CN-118322766-B - Control method, device and equipment for preventing vehicle from lifting head and storage medium

CN118322766BCN 118322766 BCN118322766 BCN 118322766BCN-118322766-B

Abstract

A control method, device and equipment for preventing point-lifting of a vehicle and a computer readable storage medium comprise the steps of determining current working condition information of the vehicle, wherein the working condition information comprises an acceleration working condition and a gradient working condition, calculating the movement speed of each shock absorber according to discrete derivative of real-time height values of four suspensions of the vehicle, calculating damping force required by each shock absorber according to the speed of the vehicle, the actual acceleration of the whole vehicle and the acceleration working condition or the gradient working condition, and determining current of electromagnetic valves for controlling each shock absorber according to the movement speed of each shock absorber and the damping force required by each shock absorber, so that point-lifting control of the vehicle is realized, point-lifting and lifting actions of the vehicle in a ramp or acceleration working condition process are inhibited, and better driving experience is brought to a user.

Inventors

LIU WU
LI SHUO
CHEN KUI
LI XIAOYU
PEI JINSHUN

Assignees

岚图汽车科技有限公司

Dates

Publication Date: 20260508
Application Date: 20240507

Claims (9)

1. The control method for preventing the vehicle from being lifted is characterized by comprising the following steps of: Determining current working condition information of a vehicle, wherein the working condition information comprises an acceleration and deceleration working condition and a gradient working condition; Respectively carrying out discrete differential derivation according to the acquired real-time height values of the four suspensions of the vehicle, and calculating the movement speed of each shock absorber; calculating the damping force required by each shock absorber according to the speed of the vehicle, the actual acceleration of the whole vehicle and the acceleration and deceleration working condition or according to the current gradient value of the vehicle and the gradient working condition; the step of calculating the damping force required by each shock absorber according to the speed of the vehicle, the actual acceleration of the whole vehicle and the acceleration and deceleration working condition or according to the current gradient value of the vehicle and the gradient working condition, comprises the following steps: If the vehicle is in an acceleration and deceleration working condition currently, acquiring the speed of the vehicle and the actual acceleration of the whole vehicle, and acquiring the damping coefficient of each shock absorber based on the speed of the vehicle and the actual acceleration of the whole vehicle; According to the damping coefficient of each shock absorber and the actual acceleration of the whole vehicle, calculating the damping force required by each shock absorber, wherein the damping force required by each shock absorber comprises the damping forces required by the shock absorbers at the left front, the left rear, the right front and the right rear; or if the vehicle is in the current gradient working condition, acquiring a gradient value, and acquiring damping coefficients of the shock absorbers based on the gradient value; calculating the damping force required by each shock absorber according to the damping coefficient and the gradient value of each shock absorber, wherein the damping force required by each shock absorber comprises left rear and right rear or left front and right front; And determining the current of the electromagnetic valve for controlling each shock absorber according to the movement speed of each shock absorber and the damping force required by each shock absorber so as to realize anti-nodding control of the vehicle.
2. The vehicle anti-roll-up control method according to claim 1, wherein the determining the current of the solenoid valve controlling each of the dampers according to the movement speed of each of the dampers and the damping force required for each of the dampers to achieve the vehicle anti-roll-up control comprises: Acquiring a first preset formula; determining the current of each shock absorber based on the first preset formula, the movement speed of each shock absorber and the damping force required by each shock absorber; And outputting the current of each shock absorber to control the electromagnetic valve of each shock absorber, so as to realize the anti-nodding control of the vehicle.
3. The method for controlling anti-head-up of a vehicle according to claim 1, wherein the determining the current operating condition information of the vehicle comprises: determining an acceleration working condition according to the obtained actual acceleration of the whole vehicle, the accelerator opening signal and the first duration; determining a deceleration working condition according to the obtained actual acceleration of the whole vehicle, the brake cylinder pressure signal and the first time length; And determining an ascending slope working condition or a descending slope working condition according to the acquired gradient value, the gear information and the second time length.
4. The control method for preventing a vehicle from lifting a head according to claim 1, wherein the actual acceleration of the whole vehicle is calculated according to the speed of the vehicle and a preset period value.
5. The vehicle anti-spot-lift control method according to claim 1, wherein the gradient value is calculated according to an acceleration of the vehicle and an actual acceleration of the whole vehicle.
6. The vehicle anti-head-up control method according to claim 1, wherein the speed of the vehicle is calculated by collecting a wheel speed of the vehicle.
7. The utility model provides a vehicle prevents controlling means of some new line which characterized in that, vehicle prevents controlling means of some new line includes: the first determining module is used for determining current working condition information of the vehicle, wherein the working condition information comprises an acceleration and deceleration working condition and a gradient working condition; The first calculation module is used for calculating the movement speed of each shock absorber according to discrete differential derivation of the collected real-time height values of the four suspensions of the vehicle; The second calculation module is used for calculating the damping force required by each shock absorber according to the obtained speed of the vehicle, the actual acceleration of the whole vehicle and the acceleration and deceleration working condition or according to the obtained current gradient value of the vehicle and the gradient working condition; the step of calculating the damping force required by each shock absorber according to the speed of the vehicle, the actual acceleration of the whole vehicle and the acceleration and deceleration working condition or according to the current gradient value of the vehicle and the gradient working condition, comprises the following steps: If the vehicle is in an acceleration and deceleration working condition currently, acquiring the speed of the vehicle and the actual acceleration of the whole vehicle, and acquiring the damping coefficient of each shock absorber based on the speed of the vehicle and the actual acceleration of the whole vehicle; According to the damping coefficient of each shock absorber and the actual acceleration of the whole vehicle, calculating the damping force required by each shock absorber, wherein the damping force required by each shock absorber comprises the damping forces required by the shock absorbers at the left front, the left rear, the right front and the right rear; or if the vehicle is in the current gradient working condition, acquiring a gradient value, and acquiring damping coefficients of the shock absorbers based on the gradient value; calculating the damping force required by each shock absorber according to the damping coefficient and the gradient value of each shock absorber, wherein the damping force required by each shock absorber comprises left rear and right rear or left front and right front; and the control module is used for determining the current of the electromagnetic valve for controlling each shock absorber according to the movement speed of each shock absorber and the damping force required by each shock absorber so as to realize the anti-nodding control of the vehicle.
8. A vehicle anti-head-up control device, characterized in that the vehicle anti-head-up control device comprises a processor, a memory, and a vehicle anti-head-up control program stored on the memory and executable by the processor, wherein the vehicle anti-head-up control program, when executed by the processor, implements the steps of the vehicle anti-head-up control method according to any one of claims 1 to 6.
9. A computer-readable storage medium, wherein a vehicle anti-head-up control program is stored on the computer-readable storage medium, and wherein the vehicle anti-head-up control program, when executed by a processor, implements the steps of the vehicle anti-head-up control method according to any one of claims 1 to 6.

Description

Control method, device and equipment for preventing vehicle from lifting head and storage medium Technical Field The application relates to the field of vehicle control, in particular to a method, a device and equipment for controlling vehicle head-up prevention and a computer readable storage medium. Background At present, with the development of automobile technology, the configuration rate of an electric control shock absorber on a passenger car is gradually increased, and a vehicle provided with the electric control shock absorber can adjust the damping force of the electric control shock absorber in real time in the running process so as to control the hardness of a suspension, so that a user has good driving experience in the process of driving the vehicle. However, when the vehicle is accelerated, decelerated or at a larger gradient, the vehicle body has larger pitching or acceleration change, such as an abrupt acceleration working condition or an ascending working condition, the vehicle head and the vehicle tail are lifted, and the vehicle head and the vehicle tail are lifted under the abrupt deceleration working condition or the descending working condition, so that bad experience can be brought to a user. Disclosure of Invention The application provides a control method, a device and equipment for preventing a vehicle from being raised in point and a computer readable storage medium, which can solve the technical problem that the vehicle is raised in point when the current vehicle is accelerated or decelerated rapidly or the vehicle is in a larger gradient in the prior art, and brings bad experience to a user. In a first aspect, an embodiment of the present application provides a method for controlling anti-spot head-up of a vehicle, including: Determining current working condition information of a vehicle, wherein the working condition information comprises an acceleration and deceleration working condition and a gradient working condition; Respectively carrying out discrete differential derivation according to the acquired real-time height values of the four suspensions of the vehicle, and calculating the movement speed of each shock absorber; calculating the damping force required by each shock absorber according to the speed of the vehicle, the actual acceleration of the whole vehicle and the acceleration and deceleration working condition or according to the current gradient value of the vehicle and the gradient working condition; And determining the current of the electromagnetic valve for controlling each shock absorber according to the movement speed of each shock absorber and the damping force required by each shock absorber so as to realize anti-nodding control of the vehicle. With reference to the first aspect, in an implementation manner, the determining, according to a movement speed of each shock absorber and a damping force required by each shock absorber, a current of a solenoid valve for controlling each shock absorber to implement anti-roll control on a vehicle includes: Acquiring a first preset formula; determining the current of each shock absorber based on the first preset formula, the movement speed of each shock absorber and the damping force required by each shock absorber; And outputting the current of each shock absorber to control the electromagnetic valve of each shock absorber, so as to realize the anti-nodding control of the vehicle. With reference to the first aspect, in an implementation manner, the calculating the damping force required by each shock absorber according to the obtained speed of the vehicle, the actual acceleration of the whole vehicle and the acceleration/deceleration working condition or according to the obtained current gradient value of the vehicle and the gradient working condition includes: If the vehicle is in an acceleration and deceleration working condition currently, acquiring the speed of the vehicle and the actual acceleration of the whole vehicle, and acquiring the damping coefficient of each shock absorber based on the speed of the vehicle and the actual acceleration of the whole vehicle; According to the damping coefficient of each shock absorber and the actual acceleration of the whole vehicle, calculating the damping force required by each shock absorber, wherein the damping force required by each shock absorber comprises the damping forces required by the shock absorbers at the left front, the left rear, the right front and the right rear; or if the vehicle is in the current gradient working condition, acquiring a gradient value, and acquiring damping coefficients of the shock absorbers based on the gradient value; and calculating the damping force required by each shock absorber according to the damping coefficient and the gradient value of each shock absorber, wherein the damping force required by each shock absorber comprises rear left and rear right or front left and front right. With reference to the first aspect, in one imple