer than the first preset duration Inflate and deflate to maintain the height of the target body within a preset height range. The air spring is arranged on the target body and is configured to adjust the height of the target body by changing its length. The load change between no-load and full-load will cause the suspension height to change, leading to the technical problem of the continuous change of the vehicle's ground clearance, thereby achieving the technical effect of maintaining the stability of the vehicle height.

Optionally, the solenoid valve is connected to the charging and exhaust ports of the air spring, and the device includes: a second control unit configured to control the solenoid valve to be closed by the ECU before acquiring the displacement height difference of the target vehicle body, wherein the solenoid valve The opening and closing of the air spring determines whether the air spring performs charging and discharging operations. When the solenoid valve is closed, the amount of gas in the air spring is a fixed value.

Optionally, the acquisition unit includes: a collection subunit configured to collect the current height of the air spring; The state height is the average height of the height maintained by the target vehicle body within the second preset time period before the current moment; the determining sub-unit is configured to determine the absolute value of the height difference as the displacement height difference.

Optionally, the device further includes: a second acquiring unit configured to acquire a control sequence when the solenoid valve is in a closed state, wherein the control sequence includes a plurality of serial numbers, and the serial numbers are used to indicate The mapping relationship between the pressure in the air spring and the height of the air spring when the gas volume in the spring is a constant value.

Optionally, the second acquisition unit includes: a calculation module configured to calculate the current pressure corresponding to the current height according to the air spring model, where the air spring model is

Wherein, p _{e (n + 1)} for the current pressure of the air spring, the air spring around a standard atmospheric pressure p _a strong, p _{e (n)} of the air spring within the second predetermined duration, the pressure in the air spring, h _n Is the current height, h _n+1 is the target steady-state height, and γ is the variable gas constant; the determination module is configured to determine the current height and the current pressure as a corresponding mapping relationship in a serial number.

Optionally, the first control unit 403 includes: a first control subunit configured to control the opening of the solenoid valve to drive the air tank to inflate the air spring to the height of the air spring when the current height is less than the target steady-state height The target steady-state height is reached, where the air storage tank is connected to the air spring; the second control sub-unit is configured to control the solenoid valve to open when the current height is greater than the target steady-state height to deflate the air spring until the air spring’s The height reaches the target steady-state height.

Optionally, the device includes: a first determining unit configured to control the solenoid valve to open to drive the air tank to inflate the air spring when the current height is less than the target steady-state height, and then according to the current state of the multiple air springs The height, through the mapping relationship contained in the serial number, determines the multiple current pressures of the multiple air springs, wherein the target body is provided with multiple air springs, and the cross-sectional areas of the multiple air springs are the same; the first calculation unit is configured To calculate the current overload ratio of the target body based on multiple current pressures, the cross-sectional area of the air spring, and the normal load of the target body; the second judgment unit is configured to judge the overload when the overload ratio is greater than or equal to the load threshold Whether the duration of the ratio exceeds the third preset duration; the first trigger unit is configured to trigger the first alarm prompt when the overload ratio exceeds the third preset duration.

Optionally, the device further includes: a second determining unit configured to control the solenoid valve to open to drive the air tank to inflate the air spring when the current height is less than the target steady-state height, and then according to the number of air springs The current height, through the mapping relationship contained in the serial number, determines the multiple current pressures of the multiple air springs, wherein the target body is provided with multiple air springs; the second calculation unit is configured to calculate the target based on the multiple current pressures The rollover ratio of the vehicle body; the second trigger unit is configured to trigger a second alarm prompt when the rollover ratio is greater than or equal to the rollover threshold.

A device for adjusting the height of an air suspension includes a processor and a memory. The above-mentioned first acquisition unit 401401 and the like are all stored in the memory as a program unit, and the processor executes the above-mentioned program unit stored in the memory to realize corresponding functions.

The processor contains the kernel, and the kernel calls the corresponding program unit from the memory. One or more kernels can be set, and the kernel parameters can be adjusted to solve the technical problem that the load change of the motor vehicle between no load and full load in the related technology will cause the suspension height to change, leading to the continuous change of the vehicle's ground clearance.

The memory may include non-permanent memory in computer-readable media, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one Memory chip.

The embodiment of the present invention provides a storage medium on which a program is stored, and when the program is executed by a processor, a method for adjusting the height of an air suspension is realized.

The embodiment of the present invention provides a processor, which is used to run a program, where a method for adjusting the height of an air suspension is executed when the program is running.

The embodiment of the present invention provides a device. The device includes a processor, a memory, and a program stored in the memory and running on the processor. When the processor executes the program, the following steps are implemented: obtaining the displacement height difference of the target vehicle body; judging the displacement Whether the height difference exceeds the preset range, if the displacement height difference exceeds the preset range, the duration of the displacement height difference is detected; if the duration of the displacement height difference exceeds the first preset duration, the air spring is controlled to inflate and deflate to make the target The height of the vehicle body is maintained within a preset height range, wherein the air spring is arranged on the target vehicle body and is configured to adjust the height of the target vehicle body through changes in its length.

Optionally, the solenoid valve is connected to the air spring, and before obtaining the displacement height difference of the target vehicle body, the method includes: controlling the solenoid valve to close, wherein the opening and closing of the solenoid valve determines whether the air spring performs charging and discharging operations, and the solenoid valve is closed In the state, the amount of gas in the air spring is a constant value.

Optionally, acquiring the displacement height difference of the target vehicle body includes: collecting the current height of the air spring; making the difference between the current height and the target steady state height to obtain the height difference, where the target steady state height is the target body height before the current moment The average height of the height maintained within the second preset time period; the absolute value of the height difference is determined as the displacement height difference.

Optionally, when the solenoid valve is in a closed state, the method further includes: acquiring a control sequence, wherein the control sequence includes a plurality of serial numbers, and the serial numbers are used to indicate when the amount of gas in the air spring is a fixed value , The mapping relationship between the pressure in the air spring and the height of the air spring.

Optionally, obtaining the control sequence includes: calculating the current pressure corresponding to the current height according to the air spring model, where the air spring model is

Wherein, p _{e (n + 1)} for the current pressure of the air spring, the air spring around a standard atmospheric pressure p _a strong, p _{e (n)} of the air spring within the second predetermined duration, the pressure in the air spring, h _n Is the current height, h _n+1 is the target steady-state height, and γ is the variable gas constant; the current height and the current pressure are determined as the corresponding mapping relationship in a serial number.

Optionally, if the duration of the displacement height difference exceeds the first preset duration, the air spring is controlled to inflate and deflate to maintain the height of the target vehicle body within the preset height range, including: if the current height is less than the target steady-state height , Control the solenoid valve to open to drive the air storage tank to inflate the air spring until the height of the air spring reaches the target steady-state height, where the air storage tank is connected to the air spring; if the current height is greater than the target steady-state height, the control solenoid valve opens The air spring is deflated until the height of the air spring reaches the target steady-state height.

Optionally, when the current height is less than the target steady-state height, after the solenoid valve is controlled to open to drive the air tank to inflate the air spring, the method includes: according to the current height of the multiple air springs, pass the serial number contained in the The mapping relationship determines the multiple current pressures of multiple air springs. Among them, the target body is provided with multiple air springs, and the cross-sectional areas of the multiple air springs are the same; according to the multiple current pressures, the cross-sectional area of the air springs is consistent with the target body If the overload ratio is greater than or equal to the load threshold, judge whether the duration of the overload ratio exceeds the third preset duration; if the overload ratio exceeds the third preset duration, trigger the first alarm hint.

Optionally, when the current height is less than the target steady-state height, after controlling the solenoid valve to open to drive the air tank to inflate the air spring, the method further includes: according to the current height of the multiple air springs, passing the serial number contains To determine the multiple current pressures of multiple air springs, the target vehicle body is equipped with multiple air springs; calculate the rollover ratio of the target vehicle body based on multiple current pressures; if the rollover ratio is greater than or equal to the rollover threshold , The second alarm prompt is triggered. The devices in this article can be servers, PCs, PADs, mobile phones, etc.

The present invention also provides a computer program product, which when executed on a data processing device, is suitable for executing a program that initializes the following method steps: obtaining the displacement height difference of the target vehicle body; judging whether the displacement height difference exceeds the preset range, if If the displacement height difference exceeds the preset range, the duration of the displacement height difference is detected; if the duration of the displacement height difference exceeds the first preset duration, the air spring is controlled to inflate and deflate to maintain the height of the target body within the preset height range Inside, the air spring is arranged on the target vehicle body, and is configured to adjust the height of the target vehicle body by changing its length.

Optionally, the solenoid valve is connected to the air spring, and before obtaining the displacement height difference of the target vehicle body, the method includes: controlling the solenoid valve to close, wherein the opening and closing of the solenoid valve determines whether the air spring performs charging and discharging operations, and the solenoid valve is closed In the state, the amount of gas in the air spring is a constant value.

Optionally, acquiring the displacement height difference of the target vehicle body includes: collecting the current height of the air spring; making the difference between the current height and the target steady state height to obtain the height difference, where the target steady state height is the target body height before the current moment The average height of the height maintained within the second preset time period; the absolute value of the height difference is determined as the displacement height difference.

Optionally, when the solenoid valve is in a closed state, the method further includes: acquiring a control sequence, wherein the control sequence includes a plurality of serial numbers, and the serial numbers are used to indicate when the amount of gas in the air spring is a fixed value , The mapping relationship between the pressure in the air spring and the height of the air spring.

Optionally, acquiring the control sequence includes: calculating the current pressure corresponding to the current height according to the air spring model, where the air spring model is, where is the current pressure of the air spring, and the standard atmospheric pressure around the air spring is the air spring In the second preset time period, the pressure in the air spring is the current height, the target steady-state height, and the variable gas constant; the current height and the current pressure are determined as a corresponding mapping relationship in a serial number.

Optionally, if the duration of the displacement height difference exceeds the first preset duration, the air spring is controlled to inflate and deflate to maintain the height of the target vehicle body within the preset height range, including: if the current height is less than the target steady-state height , Control the solenoid valve to open to drive the air storage tank to inflate the air spring until the height of the air spring reaches the target steady-state height, where the air storage tank is connected to the air spring; if the current height is greater than the target steady-state height, the control solenoid valve opens The air spring is deflated until the height of the air spring reaches the target steady-state height.

Optionally, when the current height is less than the target steady-state height, after the solenoid valve is controlled to open to drive the air tank to inflate the air spring, the method includes: according to the current height of the multiple air springs, pass the serial number contained in the The mapping relationship determines the multiple current pressures of multiple air springs. Among them, the target body is provided with multiple air springs, and the cross-sectional areas of the multiple air springs are the same; according to the multiple current pressures, the cross-sectional area of the air springs is consistent with the target body Calculate the current overload ratio of the target body; if the overload ratio is greater than or equal to the load threshold, determine whether the duration of the overload ratio exceeds the third preset duration; if the overload ratio exceeds the third preset duration, trigger the first alarm hint.

Optionally, when the current height is less than the target steady-state height, after controlling the solenoid valve to open to drive the air tank to inflate the air spring, the method further includes: according to the current height of the multiple air springs, passing the serial number contains To determine the multiple current pressures of multiple air springs, the target vehicle body is equipped with multiple air springs; calculate the rollover ratio of the target vehicle body based on multiple current pressures; if the rollover ratio is greater than or equal to the rollover threshold , The second alarm prompt is triggered.

Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

The present invention is described with reference to flowcharts and/or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and/or block in the flowchart and/or block diagram, and the combination of processes and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing equipment to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing equipment are used to generate It is a device that realizes the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device. The device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment. The instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

In a typical configuration, the computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

Computer-readable media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices. According to the definition in this article, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

It should also be noted that the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or equipment including a series of elements includes not only those elements, but also Other elements that are not explicitly listed, or also include elements inherent to such processes, methods, commodities, or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, commodity or equipment that includes the element.

Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

The above are only embodiments of the present invention, and are not used to limit the present invention. For those skilled in the art, the present invention can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (11)

1. A method for adjusting the height of an air suspension, the air suspension including a plurality of air springs, an air tank and a solenoid valve, including:

   Obtain the displacement height difference of the target body;

   Determine whether the displacement height difference exceeds a preset range, and if the displacement height difference exceeds the preset range, detect the duration of the displacement height difference;

   If the duration of the displacement height difference exceeds the first preset duration, the air spring is controlled to inflate and deflate to maintain the height of the target vehicle body within the preset height range, wherein the air spring is set at the preset height range. The target vehicle body is configured to adjust the height of the target vehicle body by changing its length.
2. The method according to claim 1, wherein the solenoid valve is electrically connected to the air spring, and before obtaining the displacement height difference of the target vehicle body, the method comprises:

   The solenoid valve is controlled to close, wherein the opening and closing of the solenoid valve determines whether the air spring performs charging and discharging operations. When the solenoid valve is closed, the amount of gas in the air spring is a constant value.
3. The method according to claim 2, wherein obtaining the displacement height difference of the target vehicle body comprises:

   Collecting the current height of the air spring;

   Calculating the difference between the current height and the target steady-state height to obtain a height difference, where the target steady-state height is the average height of the height of the target vehicle body maintained within the second preset period of time before the current moment;

   The absolute value of the height difference is determined as the displacement height difference.
4. The method according to claim 3, wherein, when the solenoid valve is in a closed state, the method further comprises:

   Obtaining a control sequence, wherein the control sequence includes a plurality of serial numbers, and the serial numbers are used to indicate that when the amount of gas in the air spring is a fixed value, the pressure in the air spring and the air The mapping relationship between spring heights.
5. The method according to claim 4, wherein acquiring the control sequence comprises:

   According to the air spring model, the current pressure corresponding to the current height is calculated, where the air spring model is

   

   Wherein, p _{e (n + 1)} for the current pressure within the air spring, the air spring _a periphery of the standard atmospheric pressure p, p _{e (n)} of the air spring within the second predetermined duration, For the pressure in the air spring, h _n is the current height, h _n+1 is the target steady-state height, and γ is the variable gas constant;

   The current height and the current pressure are determined as a corresponding mapping relationship in the serial number.
6. The method according to claim 4, wherein if the duration of the displacement height difference exceeds a first preset time period, controlling the inflation and deflation of an air spring to maintain the height of the target vehicle body within a preset height range, include:

   If the current height is less than the target steady-state height, the solenoid valve is controlled to open the inflation mode to drive the gas in the air tank to inflate the air spring through the solenoid valve until the height of the air spring reaches the desired height. The target steady-state height, wherein the gas storage tank is connected to the air spring through the gas inlet and the gas outlet of the solenoid valve, respectively;

   If the current height is greater than the target steady-state height, control the solenoid valve to open an exhaust mode to deflate the air spring until the height of the air spring reaches the target steady-state height.
7. The method according to claim 6, wherein when the current height is less than the target steady-state height, the solenoid valve is controlled to open the charging mode to drive the gas in the gas tank to pass through the solenoid valve. After the air spring is inflated, the method includes:

   According to the current heights of the multiple air springs, the multiple current pressures of the multiple air springs are determined through the mapping relationship contained in the serial number, wherein the target vehicle body is provided with multiple air springs. Spring, the cross-sectional area of a plurality of the air springs is the same;

   Calculating the current overload ratio of the target vehicle body according to a plurality of the current pressures, the cross-sectional area of the air spring, and the normal load of the target vehicle body;

   If the overload ratio is greater than or equal to the load threshold, judging whether the duration of the overload ratio exceeds a third preset time period;

   If the overload ratio exceeds the third preset time period, a first alarm prompt is triggered.
8. The method according to claim 6, wherein when the current height is less than the target steady-state height, the solenoid valve is controlled to open the charging mode to drive the gas in the gas tank to pass through the solenoid valve to supply the air After the spring is inflated, the method further includes:

   According to the current heights of the multiple air springs, the multiple current pressures of the multiple air springs are determined through the mapping relationship contained in the serial number, wherein the target vehicle body is provided with multiple air springs. spring;

   Calculating the rollover ratio of the target vehicle body based on a plurality of the current pressures;

   If the rollover ratio is greater than or equal to the rollover threshold, a second alarm prompt is triggered.
9. A device for adjusting the height of an air suspension. The air suspension includes a plurality of air springs, an air tank, a solenoid valve and a height sensor, which includes:

   The first obtaining unit is configured to obtain the displacement height difference of the target vehicle body;

   The first determining unit is configured to determine whether the displacement height difference exceeds a preset range, and if the displacement height difference exceeds the preset range, detect the duration of the displacement height difference;

   The first control unit is configured to control the charging and discharging of the air spring to maintain the height of the target vehicle body within a preset height range when the duration of the displacement height difference exceeds a first preset time period , Wherein the air spring is disposed on the target vehicle body, and is configured to adjust the height of the target vehicle body by changing its length.
10. A storage medium, wherein the storage medium includes a stored program, wherein the program executes the method for adjusting the height of an air suspension according to any one of claims 1 to 8.
11. A processor, wherein the processor is used to run a program, wherein the method for adjusting the height of an air suspension according to any one of claims 1 to 8 is executed when the program is running.

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