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CN-122008768-A - Vehicle control method, vehicle, device, and program product

CN122008768ACN 122008768 ACN122008768 ACN 122008768ACN-122008768-A

Abstract

The present application relates to the field of vehicle technologies, and in particular, to a vehicle control method, a vehicle, a device, and a program product. The method comprises the steps of obtaining real-time distance between a pit passing wheel and a pit in a vehicle, wherein the pit passing wheel refers to a wheel where a first wheel of four wheels of the vehicle intersects the pit, adjusting damping of shock absorbers of the four wheels of the vehicle based on the relation between the real-time distance and a distance threshold value, and respectively adjusting suspension main power corresponding to each wheel of the vehicle. According to the application, when a vehicle needs to pass through the pit, the vehicle body is ensured to be stable when the vehicle passes through the pit through the cooperative control of the damping of the shock absorber and the main power of the suspension, the non-sensing pit passing is realized, and the driving smoothness and the safety of the vehicle on a complex road are improved.

Inventors

  • CHANG He
  • WANG JIAHAO
  • Geng xing
  • CHENG WEI

Assignees

  • 浙江吉利控股集团有限公司
  • 吉利汽车研究院（宁波）有限公司

Dates

Publication Date
20260512
Application Date
20260211

Claims (12)

  1. 1. A vehicle control method characterized by comprising: Acquiring a real-time distance between a pit passing wheel and a pit in the vehicle, wherein the pit passing wheel refers to a wheel at which a first one of four wheels of the vehicle intersects with the pit; and adjusting the damping of shock absorbers of four wheels of the vehicle based on the magnitude relation between the real-time distance and the distance threshold value, and respectively adjusting the main suspension power corresponding to each wheel in the vehicle.
  2. 2. The vehicle control method according to claim 1, characterized in that the adjusting the damper damping of the four wheels of the vehicle based on the magnitude relation of the real-time distance and the distance threshold, and the adjusting the suspension main power corresponding to each of the wheels in the vehicle, respectively, includes: And if the real-time distance is smaller than a first distance threshold value, damping of the shock absorbers of four wheels of the vehicle is improved, and pre-control main power is respectively applied to each wheel in the vehicle before the pit passing wheel and the pit are intersected, wherein the direction of the pre-control main power corresponding to the pit passing wheel and the diagonal wheel is downward, the directions of the pre-control main power corresponding to other wheels are upward, the diagonal wheels refer to wheels on the vehicle, which are positioned on the diagonal lines with the pit passing wheel, and the other wheels refer to the wheels on the vehicle except the pit passing wheel and the diagonal wheels.
  3. 3. The vehicle control method according to claim 2, characterized in that said applying the pilot power to each of the wheels in the vehicle, respectively, includes: determining the pre-control main power corresponding to the pit passing wheel based on the suspension static load and the calibration adjusting force corresponding to the pit passing wheel; And respectively determining the pre-control main power corresponding to the diagonal wheel and the rest wheels based on the pre-control main power corresponding to the pit passing wheel.
  4. 4. The vehicle control method according to claim 2, characterized in that the first distance threshold is determined based on a real-time vehicle speed of the vehicle and a control system response time length of the vehicle.
  5. 5. The vehicle control method according to claim 2, characterized in that the adjusting the damper damping of the four wheels of the vehicle based on the magnitude relation of the real-time distance and the distance threshold, and the adjusting the suspension main power corresponding to each of the wheels in the vehicle, respectively, further includes: And if the real-time distance is smaller than a second distance threshold, respectively applying pit passing main power to each wheel in the vehicle in the process of crossing the pit wheel and the pit, wherein the second distance threshold is smaller than the first distance threshold, and the pit passing main power is larger than the pre-control main power.
  6. 6. The vehicle control method according to claim 5, characterized in that said applying the over-the-pit master power to each of the wheels in the vehicle, respectively, includes: Determining the main pit passing power corresponding to the pit passing wheel based on the static sprung load, the static unsprung load, the spring force counteracting force and the closed loop feedback force of the pit passing wheel; and respectively determining the main pit passing power corresponding to the diagonal wheels and the rest wheels based on the main pit passing power corresponding to the pit passing wheels.
  7. 7. The vehicle control method according to claim 1, characterized in that the acquiring the real-time distance between the wheel passing through the pit and the pit in the vehicle includes: Acquiring a current distance provided by a pre-aiming system and updated information of the pre-aiming system, wherein the pre-aiming system is used for acquiring the distance between the pit passing wheel and the pit in real time and transmitting the distance in a data frame form; and judging whether the current distance is the distance provided by the latest data frame based on the pre-aiming system or not based on the updating information, if so, determining that the current distance is the real-time distance, and if not, calculating the real-time distance based on the current distance and the real-time speed of the vehicle.
  8. 8. The vehicle control method according to claim 1, characterized in that the acquiring the real-time distance between the wheel passing through the pit and the pit in the vehicle includes: acquiring vehicle-related information of the vehicle, wherein the vehicle-related information comprises at least one of self-state information, environment information of the vehicle and user enabling information; And if the vehicle-related information meets a preset control enabling condition, acquiring the real-time distance between the pit passing wheel and the pit.
  9. 9. The vehicle control method according to claim 1, characterized by further comprising, after said adjusting the shock absorber damping of four wheels of the vehicle and adjusting the suspension main power corresponding to each of the wheels of the vehicle, respectively: Releasing the adjustment control of the damper damping and the suspension main power if the wheel passes over the pit; or if the active operation information provided by the vehicle driver and avoiding the pit is obtained, releasing the adjustment control on the damping of the shock absorber and the active suspension force.
  10. 10. A vehicle, characterized in that the vehicle is controlled by the vehicle control method according to any one of claims 1 to 9.
  11. 11. An electronic device is characterized by comprising a memory and a processor; the memory is connected with the processor and used for storing programs; The processor is configured to implement the vehicle control method according to any one of claims 1 to 9 by running a program in the memory.
  12. 12. A computer program product comprising computer program instructions; the computer program instructions, when executed by a processor, cause the processor to perform the vehicle control method of any one of claims 1-9.

Description

Vehicle control method, vehicle, device, and program product Technical Field The present application relates to the field of vehicle technologies, and in particular, to a vehicle control method, a vehicle, a device, and a program product. Background In the field of modern vehicle control, an integrated scheme of a chassis suspension system and a corresponding control technology are core factors of the driving smoothness of the whole vehicle, particularly in urban roads or mountain roads, the vehicle frequently passes through an inspection well cover or a pit, tire burst can be caused at high speed, wheel chassis scratch can be caused at low speed, and particularly in new energy automobiles, the battery pack is easy to damage and the driving safety is influenced. Currently, most of the existing semi/full active suspensions on the market are equipped with sensors to detect road information when passing through the pit and to adjust the damper damping in advance to reduce the impact when passing through the pit. Or some vehicles actively avoid the pit through controlling the steering or braking system of the vehicle after the pit is identified by the radar. However, these systems only reduce the impact of the vehicle passing through the pit to some extent, and do not realize the non-sensing of the passing through pit. Disclosure of Invention Based on the defects and shortcomings of the prior art, the application provides a vehicle control method, a vehicle, equipment and a program product, when the vehicle needs to pass through a pit, the vehicle body is ensured to be stable when the vehicle passes through the pit through the cooperative control of the damping of a shock absorber and the main power of a suspension, the non-sensing pit passing is realized, and the driving smoothness and the safety of the vehicle on a complex road are improved. According to a first aspect of the application, a vehicle control method is provided, which comprises the steps of obtaining a real-time distance between a pit passing wheel and a pit in a vehicle, wherein the pit passing wheel refers to a wheel where a first wheel of four wheels of the vehicle intersects the pit, adjusting the damping of shock absorbers of the four wheels of the vehicle based on the magnitude relation between the real-time distance and a distance threshold value, and respectively adjusting the suspension main power corresponding to each wheel of the vehicle. According to the vehicle control method provided by the first aspect of the application, the adjusting the damping of the shock absorbers of the four wheels of the vehicle and the adjusting the suspension main power corresponding to each wheel of the vehicle respectively based on the magnitude relation between the real-time distance and the distance threshold value comprises the steps of improving the damping of the shock absorbers of the four wheels of the vehicle if the real-time distance is smaller than the first distance threshold value, and respectively applying the pre-control main power to each wheel of the vehicle before the crossing wheel intersects with the pit, wherein the direction of the pre-control main power corresponding to the crossing wheel and the diagonal wheel is downward, the direction of the pre-control main power corresponding to the other wheels is upward, and the diagonal wheels refer to the wheels on the vehicle and on the diagonal wheels except the crossing wheel and the diagonal wheels. The vehicle control method provided by the first aspect of the application is characterized in that pre-control main power is respectively applied to each wheel in the vehicle, wherein the pre-control main power corresponding to the pit passing wheel is determined based on a suspension static load corresponding to the pit passing wheel and a calibration adjusting force, and the pre-control main power corresponding to the diagonal wheel and the rest wheels is respectively determined based on the pre-control main power corresponding to the pit passing wheel. According to the vehicle control method provided in the first aspect of the present application, the first distance threshold is determined based on the real-time speed of the vehicle and the control system response time length of the vehicle. According to the vehicle control method provided in the first aspect of the present application, the adjusting the damper damping of the four wheels of the vehicle based on the magnitude relation between the real-time distance and the distance threshold, and the adjusting the suspension main power corresponding to each of the wheels in the vehicle respectively, further includes: and if the real-time distance is smaller than a second distance threshold, respectively applying pit passing main power to each wheel in the vehicle in the process of crossing the pit wheel and the pit, wherein the second distance threshold is smaller than the first distance threshold, and the pit passing main power is larg