CN115782856A - Air suspension control method, device, equipment and readable storage medium - Google Patents
Air suspension control method, device, equipment and readable storage medium Download PDFInfo
- Publication number
- CN115782856A CN115782856A CN202211364577.1A CN202211364577A CN115782856A CN 115782856 A CN115782856 A CN 115782856A CN 202211364577 A CN202211364577 A CN 202211364577A CN 115782856 A CN115782856 A CN 115782856A
- Authority
- CN
- China
- Prior art keywords
- height
- air suspension
- condition
- determining
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Vehicle Body Suspensions (AREA)
Abstract
The application discloses an air suspension control method, device, equipment and readable storage medium, wherein the method comprises the following steps: acquiring a height fluctuation signal of an air suspension of a vehicle; determining the running condition of the vehicle according to the height fluctuation signal; selecting height adjustment precision corresponding to the running condition; and adjusting the height of the air suspension according to the height adjustment precision so that the self-adaptive adjustment height effect of the air suspension can adapt to different running working conditions, and the frequent air inflation and deflation of the air suspension is avoided. The application realizes that the running condition is determined according to the height fluctuation signal of the air suspension of the vehicle, so that the adaptive height adjustment precision is selected according to the running condition, and the height effect of the adaptive adjustment of the air suspension is controlled according to the precision, so that the vehicle adapts to different running conditions, and the air suspension is prevented from being frequently inflated and deflated.
Description
Technical Field
The present application relates to the field of vehicle control, and in particular, to a method, an apparatus, a device, and a readable storage medium for controlling an air suspension.
Background
At present, the application of the electric control air suspension technology on a large commercial vehicle is more and more extensive, and one of the core technologies is the height control of the air suspension. On one hand, the height of the air suspension can be automatically adjusted according to the bumping condition of the vehicle during driving, the damping characteristic of the suspension is changed, and the riding comfort is further improved; on the other hand, the height of the air suspension can be adjusted in a self-adaptive mode according to the vehicle speed, and the fuel economy performance is improved.
However, when the vehicle runs on a bumpy road, the height jump is severe, if the height of the air suspension is adaptively adjusted, the air spring is frequently inflated and deflated, so that the adaptive adjustment of the air suspension of the vehicle cannot be accurately matched with the bumpy road to generate a buffering effect, and further the stability control effect of the vehicle is poor.
Disclosure of Invention
In view of this, the present application provides an air suspension control method, apparatus, device and readable storage medium, aiming to improve the stability control effect of a vehicle.
In order to achieve the above object, the present application provides an air suspension control method, including the steps of:
acquiring a height fluctuation signal of an air suspension of a vehicle;
determining the running condition of the vehicle according to the height fluctuation signal;
selecting height adjustment precision corresponding to the running condition;
and adjusting the height of the air suspension according to the height adjustment precision so that the self-adaptive adjustment height effect of the air suspension can adapt to different running working conditions, and the frequent air inflation and deflation of the air suspension is avoided.
Illustratively, the adjusting the height of the air suspension according to the height adjustment accuracy includes:
acquiring the current speed of the vehicle;
determining a target height of the air suspension corresponding to the current vehicle speed;
determining a target height range according to the height adjustment precision and the target height;
acquiring the actual height of the air suspension;
and adjusting the actual height to be within the target height range.
Illustratively, the determining the driving condition of the vehicle according to the height fluctuation signal includes:
filtering the height fluctuation signal;
determining the fluctuation condition of the filtered signal;
and determining the running condition of the vehicle according to the fluctuation condition.
Illustratively, the determining the fluctuation condition of the filtered signal includes:
acquiring the filtered signals within a preset time length according to a preset acquisition window to obtain an acquisition result;
calculating the root mean square error of the acquisition result;
comparing the root mean square error with a preset error threshold value to obtain a comparison result;
and determining the fluctuation condition of the filtered signal according to the comparison result.
For example, the driving condition includes a first driving condition and a second driving condition, and the determining the driving condition of the vehicle according to the fluctuation condition includes:
when the fluctuation condition is a non-bumping condition or a micro-bumping condition, determining that the vehicle is in a first running working condition;
selecting height adjustment precision corresponding to the first running condition;
when the fluctuation condition is a heavy jolting condition, determining that the vehicle is in a second running working condition;
and when the vehicle is in a second running working condition, interrupting the self-adaptive adjusting function of the air suspension.
Illustratively, the adjusting the height of the air suspension according to the height adjustment accuracy includes:
determining a height adjustment effect of the air suspension at the height adjustment accuracy;
determining the times of inflation and deflation of the air suspension according to the height adjusting effect;
if the inflation and deflation times are greater than the preset times, updating the height adjustment precision until the inflation and deflation times are less than the preset times;
and recording the updated height adjustment precision for subsequent control of the self-adaptive adjustment effect of the air suspension.
Illustratively, the adjusting the height of the air suspension according to the height adjustment accuracy includes:
determining a first corresponding relation among different running conditions, different vehicle speeds and height adjustment accuracy, and determining a second corresponding relation between an update value and the inflation and deflation times in the process of updating the height adjustment accuracy;
generating an adjustment reference table according to the first relation and the second relation; the adjustment reference table is used for taking the adjustment reference table as a reference when the air suspension is controlled subsequently, and the calculation time required in the subsequent control is reduced.
Illustratively, to achieve the above object, the present application also provides an air suspension control apparatus, comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a height fluctuation signal of an air suspension of a vehicle;
the determining module is used for determining the running condition of the vehicle according to the height fluctuation signal;
the selection module is used for selecting the height adjustment precision corresponding to the running working condition;
and the adjusting module is used for adjusting the height of the air suspension according to the height adjusting precision so as to enable the self-adaptive height adjusting effect of the air suspension to adapt to different running working conditions.
Illustratively, to achieve the above object, the present application also provides an air suspension control apparatus comprising: a memory, a processor and an air suspension control program stored on the memory and executable on the processor, the air suspension control program being configured to implement the steps of the air suspension control method as described above.
Illustratively, to achieve the above object, the present application also provides a computer readable storage medium having stored thereon an air suspension control program which, when executed by a processor, implements the steps of the air suspension control method as described above.
Compared with the prior art, when a vehicle runs on a bumpy road surface, the height jump is severe, if the height of the air suspension is subjected to self-adaptive adjustment, the air spring is caused to be frequently inflated and deflated, and therefore the stability control effect of the vehicle is poor.
Drawings
FIG. 1 is a schematic flow chart of a first embodiment of an air suspension control method of the present application;
FIG. 2 is a schematic diagram of the components of the air suspension control system;
FIG. 3 is a schematic flow chart of a second embodiment of the air suspension control method of the present application;
FIG. 4 is a schematic illustration of the effect of the height fluctuation signal after processing;
fig. 5 is a schematic structural diagram of a hardware operating environment according to an embodiment of the present application.
The implementation, functional features and advantages of the object of the present application will be further explained with reference to the embodiments, and with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The present application provides a method for controlling an air suspension, referring to fig. 1, and fig. 1 is a schematic flow chart of a first embodiment of the method for controlling an air suspension of the present application.
While the embodiments of the present application provide an example of an air suspension control method, it should be noted that while a logical sequence is shown in the flow chart, in some cases, the steps shown or described may be performed in a different sequence than that shown or described herein. For convenience of description, the following omits the execution of the subject to describe various steps of an air suspension control method including:
step S110: acquiring a height fluctuation signal of an air suspension of a vehicle;
at present, the application of the electric control air suspension technology on large-scale commercial vehicles is more and more extensive, and one of the core technologies is the height control of the air suspension. On one hand, the damping characteristic of the air suspension can be changed by adjusting the height of the air suspension, so that the riding comfort is improved; on the other hand, the height of the air suspension can be adjusted according to the vehicle speed, and the fuel economy performance is improved.
Referring to fig. 2, fig. 2 is a schematic diagram of the components of the air suspension control system.
The following components or functional means are included in fig. 2: the device comprises a shock absorber, an air spring, a height sensor, an electromagnetic valve, a high-pressure air source, a controller, a plurality of control wires, pipes and the like.
The air suspension mainly used for buffering is an air spring, and the buffering stroke is adjusted according to the height of the air spring.
Wherein, the upper and lower parts of the air spring are provided with connecting platforms which are respectively connected to the vehicle body, and the mass of the upper connecting platform is that the sprung mass ism s The mass of the lower connecting platform is the sprung mass m u The height sensor is fixedly arranged on the lower end face of the upper connecting platform, the height sensor is fixedly arranged on the upper end face of the lower connecting platform, the overall height condition of the air spring is detected through the height sensor, and the shock absorber is fixedly connected between the upper connecting platform and the lower connecting platform.
The air spring is provided with an air charging and discharging port, a gas pipeline is connected between the air charging and discharging port and the high-pressure gas source, and the gas pipeline is provided with an electromagnetic valve to control the on-off condition of gas in the gas pipeline, so that the gas is controlled to enter and exit the air charging and discharging port, the air spring generates an air charging and discharging effect, and the air spring is controlled to rise or fall.
The controller is connected to the two height sensors and the electromagnetic valve through the control circuit, the controller judges the height of the current air spring by collecting monitoring signals generated by the height sensors, and when the height does not meet the preset height, the controller controls the electromagnetic valve to enable the air spring to generate an air bleeding or air inflation effect, so that the height of the air spring is changed, the purposes of adapting to different conditions and controlling the expansion and contraction of the air spring to generate a buffering effect are achieved.
Therefore, before controlling the air suspension of the vehicle, the height floating effect of the air suspension of the current vehicle needs to be determined, and on the basis of the height floating effect, whether the height of the air suspension needs to be adjusted is further confirmed.
The height fluctuation signal is the fluctuation signal of the height change of the air spring in the air suspension, and the height fluctuation condition of the air spring and the current height of the air spring can be directly judged through the signal.
Step S120: determining the running condition of the vehicle according to the height fluctuation signal;
the height fluctuation signal represents the fluctuation condition of the height of the air suspension in the up-and-down direction, and when the fluctuation of the up-and-down height of the air spring changes, the fluctuation condition of the height of the vehicle on some bumpy road sections can be proved, namely the fluctuation condition of the height of the air spring can represent the bumping degree of the road section on which the vehicle runs currently, the more violent the fluctuation of the height of the air spring is, the higher the bumping degree of the road section is, and conversely, the more gradual the fluctuation of the height of the air spring is, the lower the bumping degree of the road section is.
Thus, according to the height fluctuation signal, the driving condition of the vehicle, that is, the degree of jolt of the road section of the vehicle path, can be determined, and the driving condition generally includes two aspects: the judgment method can be realized by setting a threshold value, wherein the fluctuation quantity represented by the height fluctuation signal is larger than the threshold value and is serious, and the fluctuation quantity is smaller than the threshold value and is slight.
Step S130: selecting height adjustment precision corresponding to the running condition;
according to different driving conditions, different height adjustment precisions are selected, wherein the height adjustment precision is the height adjustment precision of the air spring.
When a vehicle approaches a bumpy road section, the height of an air suspension of the vehicle can fluctuate violently, namely, an air spring fluctuates violently, so that at the moment, the air spring can be adjusted to a certain height by the self-adaptive adjusting function according to the self-adaptive adjusting function of the air suspension and the current bumping degree, and the height is adjusted according to a preset threshold value set by the vehicle during the adjusting process and the threshold value.
However, when the air suspension generates a violent fluctuation in height due to a bumpy road segment, the violent fluctuation of the section is around the preset threshold, so that the air suspension continuously adjusts the height of the air suspension in a self-adaptive manner around the preset threshold, namely, the height of the air spring is adjusted (hereinafter, adjusting the height of the air spring is equivalent to adjusting the height of the air suspension), and the air spring is frequently inflated and deflated in a short time, at the moment, the adjusting effect of the air spring is poor, and devices are easily damaged.
Therefore, when the air spring generates height fluctuation around the preset threshold value, the corresponding adjustment precision is selected, and the precision is lower than that of the vehicle running on a normal road section, so that the condition of frequent inflation and deflation for multiple times is avoided.
If the vehicle passes through the bumpy road section, the adjusting mode with low precision is selected, and then when the vehicle runs on the slightly bumpy road section, the precision parameter suitable for the slightly bumpy road section needs to be selected again.
Illustratively, the height adjustment precision is high precision and low precision corresponding to different running conditions.
The height adjustment precision is a certain deviation which can exist when the air spring is adjusted to a certain height, for example, the current height of the air spring is 150mm, and the deviation is to be adjusted to 160mm, wherein the deviation is the height adjustment precision, the high precision can be parameters such as +/-1 mm and +/-2 mm, and when the height adjustment precision is +/-1 mm, the air spring can be adjusted to 159mm-161 mm.
Step S140: and adjusting the height of the air suspension according to the height adjustment precision so that the self-adaptive adjustment height effect of the air suspension can adapt to different running working conditions, and the frequent air inflation and deflation of the air suspension is avoided.
After the height adjustment precision is determined, the height of the air suspension is adjusted according to the precision requirement, so that the self-adaptive adjustment height effect of the air suspension is adaptive to different running conditions, and frequent air inflation and deflation of the air suspension are avoided.
In the process of adjusting the height of the air suspension, the height adjustment accuracy is an allowable accuracy in adjusting the current height of the air suspension to a preset standard height.
Meanwhile, according to the preset standard height and the height adjustment precision, the effect of adjusting the height of the air suspension can be determined.
Illustratively, the rough precision can be selected when the vehicle approaches a bumpy road section, so that the situation that the height of the air spring needs to be adjusted repeatedly due to too large fluctuation is avoided, and the high precision can be selected for improving the buffering effect when the vehicle approaches a stable road section, so that the height of the air spring is accurately controlled, and the good buffering effect is ensured.
Illustratively, the adjusting the height of the air suspension according to the height adjustment accuracy includes:
step a: acquiring the current speed of the vehicle;
when the air suspension is used, the adaptive adjustment effect of the air suspension can be changed correspondingly according to the current speed of the vehicle, for example, different precision and height control adjustment effects are selected according to the current gear, 1 gear, 2 gear or 3 gear of the vehicle, and the height adjustment effect of the air spring is controlled.
When the vehicle runs at a high speed, the air suspension can be hardened to improve the stability of the vehicle body, namely, the height of the air spring is reduced; when the vehicle runs on a road surface with low speed and unevenness for a long time, the air suspension is softened, namely the height of the air spring is increased, so that the comfort of the vehicle is improved.
And acquiring the current vehicle speed so as to judge the self-adaptive adjustment effect of the air suspension in the follow-up process.
Step b: determining a target height of the air suspension corresponding to the current vehicle speed;
according to the current vehicle speed of the vehicle, different adaptive adjustment effects can be selected, and besides the accuracy of control adjustment, the adaptive adjustment effects also need to set corresponding adjustment standards, for example, a target height is set, and the air spring is adjusted from the current height to the target height, so as to achieve the adaptive adjustment effects.
Step c: determining a target height range according to the height adjustment precision and the target height;
according to the height adjustment precision and the target height, a target height range to which the air spring is to be adjusted can be determined, the target height is the reference, height values of the left end and the right end of the target height are divided according to the height adjustment precision and are used as the target height, and therefore the target height range is obtained.
Illustratively, the target height is 150mm, the height adjustment accuracy is ± 3mm, and the target height range is 147mm to 153mm.
Step d: acquiring the actual height of the air suspension;
step e: and adjusting the actual height to be within the target height range.
During the adjustment, the height of the air suspension is controlled within a target height range.
I.e. the actual height of the air suspension is adjusted to within the target height range.
And judging whether the adjustment effect meets the requirement of the height adjustment precision or not, calculating whether the difference between the actual height and the target height meets the height adjustment precision or not according to the obtained actual height, namely controlling the actual height to be within the target height range.
And when the height adjustment precision is not met, further regulating and controlling, namely, maintaining the current state and not regulating and controlling the height of the air spring any more.
Compared with the prior art, when a vehicle runs on a bumpy road surface, the height jump is severe, if the height of the air suspension is subjected to self-adaptive adjustment, the air spring is caused to be frequently inflated and deflated, and therefore the stability control effect of the vehicle is poor.
Exemplarily, referring to fig. 3, fig. 3 is a schematic flowchart of a second embodiment of the present application of the air suspension control method, and the second embodiment is proposed based on the above first embodiment of the present application of the air suspension control method, and the method further includes:
step S210: filtering the height fluctuation signal;
when the height fluctuation signal is obtained, the phenomenon that the signal output by the height sensor for monitoring the height of the air spring shakes is monitored according to the vibration generated by the vehicle, so that the height fluctuation signal needs to be subjected to corresponding filtering processing, noise is reduced, the signal is purified, and the accuracy of judging the running condition of the vehicle by using the filtered signal is ensured.
When the height fluctuation signal is subjected to filtering processing, existing filtering processing methods such as low-pass filtering and complementary filtering can be adopted.
Referring to fig. 4, fig. 4 is a schematic diagram of the effect of the height fluctuation signal after processing.
The light color signal in fig. 4 is a height fluctuation signal when unprocessed, and the dark color signal in fig. 4 is a height fluctuation signal after filtering, and it can be known from fig. 4 that the signal after filtering has obvious characteristics and low noise, and the current driving condition of the vehicle can be accurately determined.
Wherein the abscissa of fig. 4 is time and the ordinate of fig. 4 is the height of the air spring.
The height fluctuation signal is then represented as the height of the air spring at each moment.
Step S220: determining a fluctuation condition of the filtered signal;
and determining the fluctuation condition of the filtered signal, wherein the fluctuation condition mainly corresponds to the height change rate of the air spring, namely the height change speed of the air spring in the same period of time.
According to the height change speed of the air spring, the fluctuation condition of the air spring can be determined, the faster the change is, the larger the fluctuation is, the more bumpy the road section is proved, the slower the change is, the smaller the fluctuation is, and the smoother the road section is proved.
Illustratively, the determining the fluctuation condition of the filtered signal includes:
step f: acquiring the filtered signals within a preset time length according to a preset acquisition window to obtain an acquisition result;
step g: calculating the root mean square error of the acquisition result;
and when the fluctuation condition is judged, determining the fluctuation condition corresponding to the signal according to the height fluctuation signal.
The determining process determines the fluctuation condition of the current height fluctuation signal by calculating the root mean square error of the height fluctuation signal and according to the size of the root mean square error.
When the root mean square error is calculated, signal fluctuation in a period of time needs to be detected and calculated, a preset acquisition window is used for acquiring a height fluctuation signal, signals of partial time length are acquired from the fluctuation signal in a period of continuous time, the acquired signals are used for correlation calculation, and the acquired signals are acquisition results.
The preset acquisition window is designed in a manner of setting a time window with a certain length, for example, setting the current time as t, the length of the window as d, and if d is used as a period of time, for example, ten seconds, twenty seconds, or the like, the preset acquisition window acquires signals between t + d.
The root mean square error of the acquired result is calculated, the used calculation formulas are all general formulas, and the calculation process is not repeated herein.
Step h: comparing the root mean square error with a preset error threshold value to obtain a comparison result;
step i: and determining the fluctuation condition of the filtered signal according to the comparison result.
After the root mean square error is calculated, the error is compared with a preset error threshold, and according to the comparison result, the corresponding conditions under different threshold standards can be obtained through division.
The preset error threshold value can be selected from a plurality of threshold values so as to correspondingly divide a non-bump condition, a slight-bump condition and a severe-bump condition, or one threshold value can be selected from the preset error threshold value, and the slight-bump condition and the severe-bump condition are directly judged according to the threshold value, wherein the slight-bump condition comprises the non-bump condition.
Illustratively, two preset error thresholds are set as an example for explanation, namely X1 and X2, and when the root mean square error is smaller than X1, the current bumpless condition is determined; when the root mean square error is smaller than X1 and the root mean square error is larger than X2, determining that the current situation is a slight bump situation; when the root mean square error is greater than X2, it is determined that a severe thrashing condition is present.
Wherein, the no-bump condition, the slight-bump condition and the serious-bump condition are all the fluctuation conditions of the fluctuation signal.
Step S230: and determining the running condition of the vehicle according to the fluctuation condition.
After the root mean square error is compared with a preset error threshold value, corresponding fluctuation conditions, namely a no-bump condition, a slight-bump condition and a severe-bump condition, can be determined.
According to different bumping conditions, the driving conditions can be divided into different driving conditions, namely a non-bumping condition, a slight-bumping condition and a severe-bumping condition which are determined according to the bumping conditions.
For example, the driving condition includes a first driving condition and a second driving condition, and the determining the driving condition of the vehicle according to the fluctuation condition includes:
step j: when the fluctuation condition is a non-bumping condition or a micro-bumping condition, determining that the vehicle is in a first running working condition;
step k: when the fluctuation condition is a heavy jolting condition, determining that the vehicle is in a second running working condition;
the running working conditions comprise a first running working condition and a second running working condition, the two types of division are determined according to a no-bump working condition, a slight-bump working condition and a severe-bump working condition, namely the no-bump working condition and the slight-bump working condition are divided into the first running working condition, the adaptive adjustment precision of the air spring can be changed under the running working condition, the fluctuation condition of the air spring is severe bump under the second running working condition, and the phenomenon that the air spring is frequently inflated and deflated can be caused when the air spring is adaptively adjusted at the moment, so that the air spring is controlled not to be adaptively adjusted under the second running working condition corresponding to the severe bump condition, and the inflation and deflation effects of the air spring can be avoided.
Therefore, after the first running condition or the second running condition where the vehicle is currently located is determined, different control methods are selected according to different running conditions.
Step l: selecting height adjustment precision corresponding to the first running condition;
when the vehicle is in a first running working condition, the corresponding height adjustment precision is selected, so that precision control during self-adaptive adjustment of the air spring is realized, the precision is improved or reduced, and the air spring can adapt to different running working conditions, wherein the running working conditions comprise a non-bumping working condition and a slightly-bumping working condition.
Step m: and when the vehicle is in a second running working condition, interrupting the self-adaptive adjusting function of the air suspension.
When the vehicle is in the second running working condition, the current vehicle is proved to be in a severe bumping condition, namely the height fluctuation condition of the air spring is large, and at the moment, when the air spring is adjusted in a self-adaptive mode to change the height, the current height of the air spring jumps continuously, so that the air spring needs to be adjusted in a self-adaptive mode continuously, and further frequent air charging and discharging is caused.
In order to avoid the frequent air charging and discharging actions, when the vehicle is in the second running working condition, the self-adaptive adjustment function of the air suspension is interrupted, namely, when the vehicle is in the second running working condition, the height of the air spring is not changed through active adjustment.
In this embodiment, the height fluctuation signal is subjected to filtering processing, and the signal after the filtering processing is subjected to correlation calculation, so that the height fluctuation condition of the current air spring is determined according to the height fluctuation signal, the current running working condition of the vehicle is determined, and different control modes are selected according to different running working conditions, so that the air spring is adapted to different working conditions, and the air spring is prevented from being frequently inflated and deflated.
Illustratively, based on the above first and second embodiments of the air suspension control method of the present application, a third embodiment is proposed, the method further comprising:
step n: determining a height adjustment effect of the air suspension at the height adjustment accuracy;
according to the embodiment, different height adjustment accuracies are selected according to different running conditions, so that the height adjustment effect of the air spring during self-adaptive adjustment is controlled.
After the precision of the self-adaptive adjustment of the air suspension is changed, the height of the air spring can be changed continuously when a vehicle approaches a bumpy road section, so that the bumping with the fluctuating height is generated, the self-adaptive adjustment not only needs to adjust the height of the air spring to a target height, but also needs to further adjust according to the bumping condition of the air spring, so that the air spring is frequently inflated and deflated, and the adjustment times of the air spring can be reduced to a certain extent by adopting a precision reduction mode.
The adjusting times prove the height adjusting effect of the current air spring.
Step o: determining the times of inflation and deflation of the air suspension according to the height adjusting effect;
according to the height adjusting effect, the air charging and discharging times of the air suspension can be determined, namely, the air spring actively controls the self height control times through charging and discharging air in the height adjusting process.
Step p: if the inflation and deflation times are greater than the preset times, updating the height adjustment precision until the inflation and deflation times are less than the preset times;
step q: and recording the updated height adjustment precision for subsequent control of the self-adaptive adjustment effect of the air suspension.
And judging the times of air inflation and air deflation, and when the times are greater than the preset times (the preset times can be determined according to the times actually required to be controlled), re-determining the height adjustment precision, and continuously updating the precision until the times of air inflation and air deflation are less than the preset times.
That is, in the determination process according to the above embodiment, different height adjustment accuracies may be selected according to different driving conditions, and the accuracy is not necessarily completely suitable for the current driving condition, that is, when the controller is calibrated for the vehicle, corresponding height adjustment accuracies cannot be calibrated for all the driving conditions in the driving process, so that when the selected height adjustment accuracy makes the number of inflation and deflation of the air spring exceed the preset number, it is proved that the height adjustment accuracy does not meet the control requirement, and at this time, the height adjustment accuracy needs to be further adjusted.
When the precision is adjusted, the current running condition is recorded in a learning record mode, the precision is continuously updated, and the precision is continuously adjusted in a test mode until the height adjustment precision is suitable for the current running condition.
And the process and the result of the adjustment precision are recorded so as to update and test the height adjustment precision when the same type of conditions appear subsequently, thereby reducing the time required by the subsequent update precision, improving the corresponding update efficiency and further improving the control efficiency of the air spring.
In the embodiment, aiming at the condition that the selected height adjustment precision cannot be completely suitable for the running condition of the current vehicle, the inflation and deflation times of the air spring are confirmed, and the height adjustment precision is updated according to the inflation and deflation times as a reference, so that the current running condition is met, the effect of reducing the inflation and deflation times of the air spring is achieved, the relevant updating process and the updating result are recorded, so that when the similar conditions are met subsequently, the updating process and the updating result are used as references, the efficiency of updating the height adjustment precision is improved, and the control efficiency of the air spring is improved.
Illustratively, based on the above first, second and third embodiments of the air suspension control method of the present application, a fourth embodiment is proposed, the method further comprising:
step r: determining a first corresponding relation among different running conditions, different vehicle speeds and height adjustment accuracy, and determining a second corresponding relation between an update value and the inflation and deflation times in the process of updating the height adjustment accuracy;
and selecting corresponding height adjustment precision according to the running condition and the current speed so as to determine the relationship between the three and a second corresponding relationship between the update data and the inflation and deflation times in the process of updating the height adjustment precision.
Step t: generating an adjustment reference table according to the first relation and the second relation; the adjustment reference table is used for taking the adjustment reference table as a reference when the air suspension is controlled subsequently, and the calculation time required in the subsequent control is reduced.
That is, when the air spring is adjusted in a self-adaptive manner, a corresponding first corresponding relationship exists, and the corresponding relationship is a mapping relationship existing when the vehicle is initially calibrated.
When the height adjustment precision is not completely adapted to the corresponding driving condition, the precision is updated and adjusted, at the moment, the corresponding relation between data in the updating process is a mapping relation which does not exist in calibration, a second corresponding relation needs to be recorded, and when the data are recorded, the first corresponding relation can be referred, data which is repeated in the second corresponding relation and corresponds to the first corresponding relation is removed, the corresponding relation which does not exist in the first corresponding relation is supplemented, and therefore an adjustment reference table is generated.
The adjustment reference table can be used for selecting parameters during subsequent control of the air spring.
According to the adjustment reference table, the method can adapt to the processes of relevant calculation, selection, test updating and the like required when the air spring is controlled in a reducing mode, namely the processes of relevant calculation of height adjustment accuracy selection and height adjustment accuracy updating and the like in the embodiment, and therefore the effect that the air spring is controlled quickly to achieve the expected reduction of air charging and discharging times is improved.
In this embodiment, the corresponding relationship between the height adjustment precision related data for the self-adaptive adjustment of the air spring for control and the height adjustment precision is determined, and after the determination, the relevant adjustment reference table is generated according to the corresponding relationship, so that when the air spring is subsequently controlled, the corresponding height adjustment precision can be selected according to the adjustment reference table, and the efficiency of controlling the air spring is further improved to a certain extent.
In addition, the present application also provides an air suspension control apparatus including:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a height fluctuation signal of an air suspension of a vehicle;
the determining module is used for determining the running condition of the vehicle according to the height fluctuation signal;
the selection module is used for selecting the height adjustment precision corresponding to the running working condition;
the adjusting module is used for adjusting the height of the air suspension according to the height adjusting precision so as to adapt to different driving working conditions by the self-adaptive height adjusting effect of the air suspension
Illustratively, the adjustment module includes:
the first obtaining submodule is used for obtaining the current speed of the vehicle;
the first determining submodule is used for determining the target height of the air suspension corresponding to the current vehicle speed;
the second determining submodule is used for determining a target height range according to the height adjusting precision and the target height;
the second acquisition submodule is used for acquiring the actual height of the air suspension;
and the adjusting submodule is used for adjusting the actual height to be within the target height range.
Illustratively, the determining module includes:
the filtering submodule is used for filtering the height fluctuation signal;
a third determining submodule for determining a fluctuation condition of the filtered signal;
and the fourth determining submodule is used for determining the running condition of the vehicle according to the fluctuation condition.
Illustratively, the third determining sub-module includes:
the acquisition unit is used for acquiring the filtered signals within a preset time length according to a preset acquisition window to obtain an acquisition result;
the calculating unit is used for calculating the root mean square error of the acquisition result;
the comparison unit is used for comparing the root-mean-square error with a preset error threshold value to obtain a comparison result;
a first determining unit, configured to determine a fluctuation condition of the filtered signal according to the comparison result;
the second determining unit is used for determining that the vehicle is in a first running working condition when the fluctuation condition is a no-bump condition or a micro-bump condition;
the selecting unit is used for selecting the height adjustment precision corresponding to the first running condition;
the third determining unit is used for determining that the vehicle is in a second running working condition when the fluctuation condition is a heavy jolting condition;
and the interruption unit is used for interrupting the self-adaptive adjustment function of the air suspension when the vehicle is in a second running working condition.
Illustratively, the adjustment module includes:
a fifth determination submodule for determining a height adjustment effect of the air suspension at the height adjustment accuracy;
the sixth determining submodule is used for determining the air inflation and deflation times of the air suspension according to the height adjusting effect;
the judgment submodule is used for updating the height adjustment precision if the inflation and deflation times are greater than the preset times until the inflation and deflation times are less than the preset times;
the recording submodule is used for recording the updated height adjustment precision so as to subsequently control the self-adaptive adjustment effect of the air suspension;
the seventh determining submodule is used for determining a first corresponding relation among different running conditions, different vehicle speeds and height adjustment accuracy and determining a second corresponding relation between an updated value and the inflation and deflation times in the process of updating the height adjustment accuracy;
the generation submodule is used for generating an adjustment reference table according to the first relation and the second relation; the adjustment reference table is used for taking the adjustment reference table as a reference when the air suspension is controlled subsequently, and the calculation time required in the subsequent control is reduced.
The specific implementation of the air suspension control apparatus of the present application is substantially the same as that of each embodiment of the air suspension control method described above, and is not described herein again.
In addition, the application also provides an air suspension control device. As shown in fig. 5, fig. 5 is a schematic structural diagram of a hardware operating environment according to an embodiment of the present application.
For example, fig. 5 is a schematic structural diagram of a hardware operating environment of the air suspension control device.
As shown in fig. 5, the air suspension control apparatus may include a processor 501, a communication interface 502, a memory 503 and a communication bus 504, wherein the processor 501, the communication interface 502 and the memory 503 are communicated with each other through the communication bus 504, and the memory 503 is used for storing a computer program; the processor 501 is configured to implement the steps of the air suspension control method when executing the program stored in the memory 503.
The communication bus 504 mentioned above for the air suspension control apparatus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus 504 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface 502 is used for communication between the above-described air suspension control apparatus and other apparatuses.
The Memory 503 may include a Random Access Memory (RMD) and a Non-Volatile Memory (NM), such as at least one disk Memory. Optionally, the memory 503 may also be at least one storage device located remotely from the processor 501.
The Processor 501 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
The specific implementation of the air suspension control device of the present application is substantially the same as that of each embodiment of the air suspension control method, and is not described herein again.
Furthermore, an embodiment of the present application also provides a computer-readable storage medium, on which an air suspension control program is stored, and the air suspension control program, when executed by a processor, implements the steps of the air suspension control method as described above.
The specific implementation of the computer readable storage medium of the present application is substantially the same as the embodiments of the air suspension control method described above, and is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present application may be substantially or partially embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present application.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.
Claims (10)
1. An air suspension control method characterized by comprising the steps of:
acquiring a height fluctuation signal of an air suspension of a vehicle;
determining the running condition of the vehicle according to the height fluctuation signal;
selecting height adjustment precision corresponding to the running condition;
and adjusting the height of the air suspension according to the height adjustment precision so that the self-adaptive adjustment height effect of the air suspension can adapt to different running working conditions, and the frequent air inflation and deflation of the air suspension is avoided.
2. The air suspension control method according to claim 1, wherein said adjusting the height of said air suspension in accordance with said height adjustment accuracy comprises:
acquiring the current speed of the vehicle;
determining a target height of the air suspension corresponding to the current vehicle speed;
determining a target height range according to the height adjustment precision and the target height;
acquiring the actual height of the air suspension;
and adjusting the actual height to be within the target height range.
3. The air suspension control method according to claim 1, wherein said determining the running condition of the vehicle based on the height fluctuation signal comprises:
filtering the height fluctuation signal;
determining a fluctuation condition of the filtered signal;
and determining the running condition of the vehicle according to the fluctuation condition.
4. The air suspension control method of claim 3 wherein said determining a fluctuation condition of the filtered signal comprises:
acquiring the filtered signals within a preset time length according to a preset acquisition window to obtain an acquisition result;
calculating the root mean square error of the acquisition result;
comparing the root mean square error with a preset error threshold value to obtain a comparison result;
and determining the fluctuation condition of the filtered signal according to the comparison result.
5. The air suspension control method according to claim 3, wherein the running condition includes a first running condition and a second running condition, and the determining the running condition of the vehicle according to the fluctuation condition includes:
when the fluctuation condition is a non-bumping condition or a micro-bumping condition, determining that the vehicle is in a first running working condition;
selecting height adjustment precision corresponding to the first running condition;
when the fluctuation condition is a heavy jolting condition, determining that the vehicle is in a second running working condition;
and when the vehicle is in a second running working condition, interrupting the self-adaptive adjusting function of the air suspension.
6. The air suspension control method according to any one of claim 1, wherein said adjusting the height of said air suspension in accordance with said height adjustment accuracy, after the adjusting, comprises:
determining a height adjustment effect of the air suspension at the height adjustment accuracy;
determining the times of inflation and deflation of the air suspension according to the height adjusting effect;
if the inflation and deflation times are greater than the preset times, updating the height adjustment precision until the inflation and deflation times are less than the preset times;
and recording the updated height adjustment precision for subsequent control of the self-adaptive adjustment effect of the air suspension.
7. The air suspension control method according to any one of claims 1 to 6, wherein said adjusting the height of said air suspension in accordance with said height adjustment accuracy, after comprises:
determining a first corresponding relation of different running conditions, different vehicle speeds and height adjustment accuracy, and determining a second corresponding relation of an update value and the inflation and deflation times in the process of updating the height adjustment accuracy;
generating an adjustment reference table according to the first relation and the second relation; the adjustment reference table is used for taking the adjustment reference table as a reference when the air suspension is controlled subsequently, and the calculation time required in the subsequent control is reduced.
8. An air suspension control device characterized by comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a height fluctuation signal of an air suspension of a vehicle;
the determining module is used for determining the running condition of the vehicle according to the height fluctuation signal;
the selection module is used for selecting the height adjustment precision corresponding to the running condition;
and the adjusting module is used for adjusting the height of the air suspension according to the height adjusting precision so as to enable the self-adaptive height adjusting effect of the air suspension to adapt to different running working conditions.
9. An air suspension control apparatus, characterized in that the apparatus comprises: a memory, a processor and an air suspension control program stored on the memory and executable on the processor, the air suspension control program being configured to implement the steps of the air suspension control method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that an air suspension control program is stored thereon, which when executed by a processor implements the steps of the air suspension control method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211364577.1A CN115782856A (en) | 2022-11-02 | 2022-11-02 | Air suspension control method, device, equipment and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211364577.1A CN115782856A (en) | 2022-11-02 | 2022-11-02 | Air suspension control method, device, equipment and readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115782856A true CN115782856A (en) | 2023-03-14 |
Family
ID=85435030
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211364577.1A Pending CN115782856A (en) | 2022-11-02 | 2022-11-02 | Air suspension control method, device, equipment and readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115782856A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116512842A (en) * | 2023-05-05 | 2023-08-01 | 岚图汽车科技有限公司 | Dynamic leveling method, device and equipment for air suspension and readable storage medium |
-
2022
- 2022-11-02 CN CN202211364577.1A patent/CN115782856A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116512842A (en) * | 2023-05-05 | 2023-08-01 | 岚图汽车科技有限公司 | Dynamic leveling method, device and equipment for air suspension and readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10106009B2 (en) | Suspension control apparatus for vehicle and control apparatus for damping-force adjustable shock absorber | |
| KR102371610B1 (en) | Method for lane keeping assist and system thereof | |
| CN110267832B (en) | Vehicle fluctuation control device | |
| US9809076B2 (en) | Suspension control apparatus for damping oscillation of a vehicle | |
| US11643089B2 (en) | Vehicle control system | |
| US11654738B2 (en) | Methods and apparatus to adjust vehicle suspension damping | |
| US8090500B2 (en) | Control device for a variable damper | |
| US11433729B2 (en) | Suspension control method and suspension control system | |
| CN112677974A (en) | Method and system for deciding expected acceleration of adaptive cruise system | |
| US20230100858A1 (en) | Vehicle control apparatus, vehicle control method, and vehicle control system | |
| CN115782856A (en) | Air suspension control method, device, equipment and readable storage medium | |
| CN105539054A (en) | Sensor fault diagnosis method for damping-adjustable semi-active suspension system | |
| JP2006348782A (en) | Vehicle control device and method for coping with acceleration irregularity | |
| US20170174034A1 (en) | Control device for vehicle suspension | |
| CN110901639B (en) | Deceleration control method and apparatus for vehicle | |
| US20150151746A1 (en) | Vehicle body vibration control device for vehicle | |
| US11285952B2 (en) | Braking and driving force control device | |
| CN117799374B (en) | Semi-active suspension control method and device, storage medium and vehicle | |
| KR101788189B1 (en) | Torque control method and apparatus according to the gradient change | |
| CN113071330A (en) | Motor torque control method, system, vehicle and storage medium | |
| CN113459752A (en) | Active suspension control method and device for prejudging acceleration and automobile | |
| CN112009240B (en) | Method and device for adjusting opening degree of vehicle accelerator | |
| CN111830951A (en) | Self-adaptive following prediction control method, system and device | |
| CN118893939A (en) | Suspension control method, suspension control device, equipment and medium | |
| KR102164955B1 (en) | Control apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |