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CN-121989609-A - Vehicle control method and vehicle

CN121989609ACN 121989609 ACN121989609 ACN 121989609ACN-121989609-A

Abstract

The application provides a vehicle control method and a vehicle, and relates to the technical field of chassis control, wherein the method comprises the steps of acquiring the vertical speed of the mass center of the vehicle during the running of the vehicle; the method comprises the steps of determining the vertical acceleration of the wheel mass center of each wheel according to the vertical speed of the mass center and the vertical movement speed of the wheel caused by the pitching movement of the vehicle corresponding to each wheel and the vertical movement speed of the wheel caused by the rolling movement of the vehicle, determining the target action parameters of the suspension corresponding to each wheel according to the vertical speed of the mass center and the vertical acceleration of the wheel mass center of each wheel, and controlling the actual main power or the actual damping power output by the suspension corresponding to each wheel according to the target action parameters of the suspension corresponding to each wheel. The application can maintain the running stability and riding comfort of the vehicle during running of the vehicle.

Inventors

  • SHI KECHAO

Assignees

  • 长城汽车股份有限公司

Dates

Publication Date
20260508
Application Date
20260212

Claims (10)

  1. 1. A vehicle control method, characterized by comprising: during running of the vehicle, acquiring the vertical speed of the mass center of the vehicle; Determining the wheel centroid vertical acceleration of each wheel according to the centroid vertical speed, a first actual vertical speed and a second actual vertical speed corresponding to each wheel, wherein the first actual vertical speed is the speed of the wheel moving vertically due to the pitching motion of the vehicle, and the second actual vertical speed is the speed of the wheel moving vertically due to the rolling motion of the vehicle; Determining target action parameters of suspensions corresponding to each wheel according to the centroid vertical speed and the wheel centroid vertical acceleration of each wheel; And controlling the actual main power or the actual damping power output by the suspension corresponding to each wheel according to the target action parameters of the suspension corresponding to each wheel.
  2. 2. The vehicle control method according to claim 1, characterized in that the obtaining of the centroid vertical speed of the vehicle includes: under the condition that the vehicle is not in a vertical stable motion state, acquiring a plurality of initial vehicle mass center vertical accelerations; filtering the plurality of initial vehicle centroid vertical accelerations to obtain a target vehicle centroid vertical acceleration; if the absolute value of the vertical acceleration of the centroid of the target vehicle is greater than or equal to a first acceleration threshold value, determining that the vertical speed of the centroid is zero; And if the absolute value of the vertical acceleration of the mass center of the target vehicle is smaller than the first acceleration threshold value, determining the vertical speed of the mass center according to the vertical acceleration of the mass center of the target vehicle.
  3. 3. The vehicle control method according to claim 1, characterized in that the obtaining of the centroid vertical speed of the vehicle includes: under the condition that the vehicle is in a vertical stable motion state, acquiring the vertical height of the vehicle body corresponding to each wheel; carrying out derivation processing on the vertical height of each vehicle body to obtain a vertical speed corresponding to the vertical height of each vehicle body; and determining the centroid vertical speed according to the average value of the vertical speeds corresponding to all the vehicle body vertical heights.
  4. 4. The vehicle control method of claim 1, wherein determining the wheel centroid vertical acceleration for each of the wheels based on the centroid vertical velocity and the corresponding first and second actual vertical velocities for each of the wheels comprises: determining a speed sum value of the first actual vertical speed and the second actual vertical speed corresponding to each wheel; the vertical speed of the mass center is differenced with the speed sum value to obtain a speed difference value; and determining the vertical acceleration of the wheel mass center of each wheel according to the speed difference value.
  5. 5. The vehicle control method according to claim 1, characterized in that the vehicle control method further comprises: Determining a first initial vertical speed according to the pitch angle speed of the vehicle and the distance between the axle where each wheel is located and the mass center of the vehicle; Correcting the first initial vertical speed according to the pitch angle speed gain coefficient corresponding to each wheel to obtain the first actual vertical speed corresponding to each wheel; And determining a second initial vertical speed based on the roll angle speed of the vehicle and the axle width of the axle in which each of the wheels is located; And correcting the second initial vertical speed according to the roll angle speed gain coefficient corresponding to each wheel to obtain the second actual vertical speed corresponding to each wheel.
  6. 6. The vehicle control method according to claim 1, characterized in that the controlling the actual main power or the actual damping power of the output of the suspension corresponding to each of the wheels in accordance with the target motion parameter of the suspension corresponding to each of the wheels includes: Judging whether the vertical acceleration of the wheel mass center of each wheel is larger than a second acceleration threshold value or not; If the vertical acceleration of the wheel center of mass of each wheel is not satisfied and is larger than the second acceleration threshold value, performing proportional-integral-differential adjustment control on the actual main power or the actual damping power output by the suspension corresponding to each wheel based on the target action parameter of the suspension corresponding to each wheel; And if the wheel centroid vertical acceleration of each wheel is larger than the second acceleration threshold value, resetting an integral term to zero, and performing proportional-integral-differential adjustment control on the actual main power or the actual damping force of the suspension output corresponding to each wheel based on the target action parameter of the suspension corresponding to each wheel.
  7. 7. The vehicle control method according to claim 6, characterized in that the proportional-integral-derivative adjustment control of the actual main power or the actual damping power of the suspension output corresponding to each of the wheels based on the target motion parameter of the suspension corresponding to each of the wheels includes: Acquiring a driving mode of the vehicle; Correcting target action parameters of the suspensions corresponding to the wheels according to the driving mode to obtain corrected action parameters of the suspensions corresponding to the wheels; And performing proportional-integral-derivative adjustment control on the actual main power or the actual damping force output by the suspension corresponding to each wheel based on the corrected action parameters of the suspension corresponding to each wheel.
  8. 8. The vehicle control method according to any one of claims 1 to 7, characterized in that after the center of mass vertical velocity of the vehicle is obtained, the vehicle control method further comprises: and if the centroid vertical speed is not in the preset speed interval, executing the step of determining the wheel centroid vertical acceleration of each wheel according to the centroid vertical speed and the first actual vertical speed and the second actual vertical speed corresponding to each wheel.
  9. 9. The vehicle control method according to any one of claims 1 to 7, characterized in that the vehicle control method further includes: Acquiring a road gradient of a road where the vehicle is located during running of the vehicle; And if the road gradient is less than or equal to a gradient threshold value, executing the step of acquiring the centroid vertical speed of the vehicle.
  10. 10. A vehicle, characterized in that the vehicle comprises: A memory for storing executable program code; A processor for calling and executing the executable program code from the memory, so that the vehicle executes the vehicle control method according to any one of claims 1 to 9.

Description

Vehicle control method and vehicle Technical Field The present application relates to the technical field of chassis control, and more particularly, to a vehicle control method and a vehicle in the technical field of chassis control. Background With the continuous development of the automobile industry and the continuous improvement of the driving experience requirements of users, the running stability, the operability and the riding comfort of the vehicle become important indexes for measuring the performance of the whole automobile. In the actual road running process, the vehicle often encounters complex bumpy road conditions such as pits, deceleration strips, broken stone roads, non-paved roads and the like. The road condition can lead to the wheels to be impacted severely, so that the vehicle body is caused to generate larger vertical runout, the steering response, the braking efficiency and the overall control stability of the vehicle are affected, and the riding comfort is also seriously affected. Therefore, how to maintain the running stability and riding comfort of the vehicle during running of the vehicle becomes a technical problem to be solved. Disclosure of Invention The embodiment of the application provides a vehicle control method and a vehicle, which can keep the running stability and riding comfort of the vehicle during running of the vehicle. The vehicle control method comprises the steps of obtaining the vertical speed of the mass center of a vehicle during running of the vehicle, determining the vertical acceleration of the mass center of the wheel of each wheel according to the vertical speed of the mass center and the first and second actual vertical speeds corresponding to each wheel, wherein the first actual vertical speed is the speed of the wheel moving vertically due to pitching motion of the vehicle, the second actual vertical speed is the speed of the wheel moving vertically due to rolling motion of the vehicle, determining the target action parameter of a suspension corresponding to each wheel according to the vertical speed of the mass center and the vertical acceleration of the mass center of the wheel of each wheel, and controlling the actual active force or the actual damping force of the suspension corresponding to each wheel according to the target action parameter of the suspension corresponding to each wheel. Based on the technical scheme, the comprehensive and accurate perception of the vehicle body posture during running is realized by acquiring the vertical speed of the mass center and the vertical movement speed of each wheel caused by pitching and rolling movements respectively in real time, then, the vertical acceleration of the mass center of each wheel is calculated by combining the vertical speed of the mass center and the vertical movement speed of each wheel caused by pitching and rolling movements respectively, further, the target action parameter of the suspension corresponding to each wheel is calculated according to the vertical speed of the mass center and the vertical acceleration of the mass center of each wheel, and the actual active force or the actual damping force of the suspension output corresponding to each wheel is controlled based on the target action parameter of the suspension corresponding to each wheel. The vertical speed of the mass center can represent the dynamic change trend of the whole vehicle body in the vertical direction, the vertical acceleration of the mass center of the wheel can represent the direct influence of road impact and vehicle body movement on wheels, the actual driving force or the actual damping force output by the corresponding suspension is controlled by adopting the target action parameter of each suspension calculated based on the vertical speed of the mass center and the vertical acceleration of the mass center of the wheel, the change of the vertical acceleration of the mass center of the wheel can be restrained, the vertical movement of the mass center of the vehicle is slowed down, the vertical acceleration of the mass center of the wheel of each wheel fluctuates in a reasonable range, the travel of the vertical movement of the vehicle is reduced, the phenomenon that the corresponding vehicle body part of each wheel is severely sunk or lifted due to the excessive compression or the excessive stretching of the suspension is avoided, and when the vehicle is in a bumpy road working condition, the stability of the whole vehicle body is maintained, and the riding comfort is improved. In a possible implementation manner, acquiring the vertical speed of the centroid of the vehicle comprises acquiring a plurality of initial vertical accelerations of the centroid of the vehicle when the vehicle is not in a vertical stable motion state, filtering the plurality of initial vertical accelerations of the centroid of the vehicle to obtain the vertical acceleration of the centroid of the target vehicle, determining that the