WO-2026091041-A1 - SUSPENSION CONTROL METHOD AND APPARATUS, AND VEHICLE

Abstract

Provided in the present application are a suspension control method and apparatus, and a vehicle, which can be applied to the field of intelligent driving. The method comprises: acquiring a target height of an air suspension; and when the duration in which the difference between the height of an air spring corresponding to each wheel of a vehicle and the target height is greater than or equal to a first preset difference is greater than or equal to a first preset duration, controlling the air suspension to be in the state in which adjustment is prohibited. The present application can be applied to an intelligent vehicle or an electric vehicle, and is conducive to improving the accuracy of a vehicle in identifying a wading working condition, and keeping the height of an air suspension unchanged under the wading working condition, so as to avoid driving risks such as chassis scraping after the vehicle leaves a wading area.

Inventors

• CHEN, Yueshuang
• LIU, Shanhui

Assignees

• 深圳引望智能技术有限公司

Dates

Publication Date

20260507

Application Date

20241031

Claims (20)

1. A suspension control method, characterized in that it includes: Obtain the target height of the air suspension; When the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to the first preset difference for a duration greater than or equal to the first preset duration, the air suspension is controlled to be in a state where adjustment is prohibited.
2. According to the method of claim 1, the step of controlling the control suspension to be in a state of prohibition of adjustment when the duration of the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset duration includes: When the vehicle speed is within a preset speed range and the duration of the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the first preset difference, the air suspension is controlled to be in a state where adjustment is prohibited. Wherein, the upper limit of the preset vehicle speed range is less than the vehicle speed threshold triggered by the first function, and the first function is the function of automatically adjusting the height of the air suspension according to the vehicle speed.
3. According to the method of claim 1 or 2, the step of controlling the control suspension to be in a state of prohibition of adjustment when the duration of the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset duration includes: If no door opening input is detected within a second preset time period and the duration of the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset time period, the air suspension is controlled to be in a state where adjustment is prohibited.
4. The method according to any one of claims 1 to 3, characterized in that, when the duration of the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset duration, controlling the control suspension to be in a state of prohibited adjustment includes: When no user input is received to adjust the air suspension and the duration of the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset duration, the air suspension is controlled to be in a state where adjustment is prohibited.
5. The method according to any one of claims 1 to 4, characterized in that controlling the air suspension to be in a state where adjustment is prohibited includes: The driving mode is set to an unadjustable state; and/or, The second function is in the off state. The second function is the function of automatically adjusting the height of the air suspension according to the vehicle speed.
6. The method according to any one of claims 1 to 5, characterized in that the method further comprises: The control prompt device indicates to the user that the air suspension is in a state where adjustment is prohibited.
7. The method according to any one of claims 1 to 6, characterized in that the method further comprises: When the vehicle speed is detected to be greater than or equal to a preset speed, and/or the difference between the height of the air spring corresponding to each wheel and the target height is less than or equal to a second preset difference, the air suspension is controlled to switch from a state where adjustment is prohibited to a state where adjustment is possible.
8. The method according to claim 7, wherein the first preset difference is greater than the second preset difference.
9. A suspension control device, characterized in that it comprises: The acquisition unit is used to acquire the target height of the air suspension; The control unit is configured to control the air suspension to be in a state where adjustment is prohibited when the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to the duration of a first preset difference.
10. The apparatus according to claim 9, wherein the control unit is specifically used for: When the vehicle speed is within a preset speed range and the duration of the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the first preset difference, the air suspension is controlled to be in a state where adjustment is prohibited. Wherein, the upper limit of the preset vehicle speed range is less than the vehicle speed threshold triggered by the first function, and the first function is the function of automatically adjusting the height of the air suspension according to the vehicle speed.
11. The apparatus according to claim 9 or 10, wherein the control unit is specifically used for: If no door opening input is detected within a second preset time period and the duration of the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset time period, the air suspension is controlled to be in a state where adjustment is prohibited.
12. The apparatus according to any one of claims 9 to 11, characterized in that the control unit is specifically used for: When no user input is received to adjust the air suspension and the duration of the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset duration, the air suspension is controlled to be in a state where adjustment is prohibited.
13. The apparatus according to any one of claims 9 to 12, characterized in that the control unit is specifically used for: The driving mode is set to an unadjustable state; and/or, The second function is in the off state. The second function is the function of automatically adjusting the height of the air suspension according to the vehicle speed.
14. The apparatus according to any one of claims 9 to 13 is characterized in that, The control unit is used to control the prompting device to remind the user that the air suspension is in a state where adjustment is prohibited.
15. The apparatus according to any one of claims 9 to 14, characterized in that the apparatus further comprises a detection unit. The control unit is further configured to control the air suspension to switch from a state of being prohibited from adjustment to a state of being adjustable when the detection unit detects that the vehicle speed is greater than or equal to a preset speed, and/or the difference between the height of the air spring corresponding to each wheel and the target height is less than or equal to a second preset difference.
16. The apparatus according to claim 15 is characterized in that the first preset difference is greater than the second preset difference.
17. A suspension control device, characterized in that it comprises: Memory, used to store computer programs; A processor for executing a computer program stored in the memory to cause the apparatus to perform the method as described in any one of claims 1 to 8.
18. A suspension control system, characterized in that it includes a sensing system and a computing platform, the computing platform including the apparatus as described in any one of claims 9 to 17.
19. A vehicle, characterized in that it includes the means as described in any one of claims 9 to 17, or includes the system as described in claim 18.
20. A computer-readable storage medium, characterized in that it stores instructions thereon, which, when executed by a processor, cause the processor to implement the method as described in any one of claims 1 to 8.

Description

Suspension control methods, devices and vehicles Technical Field This application relates to the field of intelligent vehicles, and more specifically, to a suspension control method, apparatus, and vehicle. Background Technology With the development of the automotive industry, air springs are being used more and more widely. When encountering deep water conditions, the buoyancy of the water causes the vehicle's height to rise abnormally. The air suspension then dynamically adjusts itself, and the air springs deflate to lower the vehicle's height. However, once the vehicle leaves the water, the vehicle's height drops rapidly, and the air springs cannot quickly replenish their air to reach the target height, leading to driving risks such as scraping the bottom of the vehicle. Summary of the Invention This application provides a suspension control method, device, and vehicle that helps improve the accuracy of vehicle identification of wading conditions and maintains the air suspension height unchanged under wading conditions to avoid driving risks such as bottoming out after the vehicle leaves the wading area. In a first aspect, this application provides a suspension control method, which includes: obtaining a target height of an air suspension; and controlling the air suspension to be in a state where adjustment is prohibited when the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to the duration of a first preset difference greater than or equal to the first preset duration. Based on the above technical solution, determining whether a vehicle has entered a wading condition by comparing the height of the air spring corresponding to each wheel with the target height helps improve the accuracy of the vehicle's wading condition assessment. Simultaneously, once the vehicle is detected to be in a wading condition, adjusting the air suspension can be prohibited, which helps reduce or avoid the risk of the vehicle scraping its bottom after leaving the wading area. It also avoids the risk of water being sucked into the air pump after the vehicle leaves the wading area due to the need for air pump replenishment. In some possible implementations, when the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to the duration of a first preset difference greater than or equal to the first preset duration, the air suspension is controlled to be in a state where adjustment is prohibited. This includes: when the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to the duration of a first preset difference greater than or equal to the first preset duration, the air suspension is controlled to be in a state where adjustment is prohibited. In conjunction with the first aspect, in some implementations of the first aspect, controlling the control suspension to be in a state of prohibition of adjustment when the duration of the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset duration includes: controlling the air suspension to be in a state of prohibition of adjustment when the vehicle speed is within a preset speed range and the duration of the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset duration; wherein, the upper limit of the preset speed range is less than the speed threshold for triggering the first function, and the first function is the function of automatically adjusting the height of the air suspension according to the vehicle speed. Based on the above technical solution, since the upper limit of the preset vehicle speed range (e.g., 40kph) is less than the vehicle speed threshold (e.g., 45kph) that triggers the speed-sensitive adjustment function, conflicts between the adjustment logics of different air suspensions can be avoided. In conjunction with the first aspect, in some implementations of the first aspect, controlling the control suspension to be in a state of prohibition of adjustment when the duration of the difference between the height of the air spring corresponding to each wheel of the vehicle and the target height is greater than or equal to the first preset difference is greater than or equal to the first preset duration includes: controlling the air suspension to be in a state of prohibition of adjustment when no input of opening the door is detected within a second preset duration and the duration of the difference between the height of the air spring corresponding to each wheel and the target height is greater than or equal to th