CN-115782856-B - Air suspension control method, device, equipment and readable storage medium

CN115782856BCN 115782856 BCN115782856 BCN 115782856BCN-115782856-B

Abstract

The application discloses an air suspension control method, a device, equipment and a readable storage medium, wherein the method comprises the steps of obtaining a height fluctuation signal of an air suspension of a vehicle; the method comprises the steps of determining the running working condition of the vehicle according to the height fluctuation signal, selecting the height adjustment precision corresponding to the running working condition, and adjusting the height of the air suspension according to the height adjustment precision so as to adapt the height effect of the self-adaptive adjustment of the air suspension to different running working conditions and avoid frequent inflation and deflation of the air suspension. The application realizes the determination of the running condition according to the height fluctuation signal of the air suspension of the vehicle, thereby selecting the adaptive height adjustment precision according to the running condition, and controlling the height effect of the adaptive adjustment of the air suspension according to the precision, thereby enabling the vehicle to adapt to different running conditions and avoiding the frequent inflation and deflation of the air suspension.

Inventors

WU GUANGQIANG
TAN XIAOQIANG
LI ZEFAN
JU LIJUAN

Assignees

同济大学

Dates

Publication Date: 20260512
Application Date: 20221102

Claims (8)

1. An air suspension control method, characterized in that the air suspension control method comprises the following steps: acquiring a height fluctuation signal of an air suspension of the vehicle; determining the running condition of the vehicle according to the height fluctuation signal; selecting the height adjustment precision corresponding to the driving working condition; According to the height adjustment precision, the height of the air suspension is adjusted so that the height effect of the self-adaptive adjustment of the air suspension is adapted to different running working conditions, and the air suspension is prevented from being frequently inflated and deflated; Wherein, according to the height adjustment precision, adjust the height of air suspension 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; adjusting the actual height to be within the target height range; wherein, after the height of the air suspension is adjusted according to the height adjustment precision, the method comprises the following steps: 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 number of times of inflation and deflation is larger than the preset number of times, updating the height adjustment precision until the number of times of inflation and deflation is smaller than the preset number of times; and recording the updated height adjustment precision for subsequent control of the adaptive adjustment effect of the air suspension.
2. The air suspension control method according to claim 1, wherein said determining a running condition of said vehicle based on said 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.
3. The air suspension control method according to claim 2 wherein said determining the 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.
4. The air suspension control method according to claim 2, wherein the running conditions include a first running condition and a second running condition, and the determining the running condition of the vehicle based on the fluctuation condition includes: when the fluctuation condition is no-bump condition or micro-bump condition, determining that the vehicle is in a first running condition; Selecting the height adjustment precision corresponding to the first driving working condition; when the fluctuation condition is a heavy bump condition, determining that the vehicle is in a second running condition; And when the vehicle is in the second running working condition, interrupting the self-adaptive adjusting function of the air suspension.
5. The air suspension control method according to any one of claims 1 to 4, wherein said adjusting the height of said air suspension in accordance with said height adjustment accuracy comprises: Determining a first corresponding relation of different driving conditions, different vehicle speeds and height adjustment precision, and determining a second corresponding relation of an updated value and the inflation and deflation times in the process of updating the height adjustment precision; And generating an adjustment reference table according to the first corresponding relation and the second corresponding relation, wherein the adjustment reference table is used for reducing the time required to be calculated in the follow-up control by using the adjustment reference table as a reference when the air suspension is controlled in the follow-up control.
6. An air suspension control device, characterized in that the air suspension control device comprises: the acquisition module is used for acquiring a height fluctuation signal of an air suspension of the vehicle; The determining module is used for determining the running condition of the vehicle according to the height fluctuation signal; The selecting 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 running working conditions by the self-adaptive height adjusting effect of the air suspension; the adjustment module includes: The first acquisition submodule is used for acquiring 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 adjustment precision and the target height; the second acquisition sub-module is used for acquiring the actual height of the air suspension; The adjustment submodule is used for adjusting the actual height to be within the target height range; A fifth determining sub-module for determining a height adjustment effect of the air suspension at the height adjustment accuracy; A sixth determining submodule, configured to determine the number of times of inflation and deflation of the air suspension according to the height adjustment effect; the judging sub-module is used for updating the height adjustment precision if the inflation and deflation times are larger than preset times until the inflation and deflation times are smaller than the preset times; And the recording sub-module is used for recording the updated height adjustment precision so as to control the self-adaptive adjustment effect of the air suspension subsequently.
7. 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 configured to implement the steps of the air suspension control method of any one of claims 1 to 5.
8. A computer-readable storage medium, on which an air suspension control program is stored, which when executed by a processor, implements the steps of the air suspension control method according to any one of claims 1 to 5.

Description

Air suspension control method, device, equipment and readable storage medium Technical Field The present application relates to the field of vehicle control, and in particular, to an air suspension control method, apparatus, device, and readable storage medium. Background At present, the electric control air suspension technology is widely applied to large-scale commercial vehicles, 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 adjusted automatically according to the bumping condition of the running of the vehicle, the damping characteristic of the suspension is changed, and the riding comfort is further improved, and on the other hand, the height of the air suspension can be adjusted adaptively according to the speed of the vehicle, so that the improvement of the fuel economy performance is realized. However, when the vehicle runs on a bumpy road surface, due to severe height jump, 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 surface to generate a buffering effect, and further the stability control effect of the vehicle is poor. Disclosure of Invention In view of the above, the present application provides an air suspension control method, apparatus, device and readable storage medium, which aim 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 comprising the steps of: acquiring a height fluctuation signal of an air suspension of the vehicle; determining the running condition of the vehicle according to the height fluctuation signal; selecting the height adjustment precision corresponding to the driving working condition; and according to the height adjustment precision, adjusting the height of the air suspension so as to adapt to different running working conditions by the height effect of the self-adaptive adjustment of the air suspension and avoid frequent inflation and deflation of the air suspension. 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. Exemplary, the determining the driving condition of the vehicle according to the height fluctuation signal includes: 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. 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. The driving conditions include 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 no-bump condition or micro-bump condition, determining that the vehicle is in a first running condition; Selecting the height adjustment precision corresponding to the first driving working condition; when the fluctuation condition is a heavy bump condition, determining that the vehicle is in a second running condition; And when the vehicle is in the second running working condition, interrupting the self-adaptive adjusting function of the air suspension. Illustratively, after adjusting the height of the air suspension according to the height adjustment accuracy, the method 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 number of times of inflation and deflation is larger than the preset number of times, updating the height adjustment precision until the number of times of inflation and deflation is smaller than the preset number of times; and recording the updated height adjustment precision for subsequent control of the adaptive adjustment effect of the air suspension. Illustratively, after adjusting the height of the air suspension according to the height adjustment accura